SONG TY TNHH FANUC VIET NAM AT LIEU BAO TAO XU DUNG RO! T BOT 01/08/2021vot NQLDUNG MUC NOIDUNG.. L Gisia 1. Tap doan FANUC 2. FANUC Viét Nam. A B. c D. Il, Hé toa dé Robot (Coordinate Systems).. HG toa d6 khop (Joint) 2. Hé tga dd Cartesian Descartes -DC) yz moO > IL — Tinhigu ra v6 VO. Gigi thigu. A B. 2. Cée loai VO A B. c. D. 3. Caw hinh /O. A B. c. D. IV. 1 2 3. A LUC ‘Téng quan... San phim, nnn Cac logi Robot... Root dang xi dng (R-20003B, R-20005C, M10: ‘HG toa d9 World (World Coordinate System)... Hé toa 49 Cong cy (Tool Coordinate System - Tool frame) Cai dit (Tool frame set up).. sv ‘Hé toa d9 Ngwai ding (User Coordinate System — User frame). Ci dt (User fame set up). Lénh xir ly diéu kign lam vige (Frame instruction) ‘VO chung (General — purpose YO) VO riéng (Specialized VO). Digital VO. Robot 1/0. Peripheral vO (uit. Operator's Panel 0 (SV/SO). ‘Tin higu logic va tin higu vat ly... Gan VO (VO assignment)... Gia lap tin higu bang Flag... ‘Thye hanh trén R-30iB EtherNev/IP. Gidi thigu, Cai dat. Man hinh edu hinh YO (Cu hinh UVUO..Xir dung Robot B. Cau hinh DIDO. 45 V. Chay tu d6ng..... 46 1. Di chuyén Robot bing chong tein - 46 A. Chay chuong trinh bing Bang van hanh (Ché 46 ‘AUTO -LOCAL).. . ves 46 B. Chay chuong trinh bing Tin higu ngoai (Ché dg AUTO-REMOTE) 46 DCS... GiGi thigu. Cc loai DCS. Position/Speed Check function Joint Position Check function A. Gidi thiéu B. Cai dat DCS Joint Position Check..... Cc. ‘Xir ly canh bao... . D. — Khoing vugt 16 tie Tiép xtic co khi. Néu hé toa 46 Céng cu khong duge xéc dinh, thi Hé toa d6 Tiép xitc co khi sé duge xai thay thé. Cy thé, khi chon TOOL, TCP cita tool sé di chuyén theo phurong va chiéu da quy woe khi cai di ‘UT chit khéng phai 6 dé robot. x ‘oo! coordinate system x World coordinate syste y MGi hé toa d9 xéc dinh mt ving host dng trong img (Frame), ma trong 4b Robot 6 thé im vige. ‘Cho nén thuat ngit Hé toa dé Céng cu hay Ving lam viée Cong cu cé ciing tinh chat. (Tool ‘Coordinate System = Tool Frame/User Tool/UT). C. Cai dit (Tool frame set up) Dé Robot hiéu duge dau 1i diém lam viée trén céng cy, 1a céin phi xdc dink Tool Frame cho mdi cng cy. Vi thong thurmg la diém TCP & mat bich khép 6 (HHé toa a6 Tiép xtic co khi), nhumg khi Robot xai céc céng cu khéc, diém nay sé thay déiceordinatesyetem Cac phuong phép xéc dinh Ving hoat dong cong cy: — Three Point Method (TCP auto set). = Six Point Method. — Direct List Method. = TwoPoint +Z Method. a. Huéng din thye thign phuong php 3 diém Thao thc 1) Bam nit MENU. Man hinh menu hién thi. 2) Chon “6 SETUP”, 3) Bm Fl, [TYPE]. Man hin thay di menu hién thi. 4) Chon Frames. 5) Bam F3, [OTHER] rdi chon Tool Frame. Danh séch man hinh Tool Frame hién thi, Sara Faas Tool Frane / Direct Entry ane 10 0. Active Toot $1aiUT001 woo scone oy {tyre }[ oetarn | tomer] | cigar | seTIND } 6) Dichuyén con tré di téi dong User Frame muén cai dit. 7) Bam F2, DETAIL. Man hinh cai dat cla Tool Frame duge chon hién thi. 8) Bdm F2, METHOD va chon Three Point.Frame Number: 1 x: 0.0 xt 9.0 w: 0.0 Ps 0.0 comment: Approach point 1: UNINIT Approach point 2: UNINIT Approach point 3: UNINIT Active TOOL sMawTooLNUM[G:1) = 1 FRAME (avPe 7 [MEBHOD] 9) — Thém chi thich cho Tool Frame 6 thé Comment 10 Luu gia tri 3 diém can tham chiéu: a) Di chuyén con tré t6i céc ding trén man hinh (Approach point 1, 2, 3). b) Jog Robot téi vj tri cn lu. Nguyén ly: Cho TCP céng cu cham cling m6t vj tri, nhung & 3 dang digu khéc nhau (3 dang digu cing Khde nhau — géc cng Ién thi cing chinh xéc). Robot sé luu 3 théng s6 nay théng qua Approach Point I, 2, 3. Tir dé, TCP ciia cing cy sé duge tinh todn tir TCP mit bich khép 6, xc dinh Tool Frame. ¢) Bam gitt nit SHIFT va bim F5, RECORD dé hru lai vj tri do, Refernece point 2 Reference point 4 Reference point 3 ‘SRIVP Frames ‘Tool Frane Three Point Fr Frame Number: 2 x: 0.0. xs 0.0 w 00 Pe 0.0 coment: Approach point 1: RECORDED ‘epkoach [pelt '2)/[f/neconoep Approach point 3: UNINTT Active TOOL suMUTOOLNMIG:2} = 1 (am |[iweraon)] emee [wove 10] RECORD d) Khititea cdc diém tham chiéu duge day, USED durgc hién thi. Tool Frame da cdi dit xong.Active TOOL $s@UTOOLNONIG:1] (ave i] wernoni] en [wove_so] RECoRD ‘Tool Frame 7 Three Point, 4/20 x x z Comment Gr00.0 0.0 120.0 poor 3 20.0 0.0 0.0 t 1 30.0 oo 0.0 t 1 40.0 0.0 0.0 t 1 50.0 oo 0.0 t 1 60.0 oo 8a C i 70.0 oo o.o t 1 30.0 0.0 0.0 t 1 90.0 v0 0.0 C 1 100.0 00 0.0 C a|* Active Tool $MNUTOOIMM [6:1] = 1 (fie |] detare [[ ommeR J] HEAR | SBTIND 10) Bam PREV dé td vé man th trude. [rere J] benane | tommen) | cumaa | ser] _| 11) Dé kich hogt UT can xai, bm FS SETIND, nhap s6 UT r8i bam ENTER, con tré sé nhay t6i ding UT méi chon. D. H@ toa 49 Newoi ding (User Coordinate System ~ User frame) Durge tham khdo t6i hé toa Descarte xée dinh boi ngudi dling cho méi khéng gian lam vige. NO uge xir dung dé day thanh ghi vj tri, thye chi thanh ghi vj «rf vA thy thi lénh ba trir thanh ghi vi ‘ri,‘Néu hé toa dé Nguoi ding khéng dugc xéc dink, thi hé toa dé World sé duge xai thay thé, hi chon USER, TCP ciia tool sé di chuyén theo phuong va chiéu 4a quy uée khi cai dat ing phai 6 4é robot. MGi hé toa 46 xde dinh mét ving hoat déng trong img (Frame), ma trong 46 Robot cé thé 1am vige. Cho nén thudt ngit Hé toa do Ngudi ding hay Viing lam vige Ngudi ding c6 cling tinh chat. (User Coordinate System = User Frame). E. Cai dit (User frame set up) Léy vi du, trong khéng gian XYZ, Robot va mat ban lam vige dt tren mat phing X¥.Cho Robot vé mot duéng tron (x, y, R) trén mat bin, goi dé la frame 1. Cling tiép tye vé duréng tron cing thong sé (x, y, R) lén mat phiing XZ. va YZ, dé la frame 2, frame 3. Tuong wy, ta fing cb thé vé dudng tron dé trén mat phng bat ky chi can xAe dinh trade frame a6. z system Niu vay vige xéc dinh User Frame, cho phép Robot thye hign mot thao tac (cing mét chuong trinb) trén nhiéu ving lim vige khée nhau ma khong phai viét lai chong trinh. ‘Céc phurong phép xae dinh User Frame: — Three Point Method. — Four Point Method. — Direct List Method. a, Huéng dan thuc thién phwong phap 3 diém ‘Thao tac 1) Bam nit MENU. Man hinh menu hién thi, 2) Chon “6 SETUP”. 3) Bam F1, [TYPE]. Man hinh thay 46i menu hién thi. 4) Chon Frames. 5) Bam F3, [OTHER] ri chon User Frame. Danh sch man hinh User Frame hién thi/ Direct Entry 9 2 o ° ° 0 o 0 ° o ° Active TOOL $MUTOOLNUMIG:1} = 1 [Drvre | verary [ ommen J| cuenR | serio 6) Cho con tré toi ddng User Frame muén cai dit, 7) Bam F2, DETAIL. Man hinh cai dat cia User Frame duge chon hién thi. 8) Bim F2, METHOD va chon Three Point, coment: WRITE Orient Origin Point: UNINIT X Direction Point: uum Y¥ Direction Point: owt Active UFRAME $MNOFRAMENOMIG:1] = 0 (eee 1 | (weTHop] | FRAME 9) Thém cht thich cho User Frame 6 thé Comment. 10) Luu gid tri 3 diém can tham chi a) Di chuyén con tré ti cdc ding trén man hinh bing nit mai tén (14n lugt Origin Point, X Point, Y Point). b) “Jog” Robot téi timg vj tri cn hru (SHIFT + X, SHIFT + Y). Chon ché 46 Jog hoa DC, 48 cng cu gitr nguyén géc, Nguyén ly: Chi can TCP cita cong cu cham dit ba diem edn thiét, cc toa d6 nay sé tao ra mOt mat phiing va Robot nhdn dién duge User Frame céin xéc dinh. c) Nhan va gift nit SHIFT va bam FS, RECORD dé lun lai vi tri dé.[es reno | ane [rere re] aoa] d) Khi tit ca cae diém tham chiéu duge day (xac dinh), USED duge hién thi. User Frame da ai dat xong, User Frame ‘Three Point aa [Laer 1] neraon [ rrawe [wove ro] necord] | 11) Bam PREV dé tr vé man hinh truée. ‘UP / Dizect Entry 19 x x z Comment: 10.0 0.0 0-0 t 1 20.0 0.0 0.0 C 1 30.0 0.0 0.0 l 1 40.0 © 0.0 0.0 t 7 50.0 © 0.0 0.0 i 1 60.0 0.0 0.0 t 1 70.0 0.0 0.0 t 1 80.0 0.0 0.0 t 1 90.0 9.9 0.0 i 1 Active TOOL $MNOTOOLNUM(G:1) = 1 TC rre 1] veraE [| OFER | coeAR | serIND | 12) Dé kich hoat UF cn xai, bim F5 SETIND, nhap s6 UF ri bim ENTER, con tré sé nhay t6i dong UF méi chon. F, Lonh xir ly diéu kign Lam vige (Frame instruction) Lénh nay ding dé xir If ving lam vige cho Robot bing cach cai dat (Frame setup instruction) va chon (Frame selection instruction) a, Cai dit didu kign Lam vige Lénh cai dat Cong cy lam vige sé thay di Céng ey Lim vige cita Robot trong chong trinh.Lénh cdi dat Ving kim vige sé thay di Ving lam vige cia Robot trong chuong trinh, UTOOL[i] = (value) rarssrionscoeny | Lee Fig. 3 (@) Teal frame setup Instruction UFRAME| i] = (value) User ama number (110 9) PR(I] Fig, 43 (b) User frame setup inetruction Vi dy 1: TOOL{1] = PRI] : Gan dit ligu cha Céng ou 1 bing toa 46 bién vi tri PR[J]. 