Z1 配置福尼斯焊机的机器人系统参数设置说明

配置福尼斯焊机的机器人系统参数设置说明

吴为进2011-10 一、检查系统配置，确认ARC选项为：650-9 Fronius TPS4000/5000

ABB出厂默认选项，如果使用旧机器人ARC选项可能不是650-9 Fronius TPS4000/5000，需重装系统，参考系统安装手册。

二、修改EIO.cfg，配置肯比焊机信号

2.1、EIO_UNIT_TYPE确认福尼斯焊机通讯板定义；如果没有定义，添加如下定义。

-Name "BK5200" -BusType "DNET" -VendorName "BECKHOFF"\

-ProductName "BECKHOFF" -DN_VendorId 108 -DN_ProductCode 5200\

-DN_DeviceType 12 -DN_MajorRev 3 -DN_C1Interval 30 -DN_C1OutputSize -1\

-DN_C1InputSize -1

-Name "BK5250" -BusType "DNET" -VendorName "BECKHOFF"\

-ProductName "BECKHOFF" -DN_VendorId 108 -DN_ProductCode 5250\

-DN_DeviceType 12 -DN_C1Interval 30 -DN_C1OutputSize -1 -DN_C1InputSize -1

2.2、EIO_UNIT添加福尼斯焊机通讯板及虚拟板；红字的“20”为DeviceNet 地址需根据福尼斯的拔码开关确定，不能与系统中已使用的地址重复。

-Name "ioFronius1" -UnitType "BK5250" -Bus "DeviceNet1" -DN_Address 20

-Name "ioFroniusSim1" -UnitType "Virtual" -Bus "Virtual1"\

-UnitLabel "RWArc Simulated welder"

2.3、EIO_SIGNAL添加如下信号，所有信号不能修改；

-Name "doFr1ArcOn" -SignalType "DO" -Unit "ioFronius1" -UnitMap "0"

-Name "doFr1RobotReady" -SignalType "DO" -Unit "ioFronius1" -UnitMap "1"

-Name "doFr1GasTest" -SignalType "DO" -Unit "ioFronius1" -UnitMap "8"

-Name "doFr1FeedForward" -SignalType "DO" -Unit "ioFronius1" -UnitMap "9"

-Name "doFr1FeedRetract" -SignalType "DO" -Unit "ioFronius1" -UnitMap "10"

-Name "doFr1ErrorReset" -SignalType "DO" -Unit "ioFronius1" -UnitMap "11"

-Name "doFr1TouchSense" -SignalType "DO" -Unit "ioFronius1" -UnitMap "12"

-Name "doFr1TrchBlowOut" -SignalType "DO" -Unit "ioFronius1" -UnitMap "13"

-Name "doFr1WeldingSim" -SignalType "DO" -Unit "ioFronius1" -UnitMap "31"

-Name "diFr1ArcStable" -SignalType "DI" -Unit "ioFronius1" -UnitMap "0"\

-FiltPas 50

-Name "diFr1ProcessActv" -SignalType "DI" -Unit "ioFronius1" -UnitMap "2"

-Name "diFr1MainCurrent" -SignalType "DI" -Unit "ioFronius1" -UnitMap "3"

-Name "diFr1TorchColisn" -SignalType "DI" -Unit "ioFronius1" -UnitMap "4"

-Name "diFr1WelderReady" -SignalType "DI" -Unit "ioFronius1" -UnitMap "5"

-Name "diFr1CommunicRdy" -SignalType "DI" -Unit "ioFronius1" -UnitMap "6"

-Name "aoFr1Power" -SignalType "AO" -Unit "ioFronius1" -UnitMap "32-47"\

-EncType "UNSIGNED" -MaxLog 100 -MaxPhys 10 -MaxPhysLimit 10\

-MaxBitVal 65535

-Name "aoFr1ArcLength" -SignalType "AO" -Unit "ioFronius1"\

-UnitMap "48-63" -EncType "UNSIGNED" -MaxLog 30 -MaxPhys 10\

-MaxPhysLimit 10 -MaxBitVal 65535 -MinLog -30

-Name "aoFr1Dynamic" -SignalType "AO" -Unit "ioFronius1" -UnitMap "64-71"\