2: UFRAME[3] = PR2] dit ligu cita Ving lam vige 3 bing dit ligu cia bién vi ti PR(2]. b. Chon didu kign lam vige Lénh chon Céng cu lim vige sé thay déi Cong cu 1am vige hign tai eta Robot. Lénh chon Vang lam vige sé thay déi Ving lam vige hién tai ciia Robot. UTOOL_NUM =(value) Rt] Constant Tool ame nurmber (1 to 10) Fig. 443 (e) Tool frame select instruction —— UFRAME_NUM = (value) ~ RU] Constant User fame number (to 9) Fig. 443 (@) User ame select insruction Vi du: 1: UFRAME_NUM=1 2: IP[1) 100% FINE 3: L P[2] 500mm/sec FINE. 4: UFRAME_NUM =2 5: L P[3] 500mm/sce FINE. 6: L P[4] 500mm/sec FINE I. Tin higura va VO 1. Gigi thigu /O la tin higu dign cho phép bé diéu khién giao tiép véi Robot, co céu chap hanh va thiét bj ngoai vi cita hé théng. Tin higu VO duge chia thanh 2 nhém: A. VO chung (General — purpose 1/0) ‘Nhiing tin higu nay c6 thé duge cu hinh boi ngudi dung tity theo yéu cau. — Digital YO : Bién Difi/DOFi] — Group YO : Bién GI[iGOFi)= Analog VO Bién AI{iVAO[i). [i] la chi s6 logic etia mi tin higu VO va nhém tin higu, B. VO rigng (Specialized 1/0) Nhiing tin higu 44 duge céu hinh cho nhiing muc dich nhét dinh. — Peripheral /O (UOP — User Operator Panel) Bién UlfiJ/UOfi). — Operator's panel /O (SOP — Standard Operator Panel) _: Bién SI[iVSOfi]. — Robot I/O (2 céng HBK va PPABN) : Bién RILi/RO[i]. [i] 1a chi s6 logic eta méi tin higu 1/O va nhém tin higu. Céc tin higu ra v6 ca Robot duge mink hoa nhur hinh sau: Specialized VO , bj 1/0 (1/0 printed circuit board hogc /O unit). Tin higu Digital durge cai bit hoe tt (chi 2 mire tin higu cao — thap). BG diéu khién dong ngat mach bén trong, thiét bj bén ngoai kéo day dén céng DV/DO theo kiéu Sink/Source. Cau hinh Digital /O duge thyc hién trong man hinh cu hinh /O va man hinh chi tiét YO (/O Configuration Screen va I/O Detail Screen). Khi vige gin hoje cai dat Digital /O thay di, can phi tit ngudn mé Iai dé cap nhge dit liga méi, Khi thay thé thiét bi /O (I/O Board hoe /O Unit) can phai cau hinh lai,a, Céc thude tinh cita tin higu Digital 10. Polarity — NORMAL — : Dong dign & mite cao Ki tin higu duoc bat. — INVERSE _ : Dong dign & mite cao khi tién hiéu duge tit. ‘Complementary La chitc nang cai dat bat hodc tit 2 tin higu ra lién tiép. Khi tin higu s6 1é bat thi Complementary ci dt tin higu tidp theo e6 s6 chain tit Bé qua linh m6 phéng (Skipping simulated signals) Néu vige chd xir dung Iénh chi cho mé phong tin higu v6, thi vige ch e6 thé duge hiiy bd nr dong bang céch hy bé vige phat hién hét thé gian. ‘Tin higu ra Output) Gia tri caa tin higu Digital ra cé thé duge thiét lap bang vige thc thi mét chong trinh hoge thyre hin thao tac bing tay. M6 phéng tin higu ra/vo Khi tin higu ra v6 duge chon dé mé phéng, chuong trinh c6 thé diac kiém tra ma khéng cn phai siti hoi nhn tin higu tr thiét bi ngoai. B. Robot VO RURO hoge RDURDO (Robot Digital Input/Output) 1a tin higu s6 (digital) duge xai cho co edu chap hanh cia Robot théng qua cong tin higu (thyimg nim 6 gin khép cé tay), két néi vé b6 digu khién. Phan cimg khéng thé thay déi vi da durge cdu hinh sin. (Cong CRF8). 86 lugng céng phy thudc vao model cia Robot. Dang chuan cé 8 diu v6 va 8 dau ra, c6 thé céu hinh trong menu cai dat. (Trit *HBK va *ROT) aeTeOTAD | sotwr2524F (00K) *HIBK (Hand Breakage Input Signal) Tin higu v6 xéc dinh sy e6 m@t cita co céu chap hanh trong hg théng. Trong trang thai binh thu’ng, tin higu bat. Khi no tit, cdnh bao xay ra va Robot dimg ngay lap tire. (B16 on CRF8 luén néi voi 24V A138). *PPABN (Abnonmal Air Pressure Input Signal) Tin higu v6 phat hin tuét 4p sudt. Trong trang thai binh thudng, tin higu bat. Khi né tat, canh bao xay ra va Robot dimg ngay lép tite. *ROT (Robot Overtravel) ‘Tin higu v6 bao higu sir vurgt 16 hanh trinh ctia mdi truc cita Robot. Tin higu nay khéng nim chungdung diy véi RI/RO vi né di duge cau hinh trong day hé théng nhung né 1a tin higu cia ban than, Robot, nén durgc tinh 1 RURO. Trong trang thai binh thudng, tin higu bét. Khi nd tit, canh bdo xay ra va Robot dig ngay lap tire. (B17 on CRF8 ludn néi vi 24V A18). Khi tin hi *HBK hodc *ROT tit, canh béo c6 thé tam thi duge giai thodt bing cich git mit SHIFT va bim nit RESET. Trong khi gitt SHIFT, Jog Robot t6i vi tri thich hop. Thao tac 1) Bam MENU, chon 5 /O, bam F1 TYPE, chon Robot. 1/0 Robot Out @ sim searus ae Ror 41 0 orr ¢ 1 Rol 21 0 oF 1 Rot 3] UO i Rol 4] Uk 1 pols] 0 ow 1 Rol 6] U0 oFF 1 Rot 7 ux 1 Rol 8) 0 ooFF 1 Sorted by port number. (aE moor [on | oFF [> 2) Dé chuyén man hinh input qua output hoc nguac lai, bam F3 IN/OUT. 3) Bé cai dat thuéc tinh cla /O, bam NEXT va bm F4 DETAIL cia trang ké. 19 Robot Gut Port Detail 13 Robot Dig. output toa 1 Comment: 1 2 Polarity: NORMAL 3 Complementary: FALSE [ = 1 - 2) [owe 1 | eavrn [wer 4) Bé tro vé man hinb céu hinh, bam nut PREV, dé thém ghi chi: = Di chuyén con tré téi dong ghi chit ya bim ENTER. = Chon cach dat tén cho ghi chi. — Bam nit chit nang thich hgp dé thém ghi cha. — Khi két thi, bam ENTER. 5) Dé cai dat Item, di chuyén con trd t5i eGt cai Ajt va chon menu mit chite ning. Dé cai At nhom tin higu s6 VO tiép theo, bam F3 NXT-PT, 6) Khi két thic, bam nit PREV dé tre ve.| H/o /Rebot out! + SIM status 1/8 Ror 1] 0 ORF 1 Fol 2] U OFF { 1 Rol 3] U OFF 1 Rol 4] Uo ow 1 [rye] in/out [oN ofr [> 7) Tat bé diéu khién, mé lai dé cp nhat dit ligu. 8) Dé ép tin higu ra hode mé phéng trang thai ra/v6 cita tin higu, dé con tr 4 ON hoic OFF 10i bam nit chite nang F4/P5 1/0 Rabot Ont Rol i) u few) © 1 CTYPE anjour [oN OFF [> C. Peripheral /0 (UIUO) Tin higu ngoai vi UIUO 1a mt nhom tin higu xac dinh ciia hé théng, két ndi véi bé diéu khién bén ngoai hodc thiét bi ngogi vi dé digu khién Robot. Cau hinh cita ngoai vi /O durgc cai dit phy thudc theo cai d3t ctta UOP auto assignment trong man hinh (MENU > 0 > 6 > SYSTEM). C6 7 loai UOP auto assignment Table 3.3 UOP auto assignment Typ UOP assignment type WO device to which UOP Is assigned ‘Nene No assignment None Full Full assignment UO link master inerface, et Full Slave) Ful assignment UO link slave interface, Full (RMAT6) Full assignment R-30i8 Mate main board (CRWAT6) ‘Simple assignment UO link master interface, etc ‘Simple assignment WO tink stave interface ‘Simple (CRMATE) | Simple assignment | R-80iB Mate main board (CRMAI6) ‘Thong thudng cai dit cia UOP auto assignment duge mac dinh nhu sau: — R30iB Full = R-30iB Mate LR Tool Simple(Slave) — R-30iB Mate LR Handling Tool: Simple(CRMA16) MIMSTP ~ UI [1] (Luén bat) Tin higu dimg d6t ng6t (Immediate stop signal) tit ngudn servo bing phan mém. Tin hiéu *IMSTP bat 6 trang thai binh thuréng. Khi né tit: — Canh béo xudt hign va nguda servo tit = Robot dimg dt ngot, chong trinh thye thi dimg. *HOLD — UI [2] (Ludn bat) ‘Tin higu dimg tam thi (Temporary stop signal) xdc dinh dimg tam théi tir thiét bj bén ngoai. Tinhigu bat 6 trang thai binh thuong. Khi né tit: = Robot gidm téc dén khi dig hin, chuong trinh thyc thi tam dig. — Khicai dat “Break on hold” duoc BAT (ENABLE), Robot dimg, cdnh bao xudthién, nguén servo tat, *SFSPD — UI [3] (Ludn bat) Tin higu t6c d6 an toan (Safety speed signal) tam thai dimg Robot khi ciza hang rao mé. Tin higu thudng két néi v6i v6i hé théng an toan cia hang rdo/khéa cia, Tin higu *SFSPD bat 6 trang thai binh thuéng. Khi nd tat — Thao téc dang thyc thi gidm téc ri diing, viée thyc thi chuong trinh cing dimg. Laie nay, ty Ié toc d6 gidm din vé gid tri xe dinh ctia bién SSCR.SFENCEOVRD. — Khi tin higu *SFSPD tat. Néu chuong trinh dugc khéi déng tr TP thi ti 1é t6c 46 gidm vé gid tri xc inh cita bién SSCR.! $SFRUNOVLIM. ‘Néu jog feed duge thyc thi thi ti lé toe 46 giam ve gid tr] xdc dink cia bién SSCR.SSFIOGOVLIM. — Khi *SFSPD tit, ti 1é téc d6 khong thé virgt qua nhiing gid trj nay. CSTOPI— UI [4] (Ludn bat) Tin higu dig chu ky (Cycle stop signal) cham dirt chong trinh hign dang thye thi. N6 cing giai thoat nhimg chuong trinh 6 trang théi ché cba RSR. = Khi FALSE durgc chon cho CSTOPI dé ABORT trong man hinh cai dat cdu hinh (Config system setting), tin higu nay chm dit chong trinh hién dang dugc thc thi mgay khi chuong trinh thye thi hoan thanh. No eiing gidi thot nhimg chuong trinh & trang thai cha cia RSR. (Mac dinh - Default) — Khi TRUE duge chon cho CSTOPI dé ABORT trong man hinh cai dit c4u hinh (Config, system setting), tin higu nay ngay Ip tire ehdm dit chuong trinh hign dang thyc thi No cling gidi thodt nhitng chuong trinh 6 trang thai ché cia RSR Fault reset input signal, RESET ~ UI [5] — Tin higu RESET x6a canh bio. Néu ngudn servo tit, tin higu RESET mé nguén servo. ‘Canh bao khéng duge hy cho dén khi ngudn servo duge bat. Enable input signal, ENBL — UI [8] — Tin higu ENBL cho phép Robot di chuyén va dat Robot trong trang théi READY. Khi tin higu ENBL tit, hé thong cém Jog feed cia Robot, su kich hoat chong trinh, chuong trinh ang thye thi tam dimg. RSR1 to RSR8 — UI [9-16] (Bat 6 ché do REMOTE) — Khi mot trong nhiing tin higu nay duge mhén, chong trinh RSR tuong img cia tin higu duge chon va duge khoi ding dé thyc hién thao tée tyr dng. — Khi chwong trinh khée dang thye thi hoe ding tam thi, thi chuong trinh duge chon sé xép hing va khdi dng ngay khi churong trinh kia chim dittPNSI to PNS8 — UI [9-16] PNSTROBE — UI [17] (Bat & ché 46 REMOTE) Diy 1a nhiing tin higu Iya chon chuong trinh va mot tin higu PN dé (tra ctru). Khi tin higu PNSTROBE duoc nhan, tin higu PSNI ~ PSN8 duge doc dé chon chuong trinh thye thi. Khi chirong trinh khéc dang duoc thuc thi hode tam dimg, thi nhiing tin higu nay bi phét ld. Khi diéu kign REMOTE thea man, viée chon chong trinh bing TP bi tat trong khi PNSTROBE thi ma. STYLEI to STYLES ~ UI [9-16] (Bat 6 ché d@ REMOTE) Bay ld nhiing tin higu Iya chon s6 STYLE. Khi tin higu khoi dong duge nbn, tin higu vio STYLE1 to STYLES durge doc dé chon chuong trinh, ri chuong trinh dé duoc thyc thi. Khi chuomg trinh khic dang dugc thuc thi hoc tam dimg, thi nhimg tin higu nay bi phet la PROD START - UI [18] (B§t 6 ché 4g REMOTE) — Tin higu khoi d6ng thao téc tu déng (tin higu khoi déng sin xuat~ PRODUCTION START) bat dau chuong trinh duoc chon hién tai tir dong s6 1. Tin higu nay lim vige 6 canh xuéng (falling edge) khi tt me Ie = Khi tin higu nay durge xir dung cing véi tin higu PNS, né thyc thi chuong trinh dure chon boi tin higu PNS bat dau tir dong s6 1. — Khi tin higu khong duge xir dung cing véi tin higu PNS, né thye thi chuong trinh dirge chon bai TP bat du tir dng s6 1 START ~ UI [6] (Bat & ché 49 REMOTE) Diy la tin higu khéi d6ng ngoai, né lam viée & canh xt — Khi FALSE duge chon cho START chi dé CONTINUE trong man hinh cai dat cdu hinh he théng, chung trinh durge chon béi TP duge thyc thi tir ding con tré dang 6. Chwong trinh, img tam thdi fing duge tiép tue. (Mac dink) ~ Khi TRUE duge chon cho START chi dé CONTINUE trong man hinh ci d3t edu hinh hé théng, chuong trinh dimg tam thoi duge tiép tue, khi chuong trinh khdng ding tam thé, nd khong thé durge khoi dong. ig khi tat m@ lai, Khi tin higu duge nhan: Dé khdi déng chwong trinh tir thiét bj ngogi vi, xi dung tin higu RSR hoje PRO_START. 'Bé khéi dng chuong trinh dimg tam thai, xi dung tin higu START. CMDENBL - UO [1] ‘Tim higu b€t Ign (Command enable) diing dé thong béo chusong trinh o6 thé duge Khoi dng tit xa (Remote controller), né duge phat khi théa man nhiing diéu kién. = Dieu kign REMOTE théa man, — Diu kign bét thao tac théa man. — Dang dé ché d9 lign tyc (tit ché 46 step — chay timg bude).SYSRDY - UO [2] Tin higu hé thong sin sing (System Ready) dugc phat khi ngudn servo mé. Tin higu nay dat Robot ‘trong trang thdi van hinh, Jog feed cé thé thyc thi va chong trinh (bao gdm chueng trinh chuyén <4Gng nhém) cé thé khéi dng. Tin higu nay durge phit khi thoa ede diéu kign. — Tinhigu ENBL cia thiét bi YO mé. — Ngudn servo mé (khéng cé canh béo) PROGRUN~ UO [3] Tin higu chay chwong trinh (Program Run) duge phat khi chyong trinh duge thy thi va mit khi cchuong trinh dig tam thé. PAUSED - UO [4] Tin higu duge phat khi chuong trinh tam dimg va chi Khéi dng Iai HELD -UO [5] ‘Tin higu duge phat khi nt HOLD duoc bam hoic tin higu HOLD dugc nh4n. Tin higu mat khi nha nit HOLD. FAULT -UO [6] Tin higu duge phat khi canh béo xdy ra trong hé théng. Tin higu duge gidi thoat béi FAULT_RESET. Tin higu khéng phat khi cénh bio WARN xay ra. ATPERCH - UO (7] Tin higu duge phat khi Robot & vj tri tham chiéu duge xc dinh truGe (chi é vj tri dau tign), fen én 10 vi tr TPENBL - UO [8] Tin higu duge phat khi c6ng tit cua TP duge bat (Teach Pendant Eanble). BATALM—UO [9] Tin higu chi cénh béo dién Ap thap cia pin packup cia b6 diéu khién ho§e Robot pulsecoder (Battery Alarm). BUSY -UO [10] Tin higu dugc phat khi chong trinh dang duoc thyc thi hoe ‘TP dang xir dung. Tin higu mat khi chuong trinh tam dimg. ACKI to ACK8 - UO [11-18] Khi chéte nang RSR duge bat, ACK1 t6i ACK4 duge ding véi chire ning nay. Khi tin higu vioRSR durge nhan, mot xung cia tin higu twong tng duuge phat théng béo di nhin. BS rong xung c6 thé duge xac dinh. SNO1 to SNO8—UO [11-18] Khi chite ning PNS duge bét, SNO1 16i SNO8 duge ding véi chite nang ny. $6 chuong trinh duge chon hign tai (tin higu tong img v6i PNS1 t6i PNS8) Iuén duge phat, dang nj phan, nhur mgt sy xae nhan, Sy Iya chon chuong trink khac thay 46i SNO1 t6i SNOB. SNACK - U0 [19] Khi chite ning PNS duge bat, SNACK duge ding véi chite nang nay. Khi tin higu vao PNS durge nin, mt xung cia tin higu twong img duge phat thong bao d4 nhén, BG rong xung ob thé duge xc dinh. Thao tac gan thiét bi ngoai vi 1/0. 1) Bdm NENU, chon 5 1/0, im F1 [TYPE], chon UOP. 3/0 OF Ta ‘ scatus ae ou OFF [+m0srP 1 wt 2 OFF {+a0D 1 mt 31 ore [+SrSP0 1 ort 4 OFF {cycle stop 1 vr 5) OFF [rault reset 1 vt 8} ore start 1 ut 71 OFF {Home 1 ot 8] OFF [Enable 1 url 31 Orr [RSRi/mis1/srxus1 3 url 30] ove [RsR2/ousz/smxi2 url 34] OFF [RaRa/mNs3/ST¥LE3 Sorted by port number. (aves 1 | eourre | avout > 2) Dé chuyén man hinh input qua output hode nguoc lai, bam F3 IN/OUT. 3) Bé phan bé V/O, bdm F2 CONFIG. 3/0 OB In 3 ' RANGE RACK SLOT START ora. tour 8} 0 kL activ 2 vr 9% 46) 0 1 SacrV 3 Ur17- 48] 0 1 a7 ac Device Name : ProI/O oB (type 1 [wonrtor | mnvour | penere [wep [> 4) Détré vé bim F2 MONITOR. Thao tée véi man hinh gin I/O,— Dit con 16 & “Range” va xac nhan day tin higu duge gan, — Sur phan chia dong durge thie hign tyr dng theo day dae biét — Nhép gid tri thich hep cho “Rack”, “Slot” va “Start point” — Khi hap gia tri hop Ig, “PEND” duoc hién thi trén “STAT”. Néu gis trj bat hop 1é, “INVAL’ s@ hign thj trén “STAT”. Dong khéng cin thiét c6 thé bj xa bing cach bim F4 Delete. ‘Nhiing théng bao khdc xudt hién trén “STA — ACTIV Gan dang xtr dung. — PEND + Viée gan binh thuéng, tit ngudn me lai dé cap nbat thinh ACTIV. — INVAL —_: Gié tri khong hop 1g. — UNASG Chua gén_ — PMC : Vige gén duge lm boi PMC nén khéng thé lam 6 day. 5) Dé cai dat thuéc tinh cia I/O, bam NEXT va bam F4 DETAIL cla trang ké. wa User Opr. Panel Input tou 2 Comment: (#MSES) 1 Lives 1 | eav-er [ axt-pr | 6) Dé tro vé man hinh cfu hinh, bim nit PREV, dé thém ghi chi: — Di chuyén con tré t6i dong ghi cha va bam ENTER. = Chon cach dit tén cho ghi chi. — Bam nit chite nang thich hop 4é thém ghi cha. = Khi két thie bam ENTER. 7) Dé cai dat Item, di chuyén con tr6 t6i Gt cai dt va chon menu nit chtte nang. 8) Khi két thie, bam mit PREV dé tro vé. 9) Tt b6 diéu khién, mo lai dé cap nhat dit ligu. * Dé diéu khién ngoai vi 1/0 (UOP) bing PMC tich hp, UOP dugc gan téi dia chi PMC (F, G) bing viée gin V/O ngi bé. Khi UOP diroc gén, du * sé hién thi bén trai ciia *UI va *UO menu hinh, Mgi cai dat ngoai vi /O cua menu cau hinh déu bi phot ld. UI[9-16] 06 thé gan cho RSR/PNS/STYLE, nén khi xir dung phai cai dit cu thé. ‘Thao tic 1) Bam MENU, chon 6 SETUP, chgn 1 Pro Select.2) Dé con trs & 1 Program select mode, bim F4 CHOICE, chon loai tin higu (RSR/PNS/STYLE). 3) Sau dé bam F3 DETAIL dé coi chi tiét. D. Operator’s Panel 1/0 (SI/SO) Tin higu SI/SO két ndi b6 diéu khién va bang diéu khién, nbn tin hiéu tir cdc nit bam (SD) va phat tin higu ra dén thong bao (SO) trong pham vi bing diéu khién, Céc tin higu /O nay kh6ng thé thay. éi. Khi bang digu khién durge bat, thi nd c6 thé khdi déng chong trinh, Digu kign dé xir dung bing diéu khién nhu sau: = Céng tac trén TP tit. — Tin higu REMOTR SI[2] tit — Diu vio *SFSPD cia thiét bj ngoai vi 1/0 mé. Dé khéi d6ng chong trinh, can: — Tin higu vao ENBL cia thiét bj ngoai vi /O me. = Ngudn servo mé (khéng cé can bio). FAULTRESET ~ SII] Tin higu vo giai thodt canh béo, khi ngudn servo tit thi tin higu nay s& mé én Iai REMOTE - SI[2] Tin higu vao chuyén ddi ché dé REMOTE va LOCAL. *HOLD -SI3] Tin higu v6 xée dinh trang thai dig tam thoi cua chuong trinh. Tin higu duge bic 6 trang thai binh thudng, khi né tét, Robot gidm téc réi dimg, chwong trinh dang thy thi tam dimg. START - SI[6] ‘Tin higu vé khi khéi déng chwong trinh dang chon & ding con tré hog khéi dng lai chuong trinh dang dimg tam thdi. Tin higu nay Kim vige & canh xuéng khi tit mé lai.BUSY -SO[1] Tin higu ra khi chuong trinh dang thyc thi hoac cé file trao adi. HELD ~ SO[2] Tin higu ra khi ndit HOLD duge bam hofe tin higu HOLD durge nbn. FAULT - SO[3] Tin higu ra khi cdnh béo xay ra. Cinh béo duge giai thodt b6i tin higu FAULT RESET. Tin higu nay khOng phat khi c6 cdnnh co (WARN) xay ra, BATAL — SO[4] Tin higu ra khi dién ap bi thip cia pin backup 6 bé digu khién hoc Pulse coder. ‘TPENBL - SO[7] Tin higu ra khi TP mo. co ns wares, en a fos [Reece ae so eaeear eras £52 | ec Seer 92h iter Sefer = esteem Hién thi /O cia bang diéu khién (Chi cé thé coi, khéng thé chinh sita cdu hinh ctia tin higu), Thao tae 1) Bam MENU, chon 5 /O, bam F1 TYPE, chon SOP.STATUS as sot 0 ON! [Remote LED 1 sor 1] OFF [Cycle start] sor 2] Orr [Held 1 sor 3] ON [Fault LED 1 sor 4] oN [Batt alarm 1 sor 5] or 1 sot 6] oF 1 sot 7 ‘ON [TP enabled 1 sol 8] or [ 1 sot 9} oF { 1 Sof 10} on ft 1 Sorted by port number. (yee anor [oN OFF [> 2) Bam F3 IN/OUT dé chuyén d4i qua lai gitta man hinh tin higu vo/ra. 3. Cau hinh YO A.Tin higu logic = Tin higu /O chung va rigng duge goi la tin higu logic (vi du: tin higu DO[1], RI[2], UO[3] ~Tin higu duge edi dat trén man hinh TP ...) = Timhigu thyc té trén chin cia céc thiét bj VO duoc goi fa tin higu vatly (vi dy: Chan owt21, out22....). Mai tin higu vat ly drgc cdu hinh bai théng sé RACK va SLOT. gu vat lyDist VO configuration screen ease Leica punter —} 7 3 RET | Dita Os srsen Process ¥O printed ct oad as a acco sett sm S008 rr milo am nope a MASS mish ¢ oe a biog) 0 arr mig 0 ore ez mor on me fae nas zr a na rot a vos Dot 3 bot 20) Dot a) nat a a 3 ne ee S[comrse | VO] er OFF On the configuration screen, DO{1] to DO[B) are assigned fo out2t to oul28 of connector CRMASB on the process UO printed circuit board. When DO{t} is ‘el ON, a signals output on pin 33. Néi céch hac, trong cdu hinh VO, cing mot tin higu nhung sé ¢6 2 dinh danh la sé logic (Logical Number) va s6 vat ly (Physical Number). = Sé logic 1a tén cho tin higu ding trong churong trinh Robot ma ta sé ai dt né trong man hinh 1/0 (vi dy: DO[!] t6i DO[S). ~ S6 vat lf 1 tén cho chan tin higu rén phan két néi (board V/O). Trong hinh trén, khi cdi dt DOL! ~ 8] véi START B21, twong ing tin higu DOL] sé truyén qua chin 21, theo quy ludt nhu vay cho t6i tin hiéu DO[8] truyén qua chan 28 cia cong két néi. Khi vige gan hoje cdi dit VO thay 44%, cin phai tit ngudn mé Iai dé cp nhat di liga mei. Khi thay thé thiét bi 1/0 (VO Board hoge VO Unit) eting cdn phai céu hinh taiB. Gan 1/0 (VO assignment) ‘é diéu khién tin higu VO trong b9 diéu khién Robot, can thiét lap lién két gidta tin higu vat ly va tin higu logic, Sy lién két nay goi 12 1/0 assignment. Thong thudng, né duge thyre hién tr ddng. = Déi véi Digital, Group, Analog va Peripheral I/O, cdng logic c6 thé duge anh xa t6i céng vat ly. N6 c6 thé duc dinh nghfa Iai (duge gin Igi cho nhau). 5 vat Iy cia Robot 1/O va Operator’s panel 1/O thi luén giéng véi sé logic. NO khong thé duge dinh nghia lai (khOng thé gan lai). vor 97 pol 3 28) pot 37-20) Bor 2-28) bot 25-64) Bot 65-104) Pot a05- 144) vo (ER 1024) RACK : Cai dat loai Module /O duge xai. Tay thude vio cau hinh b6 didu khién dang xai, mi ta c6 chon cdc thiét bi riéng bigt dé ldy tin higu V/O ra, mi thiét bj nay sé cé mét ma 86 dé khai bdo cho thong s6 Rack. Ma s} cho timg loai thiét bi duge quy dinh nur sau: 0 = Process I/O board, I/O link 81 = DeviceNet (board 1) connection unit 82 =DeviceNet (board 2) 1 to 15 = YO Unit MODEL A/B $3 =DeviceNet (board 3) 32, = VO link slave interface $4 =DeviceNet (board 4) 33 = PMC (internal 1/0 assignment) a7 =RoboWeld 34 = Flags, Markers 88 = Ethernet Global Data 35 = Always ON 89 =EthemettP 36 =DCS Safe VO (Non-safety 90 Avelink function) 48 =R-30iB Mate main board 91 = WIC welder (CRMA15, CRMA16)/JRM18 92 = CC-Link 66 | =PROFIBUS-DP (master) 93 =InterBus (master) 67 = PROFIBUS-DP (slave) 94 = InterBus (slave) 68 =FLenet (variety 1) 95 = InterBus (CMD mode) 69 =F L-net status (variety 1) 96 =Modbus TCP 75 =FIPIO Glave) 98 = InterBus slave only99 100 =PROFINET 1/0 device 101 al Channel PROFINET /0 controller 102 =Dual Channel PROFINET /O device 103 =FL-net (variety 2) 104 =F L-net status (variety 2) 105 =CC-Link TE Field 106 = —EtherCAT 107 = Tool InterfaceSLOT (Khe) : Cho biét sé cia Module 1/0 trén RACK, Tity thudc vao ting loai bé ol FAN! khign ‘va loai thiét bi ma sé cé cach cau hinh khac nhau. Vui long kiém tra sach dé cau hinh ding. Sau day 1a mét sé thiét bi co ban. Khi Process /O board, /O link connection unit duge xit dung, thiét bj két ndi dau tién la Slot 1, thiét bj thir hai 1d Slot 2, thiét bj duge dénh sé ting dan nhu vay. Khi/O Unit MODEL A (MA) duge xir dung, 86 ciia Slot dat theo sé thir tir vi tri ciané, Khi/O Unit MODEL B (MB) duge xit dung, s trén thiét bj chinh, Ai véi 1/0 link slaves interface hoc R-30iB Mate main board (CRMA15, CRMA16), s6 cia Slot Iudn la 1. cia Slot duge x4c djnh bing céng tit DIP START (Sé vat ly): Chi mi sé6 tin higu trén thiét bi /O. Tin higu Digital v6: Tin higu dau tién 1a in, thir hai 1a in2, ddnh sé ting dan nhur vay. ‘Tin higu Digital ra higu dau tién Li out], thir hai la out2, dénh sé tang dan nhw vay. Tin higu Analog v6 ‘in higu dau tién La ain}, thir hai la ain2, dnh sé ting dan nhu vay. Tin higu Analog ra: Tin higu dau tién la aout!, thér hai 1a aout2, dénh sé tang din nh vay. STAT (Trang thai): Cho biét tinh trang hign tai cia YO Dang hoat dong. ‘Viée gan hgp 1é, chd tt nguén mé lai dé cp nhat thanh ACTIV. + Gi tr] kh6ng hop 1é. : Chua gan. : Gin bai PMC nén khang duge phép gin 6 diy.a. C4u hinh tin higu Digital 1/0 Thao téc 1) Bdm MENU, chon 5 1/O, bam Fl TYPE, chon. ia IM STATUS a/sie pot a) 0 Om 1 por 2) OFF 1 vol 3} 0 OFF i pol 4) 0 OFF 1 pot 5] 0 OFF 1 pot 6) U oF 1 pol 7] 0 OOFF 1 por 8] 9 OFF 1 pot 9] U | oOFF 1 por 10] GOFF 1 pot 11) 0 OFF [ 1 Sorted by port number. Laver] [ conrre | mw7oor [on oF [> 2) Dé chuyén min hinh input qua output hoge ngwoc lai, bim F3 IN/OUT. 3) Dé phan bé 1/0, bam F2 CONFIG. r/o Digital Out 1/2 © RANGE = RACK SLOT START star. i por 20) 0 za actiy 2 vol 21-512] 0 0 0 vmasc Device Name : PreI/o JB [oe usr [avon [rere [men > 4) Dé tré vé, bam F2 MONITOR. Thao tac véi man hinh gan /O. = Dit con trd 6 “RANGE” va xc nhén day tin higu duge gin. ~ Su phan chia ding duge thye hign ty déng theo day dae biét. — Nhip gid tri thich hgp cho “RACK”, “SLOT” va “START point’, ~ Khi nh§p gia tri hop 1@,viét tie “PEND” duge hién thj trén “STAT”. Néu gi tri bat hgp 16, vidt tac “INVAL’ sé hién thj trén “STAT”. Dang khéng can thiét 6 thé bi xéa bang cdch bim F4 DELETE. Nhimng théng bao khac xuat hign trén “STAT”: : Dang hoat d6ng. Vie gan hgp Ié, chér tit ngudén mé lai dé cp nhat thanh ACTIV. INWAL : Gid tri khéng hop Ie. — UNASG : Chua gan, = PMC. : Gin béi PMC nén khong duge phép gan 6 day.5) Dé tré-vé, bam F2 LIST. R/O Digital owe #8 mm STAToS asia bor 1] 0 BRE [DT SIGNAL 1 1 bol 2] 0 OFF [or sro 2} bot 3) 0 Om [or sro >} pot 0 oO wor sromt a] Tae 1 Caer Ts 6) Dé cai dit thudc tinh cia VO, bam NEXT va bam F4 DETAIL ctia trang ké. oo ae Port Detail Digital Output. 1 Comment: 1 2 Polarity: NORMAL, 3 Complementary: FALSE { 1/3 uy TEE | PRV-PT | wxT-PT 7) Dé tro vé man hinh cu hinh, bim nat PREV, dé thém ghi chi: — Di chuyén con tré téi dong ghi chi va bim ENTER. — Chon cach d%t t8n cho ghi cha, — Bam nit chitc nang thich hop dé thém ghi chi, — Khi két thc, bam ENTER. 8) Dé cai dat Item, di chuyén con tr6 téi cOt cai dat va chon menu nit chire ning. Dé cai dat nhém tin higu sé /O tiép theo, bam F3 NXT-PT. 9) Khi két thic, bam nit PREV dé tro ve. 3/512 (pr stonnt 1 1 (OF SrowAL 2 1 [or sTGNAL 3 1 (or STOWAL 4 i (ver | | cowie | insour | on or [> 10) Tat b6 diéu khién, mo Iai dé cap nhat dit ligu. 11) Dé &p tin higu ra hole mé phong trang thai ra/vé eta tin higu, 48 con trd 6 ON ho’e OFF 16i bam nit chite nang F4/FS.sim sraros siz sp (rem, 2] (rvpe | conrra | moun] on | oF [> — Bam mit mii tén lén xudng dé di chuyén toi /O mong muén. — Gift SHIFT va bam mut mii tén lén xudng 4é di chuyén nhanh hon. — Bam nut ITEM, réi nhap chi sé VO mong muén dé di t6i trye tip, vi du: 50. C. Gia lip tin higu bing Flag Di véi Flag, Rack sé 1a 34 va Slot ludn cai 1. Vi du bén duéi, Cau hinh DUDO.Gan DO[I ~ 8] tong Ging v6i F[21 - 28] va DIf1 — 8] tong ting véi FL19 - 26} ‘Trang thai DI/DO thay d6i theo trang thai Flag ' ' 1 ok 3 | i moe } Caen ; si } INE I | 1 OSE : Két qua ON F[19] > DI[1] ON ON F(23] > DO[3] + DIS] ON ON F[25] > DO[S] + DI[7] ON ON F(27] > DO[T}] ON ON F[28] > DO[s] OND. Thye hinh trén R-30iB D6i véi cde thiét bi VO 1 phan cig vi du: Process /O board, I/O Unit-MODEL A, V/O Unit- MODEL B, R-30iB Mate main board (CRMA15, CRMA16), R-30iB Compact Plus and R-30iB Mini Plus main board (JRM18), R-30iB Mate I/O link, /O link connection unit thi chan vat ly 1a c6 dinh. Nén ta phai coi bang phan bd 1/O (1/O assignment) dé biét cach cu hinh trén TP. DOi véi cic thigt bi VO két ndi qua day mang RJ4S vi du: Ethernet IP (PLC)... thi chan vat ly 06 thé linh hoat diéu chinh phu thuéc theo cu hinh cia PLC. a. Coi tai ligu dé biét each cau hinh Dé cé thé cu binh, ta c&n tra sich Maintenance hode Operator’s Manual ciia b6 diéu khién trong img (Vi dy: FANUC Robot R-30iB CONTROLLER MAINTENANCE MANUAL B- 8319SEN_05), Tim t6i, mye 4 PERIPHERAL DEVICE, ARC WELDING, AND END EE INTERFACES, ta 86 biét cdc board sau c6 thé két ndi, vi du: Process 1/0 board JA, Process /O board JB, Process I/O board MA, I/O Unit-MODEL A, Process /O board MB. AAA when Process UO Board 1138 Ie Used (Babine Process 1/0 board JA Process 1/O board JB4.4.3 _Wnen Process VO Board MB is Used (A-cabinet|__4.1.2.__ When Process VO Board MA le Used cabinet | =) | SS] ono oow wt onto at ow ait mp os ! Ly LJ} LP e AAA whan V0 Unt ¢WODEL A ie Used A141 Incacoof Acabinet T/O Unit-MODEL A44.5.4 Incase of B-cabinet ‘Wiese its ofthe aces VOPCB, YO Uni-A ee, ntl shown, eA Ble dorumet morn proces 10 ped et eed and UO unOOELA (case of eine Néu xai Process /O board, ta sé tra phan 4.2 PROCESS I/O BOARD SIGNALS eta sich EANUC Robot R-30iB CONTROLLER MAINTENANCE MANUAL B-83195EN_05, ta sé thay bang phan bé 1/0, IRR Ep 3 iH Hoic tra phin 3.1 1/0 myc Process UO board cia sich FANUC Robot series R-30iB R-30iB Mate CONTROLLER (Basic Operation) OPERATOR'S MANUAL B-83284EN_04, dé coi phan bé 1/0,at onsen apne mine i =| ETS aie — arse ae — a al = - =, oat Soi fae} sca = — aa cy ia is Teva — [ue way {9 Ea = [ast — lu Bsr cn EU =a Dersma—u erewor ea leer Tiaras Da ee a a = Hest ig awe Ea feet] ase ta moet — lon co nore | fear arnt ot —| eject asus ug emo [oa ea ise —[ut = Sab lowe Soest a bs os er es foonsg [oom Dn or Sie [eS a {is | apace oa z ‘eblassemdat STO) b. Cau hinh VO trén TP Do xai Process VO board, nén Rack 140, slot lt 1 Ding UI1-8} 0 1 1 ‘Trén hinh “Table 3.12", UI[01] nm 6 chan vat ly “int” (chan dau tién) nén ta gan START [a 1. Cie chin UI tiép theo sé duge gan theo thir ty toi chan UJ[08] sé la chan in08.oaasaeeee ine] | wowroa [vou | oars [9 HP DongiDI[1-8} 0 1 19 ‘Trén hinh “Table 3.1a”, DI[01] nim 6 chan vat ly “in19” (thir ty tir trén xudng ld 19), nén ta gén START Ia 19. Cac chan DI tiép theo sé duge gan theo thé ty, chan DI[02] sé £3 chain in20. Dong2D19-16] 0 1 27 Tuong ty chan D109 téi D116 ciia robot sé duge ndi véi chan vat ly in27 t6i in34, DongiDOfi-8) 0 1 ‘Trén hinh “Table 3.1a”, DO[O1] nim & chan vat ly “out21” (tht ny ti chd phan céch in/out xubng 1a 21), nén ta gin START la 21. Céc chin DO tiép theo s& duge gan theo thir tu, chin DO[02] sé la chin out22, Dong2DO[9~16] 0 1 29 ‘Twong ty chin DO09 ti DO16 cita robot sé duge nbi véi chan vat Ly out29 t6i out36.. Diu day trén board VO So dé chin khi xai Process /}O Board MA (A20B-2004-0380) cho R-30iB Cabinet A. Board nay chi ra chan DI/DO chit khong c6 chan UI/UO. [me] pein cotter 880) CHO (feces Pas cn atl iron 82 (oo tO) camasze TH) (eeeEtherNevIP Robot cé thé ding giao thizc Ethernet IP dé giao tiép voi cdc thiét bi c6 tich hop Ethemet/IP thong. gua mang Ethemet, Quad, trang théi VO eting age diéu khién nid ghao thie ny. ‘Métb6 didu khién cé thé két néi t6i da 32 thiét bi. R-30iA/R-30iA Mate c6 4 word input va 4 word ouput. R-30iB c6 8 word input va 8 word ouput. 2. Chi agt Can phai cai dt Host Comm cho robot truée khi cai dit EtherNet/IP Thao tac 1) Bam nit MENU, Chon 6 SETUP, bam F1 [TYPE], chen Host Comm, man hinh menu hién thi. ‘C_CSP LINE 0 (72 ABORTED KEIMSRUTG [>| Ter perma | (500) 2) Chon TCP/IP va bim F3, DETAIL. | (C_CSPLINE 0 972) ABORTED KET (=| Tree] rom [Ane [@ nein] > Di chuyén con tré én xudng timg myc dé cai dat. Robot name + Ty dat tén to Port#1 IP ad cho robot. Cai IP cho céng CD38A trén main,‘Subnet Mask Cai mat na mang con, Board address 6 nay me dink theo board. Router IP addr Néu c6 xai router thi nhép IP router vé, khong thi dé tréng Host Name Ty dat ten cho thiét bj dang két ndi (vi dy: PLCD. Intemet address Nhép IP cia thiét bi dang két ndi. 3) Bam F3 PORT dé chuyén qua man hinh cai ¢iit cho Port 2 (cong CD38B). 4) Sau Khi ci dat xong, thi ping thir coi két ndi thong chwa, néu chua ping duge thi eycle power réi ping lai thi. Tiép theo, ta cn cai dat EtherNev/IP trong V/O config. Thao tac i Bam nut MENU. Chon 5 I/O > 0 > 0--NEXT-- > 0-NEXT— > EtherNet/IP. Description 2 Tén thiét bi TYP : Mic dinh ADPEnable TRUE bat, FALSE tat Status — OFFLINE _ : Kétndi tit. — ONLINE ; Kétndi duge bat hung chusa kich hoat (active), = RUNNING — : Kétnéi dugc bat va kich hoat (1/0 duge giao tigp). - PENDING _ : Khicé thay d6i trong cai dt. Cn cycle power dé kich hoat. Slot 86 slot d& cai trong VO config. 2) F4 CONFIG. peer Sour site Di chuyén con tré lén xudng timg muc dé cai dat. Input size (words): 0—4 (R-30iA/R-30iA Mate), 0 — 8 (R-30iB) Output size (words): 0-4 (R-30iA/R-30iA Mate), 0 — 8 (R-30iB) Alam Severity STOP/WARN/PAUSE Scanner IP : Die chi IP cia thiét bi két néi API0=>T : Actual Packet Interval, thiét bi phat. APIT=30 Actual Packet Interval, robot phat. 3) Sau khi cai dat xong, bam PREV dé tré ra, ri bam F4 TRUE dé bat két ndi.Mét sé cai dat cn thiét trén thiét bi két ndi (PLC, Logix Designer — Rockwell Allen-Bradley). Lara ¥: Size cai dat trén robot va trén PLC phai giéng nhau. 8 works trén robot = 16 size (8-bit) trén PLC = 8*2*8 = 128 bit. = = Sac: | 5S meas om Dein = _, = Beem ae = = 3 es3. Man hinh edu hinh /O A. CAu hinh U/UO HHT aepeaeassaeekarecey a i i i suantas! 2V. Chay ty dong 1. Di chuyén Robot bing chuong trinh A. Chay chwong trinh biing Bang van hanh (Ché 46 AUTO-LOCAL) Robot sé thye thi chyong trinh tai vi ti con tré dang dimg, mt thong béo nén ving hign tén dé xe nhén ¢6 muén thyo thi chuong trinh tai dong dé khOng, chon YES > ENTER dé chay, chon. NO > ENTER dé thoat khoi théng bao, Thao téc 1) Kiém tra khu vue hoat déng, khéng ngudi, khéng vat can, tit Teach Pendant, 2) MENU, 0, SYSTEM, bim FI TYPE, chon Config, rdi kéo xudng, cai dat la LOCAL. 40 output when WAITing on Input <**DETAIL**> 41 Signal if OVERRIDE = 100 Dot 0} 42 Hand broken : <*oRouPs*> 43 Remote/Local setup 44 External I/0(ON:Remote) : DIL ol 45 UOP auto assignnent: Full 46 Multi Program Selection: FALSE 47 WAIT at Taught Position FALSE 48 Brake control ECO mode: FALSE 49.97, 38 jog key Setup: <**DETAIL*#> 50 Collection program name(F1): [STYLE] 51 Collection program name (F2): [con 1 52 Collection program name(F3): [*#####4#] 3) Bam nt SELECT, chon chuong trinh can chay thir rdi bam ENTER. 4) Chon AUTO trén Céng tit 3 ché do. 5) Bam RESET, khi khng cén thong bao Idi trén man hinh TP nita. 6) Bam nit START (Mau luc) trén Bang van hanh, chuong trinh sé durge thyre thi. B. Chay chong trinh bing Tin higu ngoai (Ché 4g AUTO-REMOTE) ‘Tin higu cia thiét bj ngoai vi VO cé thé duge ding dé khi déng chuong trinh cia Robot. Céc céch khéi dGng chuong trinh Chay ty ding, — Tin higu khdi dong ngoai START Ulf] (Khai dong duoc | chuong trinh, chwong trinh dang dimg cé thé chay lai).— Tin higu yéu clu khoi dng Robot =: SRI ti RSRE-—_UI9-16] (Khéi dong én 161 8 chuong trinh, chuong trinh e6 thé durge gitr chd t6i brat). — Tin higu khoi déng vén hanh ty d6ng PROD_START _UI[18] (Khai dng 1én én 256 chuong trinh, chwong trinh khéng duge gitt), — Ngodi ra cde di mdi o6 thém cach khéi déng STYLE. a, Dieu kign UI dé chay ché dg REMOTE. Khi Robot van hanh trong ché dg REMOTE, chong trinh duge khéi dng ti tin higu ngoai, Cho nén, khi hé théng ngoai cé sy c6 thi bit bude phai cé cac tin hiéu an toan bao nguge vé cho Robot dé dig chuong trinh. Vi vay ta cn bat chirc mang UI signals lén (TRUE). ‘System configuration screen ayaa 1 Use HOF STARE pect 2 1/0 power fail recovery: [RECOVER ALI 3 COLD START Autoexee program: [stenneseeeseusensesenseoes 4 HOT START Autoexec program: [steeniaessreassneeeneniaeannaaeannnnnees] 3 HOP START done signal: pot 0} 6 Restore selected program 7 Enable UI signals: © START for CONTINUE only: Déng thdi, ta cn quan tam t6i tin higu UI[1], Ul[2], UI), UI8]. Trong trang thai tin higu ndy phai duge ON thi Robot moi cé thé thu thi chong trin, ‘Ui “IMSTE Ulj2| “HOLD UI] *SFSPD. Ula) CSTOPI UI FAULT RESET UI(S] START {urs} ene. Ul] RSRI/PNSTISTYLET Uif10]_ RSRA/PNSZISTYLEZ Ui[tt] RSRI/PNS3ISTYLES: Ui[i2]_RSRA/PNSA/STYLE4 UI[13]_ RSR5/PNSSISTYLES, Ul[t4] RSRE/PNSEISTYLES. UIl15| RSR7/PNS7ISTYLET Ull16]_RSRE/PNSBSTYLES UI[17] PNSTROBE ‘Ul[t8] PROD START sing, ca 4 b. START hin niit START (trén Bang van hinh) dé thy thi chuong trinh duge chon tir déng con tro dang img. (1 tra lai coi bam thi UI[6] c6 nhay khéng). Tin higu vé nay thurong duge ding dé khoi dong chuong trinh dang dimg. Tin higu START khéi d6ng chuong trinh bing canh xuéng (Falling edge). Khi bat duge canh xuong ciia START, tin higu PROGRUN bit Ién 48 chay Robot.START 1 Tinhigu v6 =§ ———— PROGRUN | 7 ‘Tin higu ra, thy thi Thao tac 1) Kiém tra khu vye hoat dong, khéng ngwdi, khong vat can, 2) Tit Teach Pendant, chon AUTO & Céng tit 3 ché d6, chon ché 45 Remote. 3) Git 1 tin higu (mite cao —24V) v6 chan UI[6], chuong trinh duoc chon (Chon bing céch im ENTER tai chuong trinh mudn chay trong man hinh SELECT) sé doc thure thi. c, RSR Chite ning RSR (Yéu cdu khoi dng Robot - Robot Start Request) cho phép Thiét bj ngoai nhén va khoi déng chuong trinh théng qua ngoai vi I/O bang tin higu yéu cdu khoi déng (RSRI t6i RSR8). Nguyén ly hoat dong nhur sau. [Ngudi ding bm nit trén Thiét bj ngoai (Remote Controller) git tin higu ti BO diéu khién Robot. Tin higu nay UI[9-16] (Coi phan cai dit Peripheral /O) dugc gén véi tin higu RSR[1-8] (Phan cai 3t bén dudi) twong ting. Cac tin higu nay gan voi lénh goi chwong trinh cé tén dat theo nguyén. tic. Vi du: tén chwong trinh la RSRO12L. Vay Job prefix li RSR, Base number lé 100, RSR program number 14 21. -> hi tao chwong trinh, muén chay tu dng thi phai dat la RSRO121 ‘Whether to enable or disable RSR SRSRi Enabled SRSR2_ Enabled $RSR3_— Enabled Base number SRSRy | Enettes) $SHELL_CFGS$JOB_BASE 100 asrregstrton \/ umber RER RSR1 12 Program number RSR progeram: fees RSR2 21 RSR2 On —> RSR3 33 —e | 0121 | ee RSR 0121 ae RSR4 48 RSR4 1 Input the RSR2 signal. 2 Check whether RSR2 is enabled or disabled. 3. Start the RSR program having the selected RSR program number. ‘Thao tac cai dat 1) Bam MENU, chon SETUP, bam FI TYPE, chon Prog Select. 2) Di chuyén con tré t6i Program select mode, bim F4 CHOICE va chon RSR, rdi bam F3 DETAIL.2ae RSR Setup 2 RSRL program number (HMABEB 1 [ 01 2 RSR2 program number {ENABLE } [ 0} 3.RSR3 program number [ENABLE } [ 0] 4/R5R4 program number [ENABLE } [ 0] 5 RSRS program number (BNABLE ] [ 0] 6 RSR6 program number [ENABLE } [ 0] 7) RBR? program number (BNABLE ] [ 0] © RERG program nunber [ENABLE } [ 0] 9 dob prefix TRsr] 10 Base number Lor 11 Acknowledge function TEALSE I 12 Acknowledge pulse width(msec) [400] Lave] Tuanie | BTSABLE | 3) Bam ENABLE dé bat chitc ning, DISABLE dé tit. Di chuyén con tré t6i nhiing théng sé muén chinh sita, nhap gid trj réi bam ENTER. 4) Tit nguén mo lai dé cép nbat dit ligu. ‘Thao tie vn hanh 4) Kiém tra khu vue hoat ddng, khong ngudi, khong vat can. 5) Tit Teach Pendant, chon AUTO 6 Céng tit 3 ché 44, chon ché 4 Remote. 6) Givi tin higu (mite cao ~ 24V) 16i 1 trong cde chum UI[9] - UI[16] tong émg voi (RSR1— RSR8). Chwong trinh RSR nam trong chuong trinh cho. 7) Dé dimg chuong trinh dang thye thi, bm néit EMERGENCY STOP / HOLD hofc tin higu IMSTP / HOLD / CSTOPI. 8) Dé hiiy céng vige trong churong trinh cha, ding tin higu ‘dimg chu trink” CSTOPI. 9) Da khdi dOng lai chuong trinh tam dimg, ding tin higu “khoi ddng ngoai’ START. D6i v6i bO diéu khién R-30iB Mate, tin higu UI[6] duge link véi UI[17] va UI[18}, chi clin néi day vO mt trong 3 chan trén thi mite tin higu tron 3 chan dé sé duge kich dong thoi. a. PNS Chir ndng PNS (Lya chon chi s6 chuong trinh” — Program Number Selection ) cho phép chon va kiém tra chong trinh xir dung thiét bi ngoai vi /O, théng qua bé diéu khién tir xa thong qua (PNSI —PNS8). Nguyén ly hoat ding 1) BO diéu khién doc tin higu PNS1 ti PNS8 (coi méi tin higu nhu mot bit, két qua 1a mot 96 ‘hi phan 8 bit) boi xung tin higu PNSTROBE. 2) Két qui obj phin duge chuyén thinh thap phan, s6 ndy cOng v6i Base number va ghép vao tiép du ngtr PNS tao thanh tén chuong trinh. 3) Tin higu SNO1 téi SNO8 duge phat 4é cho biét ma nhi phan cia sé PNS cing véi tin higu SNACK. Néu sé PNS khong the hign dugc gi trj 8 bit thi SNO1 téi SNOB phat sé 0. 4) BO diéu khién kiém tra gid trj cia tin higu SNO1 téi SNOB gidng voi PNS1 toi PNS8 khi phat tin higu SNACK va giti tin higu khdi dng (PROD_START),5) “The PNSTROBE signals out ‘Signa PN to PN are road andthe vale le converted into a decimal name ‘Tre PNS program having the specfes PN program numbers solecied, When ine PROD_ START sna goes lov the selected PNS program's sated Thao tic cai ait 1) Bam MENU, chon 6 SETUP, bam F1 TYPE, chon Prog Select. 2) Di chuyén con tré t6i Program select mode, bam F4 CHOICE va chon PNS, bam F3 DETAIL. ‘Brog Select 1/3 PHS Setup 1 gob prefix 2H) 2 Base nunber { 100) 3 Acknowledge pulse width(msec) [200] (Lee I 3) Dé con tro & myc cn chinh sira, nhap gid tri ri bam ENTER. 4) Sau khi thay d6i gitta RSR thanh PNS, tit ngudn mé lai dé fap nhat dit ligu. Thao tie van hanh 1) Kiém tra khu vuc hoat d6ng, khéng ngudi, khéng vét can. 2) Tit Teach Pendant, chon AUTO 6 Céng tat 3 ché dé, chon ché dé Remote, 3). Giti tin higu (mite cao ~ 24V) t6i cae chin Ul[9] — UI[16] tuong tmg (PNS1 —PNS8) va 1 ‘tin higu t6i chan UI[17] tong tmg (PNSTROKE). Chuong trinh PNS sé duge chon. 4) Bé digu khién phat ra tin higu “Chi sé chwrong trinh dugc chon” (SO1 ~ $O8) va tin higu “hiéu” — Acknowledge (SNACK) dé xée nhan. 5) Giti thém 1 tin higu (mite cao ~ 24V) t6i chan UI[18] tong img (PRO_STSRT). Chong trinh duge chon bat du chay. 6) Dé dig chong trinh dang thyc thi, bam nit EMERGENCY STOP / HOLD hoje tin higu IMSTP/ HOLD / CSTOPI. 7) BE khéi dng Iai chuong trinh tam ding, giti 1 tin higu t6i chan UI[6] (START) “khéidong ngoai’. Doi voi bé diéu khién R-30iB Mate, tin higu UI[6] duge link vi UI[17] va UI[18}, chi en néi day vé m6t trong 3 chén trén thi mic tin higu trén 3 chfin dé sé dugc kich dong thai. e. STYLE Ngoai RSR va PNS, thi STYLE cing thurong duge ding dé chay chwong trinh ty dong. Sé STYLE duge gan chinh 1a s6 thir tw ciia churong trinh sé chay (Vi du: STYLE = 2 thi chuong trinh cé s6 thir ty Ia 2 duge chon dé chay). Nguyén ly hoat dong — Bé ditu khién doc tin higu cia STYLE1 t6i STYLES nhu ma nhj phan réi chuyén sang thap phan thanh sé STYLE. = Tin higu (START hoje PROD_START) duge git tr Tin higu ngoai t6i chin UI[6) hog UI{18}, chuong trinh ¢4 s6 STYLE tuomg img duge Khoi dong. — SNO1 t6i SNO8 duge phét theo ma nhj phan dé biéu thj sé STYLE cing véi tin higu nhan biét SNACK. — Néu c6 chuong trinh dang tam dimg thi khi tin higu START duge giti (PROD_START khOng thé xir dung), churong trinh khéng dutge chon, ma thye thi chuong trinh dang dimg. SIME on sme ‘STM aber STE |e ccoro1o eae a Binary Decimal sree 4) lye START or PROD, START lgal 2 Roos STYLE 1 oj and ort iro decal nanber 3 Syl popan tas rear on ace rn, ade Thao tic 1) Bam MENU, chon 6 SETUP, bim F1 TYPE, chon Prog Select, 2) Di chuyén con tr t6i Program select mode, bam F4 CHOICE va chon STYLE, 2, bm F3 DETAIL.Prog Select Style Table Setup 3/32 Style ProgWane Valid Comment ‘58 YES WORK YES settee YES. saeeeee> YES seeseeey YES. seenner> YES, seenner> YES. steeene YER aeeesee> YES seevene> YES (ame) | ouean | ovtare | renoreer | > Prog Select ‘Style Config Setup 13 1 Acknowledge function: canes) 2 Acknowledge pulse width (msec): { 400) 2 Max number in style table: [ 32) LTE | TROB_| FALSE | > 3) Dé con tré & muc cdn chinh sita, bam F4 CHOICE va chon chuong trinh, bam F3 DETAIL cai dat Acknowledge function la TRUE (mac dinh la FALSE). 4) Sau khi thay déi gitta RSR/PNS/OTHER thanh STYLE, tat ngudn mé lai 4é cp nhat dit ign. f. So sinh cdc kiéu khéi d§ng chuong trinh Mye Y nghia START trén Bang = Ché d6 Local vin hank = Chon duge 1 chuong trinh (SELECT > ENTER) — Khoi dng chuong trinh da chon bang nt START trén bang van hanh. START “ngoai” = Ché 9 Remote coms) Chon duge 1 chirong trinh (SELECT > ENTER) — Khéi déng chuong trinh 43 chon bang 1 tin higu v6 chan UIl6l.RSR = Ché 46 Remote ~ Chon duge 8 chuong trinh (mdi tin higu goi t chong trinh) — Tin higu chon va tin higu khéi ddng 14 mot, duege gi ti mt trong cde chan UI{9] t6i UI[16] — Phai dat tén RSR**** PINS — Ché d6 Remote — Chon duge 23 hoc 244 churong trinh (Ty b6 diéu khién) — Can 4 hojc 8 tin hiéu chon chuong trinh v6 chan UI[9] ti UI[16], 1 tin higu dd UI[17] (PNSTROBE) va | tin higu khéi dng UI[18] (PROD_START). ~ Phai dit tén PNS**** STYLE = Che d§ Remote = Chon duge 2°3 hode 2°4 chuong trinh (Tuy bé diéu khién) = Cln 4 hoje 8 tin higu chon chuong trinh v6 chan UII] ti ‘UI[I6], 1 tin higu khoi dng UI[6] bode UTS] — Phai gin tén trong man hinh cai djt STYLE VI 1 Dcs Gigi high Dual Check Safety (DCS) la chite ning gidm sit tinh an toan ca robot trong qué trinh yan hanh. Mot dang DCS tuy phé bién nhung it drgc goi tén la Emergency Stop function, bao gm: = Operator panel emergency stop — Teach pendant emergency stop — Deadman switch — External emergency stop (EES) — Fence input (EAS) — SVOFF input (EGS) = NTED input = Robot disable switch Ngoai ra, bing cAch cai Ait céc thong s6, ta c6 thé gidi han viing hoat dng eta Robot hod bing mét tin higu nao d6 ma Robot sé dimng lai. C6 nhieu dang DCS, ty thude vio diéu kign van hanh ma cé- thé tich hop thém vao Robot. 2. Cée loai DCS — Position/Speed Cheek funetion — Safe /O Connect function — DCS Visualization — DeviceNet Safety function— EtherNet/IP Safety function — PROFINET Safety function ‘Trong ndi dung bai viét nay, tac gia chi gidi thigu vé Position/Speed Check function. Ban doc ¢6 nhu cau tim hiéu thém, vai long doc thém tai ligu Robot R-30iB R-30iB Mate CONTROLLER Dual Check Safety Function OPERATOR'S MANUAL B-83184EN_04. ion/Speed Check function Dual Check Safety (DCS) Position/Speed Check la chite ning idm tra di Ligu vi ti va tbe 9 cita dng co véi hai CPU de lap trong, bd dtu klnién. Né eé thé phat hign sai s6 trong vi 1 46 ngay lap tie va tit dong co bing hai kénh dc lép néu Robot vugt qua gid han cai Gat, Dit ligu an toan va qua trinh xir ly ciing duoc kiém tra chéo bi bai CPU nay. Dual Check Safety (DCS) Position/Speed Check chi xit dung cim bién bén trong dong co servo dé giém sit t6c 46 va vi tri ma khéng can bat cit cim bien ngoai ndo khéc. “G 3. Pe wa Check _/ Joint Position / Speed ‘Check Too! Orientation ‘Trong Joint Position Check function o6 cdc chute nang sau. Joint Position Check funetion —_: Khi vj tri kh6p quay nim ngoai pham vi an toan, hé théng tit nguén dng co. Joint Speed Check function + Khi tée d6 khop quay Idn hon giéi han, hé théng tit nguén dGng co. Cartesian Position Check function — Zone Check function + Dang digu cia céng cy hodc Robot nim ngoai ving cai dat, hé théng tat ngudn déng co. = Orientation check function. : Hung ciie Robot (W, P, R) ndim ngoai giéi han cai dat, hé théng tit nguén déng co. Cartesian Speed Check function: Khi tc dé TCP vuot qua giéi han cai dit, hé théng tit nguén dong co. T1 Mode Speed Check function —_: Khi tc 46 TCP hodc mat tiép xtic co khi (mat bich khép 6) vurgt qué gidi han cia ché 46 Tl (250mm/sec), hé théng tit ngudn d9ng co. Noi dung tiép theo duge viét cho Joint Position Check function, cén cfc chife niing khée durge trinh bay bing vi dy trén Roboguide.4, Joint Position Check function A. Giéi thigu Khi vi tri khép nim ngoai khong gian ving an toan (khéng gian duoc gidi han boi gid tri gidi han trén va dudi cila khép 6 ede tryc), cdnh béo “SRVO-404 DCS Joint pos. limit" xiy ra, hé théng tat nguon dong co. Ty vao diéu kién, ngudi ding cd thé chon ving an toan nim trong hoe nm ngoai khoang giéi han. Lower limit Upper limit. Safe side : INSIDE , : Ving an toan, Ngoai ving an toan (Tat ngudn dng eo) (Cé thé di chuyén) ' (Tatnguén dong co) Safe side : OUTSIDE Ving an toan Ngoai ving an todn ‘Vang an toan, (Cé thé di chuyén) (Tit ngudn dng co) (C6 thé di chuyén) — Cé thé cai dat t6i da 40 ving an toan. — C6 thé cai dat nhiéu ving an toan cho mt tryc. — Trang thai kiém tra Joint Position cé thé duoc gidm sat bing DI, khi chigc ning nay ENABLE ya Robot trong ving an toan, DI bat, nguge lai, DI tit. Vidu Trong truéng hop e4e vi tri céch nhau 360 46 nbu la 150 d6 va -210 46. Khi ving an toan duge cai dat nim NGOAL 90 d6 va 180 49. Cah bao s8 xay ra khi khdp @ 150 d6, ma khong xay ra khi khép 6-210 &6. ° Safe side: OUTSIDE “90 90 150 180 210 10 45 (Khang xay ra ch bo) 150 &5 (ay 20 ein bdo) ower limit | Upper 270 180 "90 18.270 2 \ Vang an vin, goa ving an oan ‘Ving anton, (C6 thé di chuyén) (Tarnguén dingo) | |(C6 thé chuyén) B. Cai dit DCS Joint Position Check Thao the 1) B4m MENU, chon 0 - - NEXT - -, chon 6 SYSTEM, chon 7 DCS.2) — Dichuyén con tré téi déng Joint Positioin Check, bim F3 DETAIL. No. Des Joint Position check 1/40 No. GA Status Comment 1 DISABLE 2 DISABLE 3 DISABLE 4 DISABLE 5 DISABLE 6 DISABLE 7 DISABLE 8 DISABLE 9 DISABLE 10 DISABLE —I C - —f C [ [ —[ = C TYPE J DETAIL : $6 Joint Position Check. ENABLE/DISABLE —_: Hién thj trang thai bat / tit ciia Joint Position Check. ~ SAFE — UNSF - DSBL ~ CHGD DCs. — PEND ‘Tén nhém chuyén dong. ‘Tén truc ; Trang thai Chite ning tit. Chite ning bét, Robot dang trong viing an todn. Chite ning bat, Robot dang ngoai ving an toan. : Chite nang tat béi tin hiéu vio. ‘Théng s6 cai dat bj thay déi, nhung chua ap dung cho théng s6 : Thong s6 cai dit bi thay 46i va da ap dung cho théng sé DCS, nhumg chua khéi dong lai nguon. Comment :Ghi cha 3) Dichuyén con tré t6i ddng muén chinh sita, bam F3 DETAIL é vao coi chi tiét.bcs Joint position check 1/9 No. 1 Status:——- 1 Comment: Pabekbraiocbisottsoocetict] 2 Enable/Disable: DISABLE 3 Group: 1 4 Axis: 1 5 Safe side: INSIDE Position (deg) : Current: 0.000 6 Upper limit: 0.000 7 Lower limit: 0.000 8 Stop type: Emergency stop 9 disabling input: —-[ 0: ] [TYPE] PREV = NEXT ‘UNDO No. : Sé Joint Position Check. Status 2 Trang thai - + Chite nding tit. — SAFE Chiie nang b§t, Robot dang trong viing an toan. — UNSF Chite nang bat, Robot dang ngoai ving an toan. - DSBL Chite ning tit béi tin higu vao. — CHGD ‘Thong sé cdi dit bj thay d4i, nhung chua ap dung cho thong s6 DCS. = PEND ‘Thong s6 cai dat bi thay déi va da ap dung cho thng sé DCS, nhung chua Khoi dong lai nguon Comment :Ghi chit Enable/Disable — : Cai dit bav/tit chtte ning Joint Position Cheek. Group Cai dit chon nhém chuyén dong. Axis + Cai dit chon true Safe side : Chon trong hay ngoai ving an todn, INSIDE - trong/OUTSIDE ~ ngoai. = Position (deg) : Vi wi (26) = Curent ‘Vj tri hign ‘Upper limit Cai dit gidi han én. Lower limit : Cai dat gidi han duéi. Stop type : Chon hanh dong khi Robot vugt qua ving an toa. - Power-off stop: Tit ngudn déng co ngay lap tite. = Control stop: Dimg ¢6 gidm we rdi tt ngudn dong co (thii gian tré cho tit ngudn thi téi da | gidy). = Notstop _: Robot khéng dimg. Trang thai duge cai dat trong Safe VO IPC.Disabling input _: Bé batitit ute nang Joint Position Check mt céch déng luc hoc, Safe VO c6 the durge cai lam tin higu tat. — Khi Safe VO chi dinh 1a ON, chite ning nay tit, — Khi Safe 1/0 chi dinh la OFF, chitc nang nay bat. — Khi Safe I/O chi dinh IA khéng xc dinh (--), chtre nang nay bt. = CHU ¥—Tin higu an toin (SPD) Ia phan cing thém. Tuy nhién, tin higu SPI[1-2] thi cé sin trén ti didu khién R-30iB logi A. — CHU Y~—Trang thai ving cé thé duge ding nur tin hiéu TAT, tham khao dinh nghfa (CPC, CSC, IPC, & JSC). 4) Dichuyén con tré ti cée hya chon dé chink sta. Bm F2 PREV hode F3 NEXT dé chuyén 16i tryc trude/sau. Bam > dé qua trang ké. 5) Bam F3 4D dé coi viing an toan cita Robot trong khdng gian 3 chiéu. 6) Bam F4 VIEW dé coi khoang gisi han. 7) — Sau khi thay ddi céc gia trj cin thiét, théng bao sé durgc hién thi. Phai chon ENABLE thi chite nang DCS méi durge kich host.8) 9%) Tieed to spot OCS param SPCC LINE 0-7. ABORTED AE [ uno | > ————— Bam PREV 2 lin dé tro vé man hinh chinh Sau khi bam F1 i SEAT Necd opp OCS oar SMUD UNE 0 Fe ABORTED REET mney | a] ORAL1) oa | SPEED UNE 072 ABORTED [ved Can bam FCTN, chon NEXT, chon COLD START, roi chon YES, bam ENTER, tao] > 12)13) Ki khi dong lai, thi trang thai s® duge e§p nhyt (SAFE) C. Xi ly eimh bio Khi Robot nim ngoai ving an toan, cdnh bao khéng thé x6a. Dé di chuyén Robot vé ving an toda. Chon ché d9 TI, bat TP, gitt SHIFT va bém nit RESET ri Jog Robot vé lai bén trong ving an ‘oan. ‘Trong hic Jog, néu tha SHIFT ma Robot vin cn dang nim ngoai ving an toan hode di chyén Robot ra xa ving an toan, thi cénh bao lai xdy ra va hé thing tat ngudn dong co. Khi dong co duge bat, Robot di chuyén chim. Dé tranh xy ra cdnh bao DCS, Robot chi duge cho phép di chuyén ngin (Ngay cd khi di ra xa ving an toan, bii vi cin béo DCS xiy ra khi khoding di chuyén cia Robot vuot qua khoang ngin cho phép). Trong tragng hop Payload bi cai dat sai, khoang di chuyén tro nén by hon, cdnh bao lai xy ra. Nén trong truéng hop nay kiém tra edi 45 Payload hod tit chite nang dé tam thoi. D. Khoang vugt 16 lic dimng (Stop Position Prediction) Khi xay ra cénh bao DCS, dng co bj dig. Nhung do Robot e6 khdi lugng Ién va dang di chuyén 6 van t6c, nén Robot e6 xu hudng di chuyén thém mot khéic truée khi dimg han. Chite nang Stop Position Prediction c6 thé tinh toan khoang vuot 16 bang dit li8u di chuyén lic 6 cua Robot détinh ra khoang nguy hiém va thém né vao ving an toan dé dam bao cho t6i khi ding Robot vin khong vugt I6 khoi ving an toin, Currant potion Lower it ‘Safe cone eer tit 5. Vin ae Khi chite ning DCS duge bat, mét s6 chong trinh duge viét riéng (nhu chutong trinh chay gidm ap) 88 chay Robot ra khoi safe zone. Chite nding DCS sé dimg Robot lai theo cai dit. Bé tiép tue chuong trinh ta phai DISABLE ehite nang DCS trong menu 2 lin DETAIL iia né (vige may ty thug vao nha tich hgp ¢6 cai DCS number code hay khéng), Néu cé thi phai xin hoge khéng xit check 1/13 Status: CHGD ENABLE 0 4) Tai dong 2 Enable/Disable:, di chuyén CHOICE, bam F4 YES, chon DISABLE, thi check sé bj vé higu hoa. con trd v6 cai djt ENABLE/DISABLE, bim F4 toan b6 cdc thing sé cai dat cho Cartesian positionCartesian position check No. Status: Comment: Panneneneenneioneree nee) Enable/Disable: Method (Safe side) :Diagonal (IN) Group Target model 1: Target model 2 Target modal 3: (0:Disable,~1:Robot,-2: Tool) User frane! ° Position (mn) : Tyre) | pe | nem fonorcey | _unoo 5) Bam soft key PREV 2 ln dé quay vé menu chinh. Stop position prediction: 12 Robot setup: 13 Mastering parameter: 14 Safe 1/0 consistency check: 15 Safe 1/0 device: 6) Bim F2 APPLY, 1111 cho “Code number (Master) F-2i2 Need to spply to OCS param Verify (ditt) G mumber: F00000 VERSION : HandlingTool SVERSION: VB.30218 8/1/2027 DATE 21-gAN-22 09:40 DCS Version: V3.5.11 --- Cartesian Position Check Process time factor (Max.1000): No. GM Status Comment i ENABLE 1 DI CEGD [ 1 7) Bim F3 dé chon ALL hodc DIFF, rdi bam F4 OK, man hinh ty tré vé menu chinh.FAN! B. Mi DCS (DCS CODE NUMBER) Ma DCS ding 4é cho phép thay déi cai dat théng s6 ctia cdc chite ning DCS, né la diéu kign bit bude (khong cé khdng durgc). Cé 2 loai ma: ; — MiMaster — : Ditng dé apply cho moi thay déi ciia parameter. - MiLocal _ : Base, Position/Speed Check, Safe /O Connect. Méi loai cho phép cai dat ‘mot chite nang nh din, Ma Master duge cai mac dinh 14 1111, on ma Local la tiy chon, vi vay, néu chua cdi ma Local thi ma Master duge dp dung thay thé cho moi yéu cau nhip ma. Ma Master cé thé diing 4@ xa ma Local. Phai nhap ma DCS hién tai trudc thi moi thay déi thinh ma DCS méi. Ma DCS duoc hum trong file backup SYSPASS.SV, vi vay, khi 43i mi DCS Master trong file SYSTEMSV ri dé Iai v6 Robot. Cinh béo "SYST-219 Need to apply DCS param" xuat hién, théng bao hign "Previous code number (master):" yéu cau nhap ma DCS cii v6 tude khi file duge load v6. — Tin nhdn "Previous code number (master):" hién thi, can phai nhép mi DCS master cia robot ruse khi nap file SYSPASS.SV. — Réi tin nhén "Code number (Master)" sé hién thi, nhap ma DCS master cia file méi SYSPASS.SV. Tnrang hop load file Image. — Théng bio "Previous code number (master):" dure hién thi, ta phai nhap mi DCS Master ma trudc khi load file Image. Néu chon Yes & "Initialize DCS parameters?" lite restore Image, hy nhap 1111 — R6i théng bio "Code number (Master)" dang nap. thi, hay nhap ma DCS master cia file Image ‘Vi vay, cin phai quan ly k¥ ma DCS master, vi kiéu gi cling khong thot khéi vige phai nhdp lai ma DCS di li dé Iai Image. File Included DCS setting parameters: jocsros.sv Position/Spoed Check function (Includes user setting of Stop Position Prediction) IOC SV [Safe VO Connect function and user comments of the Safe VO signals. YSCIPSSV [DeviceNet Safely or EtherNeVIP Safaty (Items in DCS CIP safety mena) NOTE - DCS parameters set by an external configuration tool are not included. SYSPASS SV ode numbers 3YSPNSF.SV |PROFINET Safety (tems in DCS PROFINET safety menu) INOTE - F-Parameter Is not included. SYSMASTSV Mastering parameters, SYSVARS.SV [Robot setup data, Robot model, Defaults for Stop Position Predicion, Safe lO device, [Auxillary axis servo off local stop) DDERS. PMG. ‘Safety PMC program. /SFLSF SV [Safety function by FL-net (items in DCS Saely function by