Upload
others
View
14
Download
0
Embed Size (px)
Citation preview
About me
Personal Data
Gary Liang / 梁恩泉
2007 – up to now Phoenix Contact Software
Software Business Development and Team Management
.
3
MM现代制造
基于IEC61131语言编程的开放式机器人平台 - MULTIPROG
支持IEC 61131-3 标准中规定的所
有编程语言 (IL, ST, LD, FBD, SFC);
软件语言支持中文、英语、德语、
日语、法语、意大利语、西班牙语
等多国语言;
支持实时多任务及事件中断;
完全的机器码执行从而做到极高的
执行效率;
支持标准的硬件平台:x86, PowerPC 603e/e300/e500,
MM现代制造
完全符合PLCopen 运动控制Part1/2规范
12
Motion-Library McpPLCopenBase
MC_Power MC_Stop
MC_ReadAxisInfo MC_AbortTrigger
MC_ReadMotionState MC_TouchProbe
MC_ReadStatus MC_CamIn
MC_ReadAxisError MC_CamOut
MC_ReadActualPosition MC_CamTableSelect
MC_Reset MC_GearIn
MC_Home MC_GearOut
MC_MoveAbsolute MC_Phasing
MC_MoveAdditive MC_ReadParameter
MC_MoveRelative MC_WriteParameter
MC_MoveSuperImposed MC_SetPosition
MC_MoveVelocity MC_SetOverride
MC_Halt
MM现代制造
完全符合PLCopen 运动控制Part4规范
13
Motion-Library McpPLCopenP4
MC_GrpEnable MC_MoveCircAbs
MC_GroupHalt MC_MoveCircRel
MC_GrpInterrupt MC_MoveDirAbs
MC_GrpReadActPos MC_MoveLinAbs
MC_GrpReadCfg MC_MoveLinRel
MC_GrpReadError MC_RemAxisFromGroup
MC_GrpReadInfo MC_SetCartTrans
MC_GrpReadStatus MC_UngroupAllAxes
MC_GrpReset
MC_GrpSetOverride
MC_GrpStop
MM现代制造
Robot Movement
16
Point To Point:
MC_MoveDirAbs
Linear:
MC_MoveLinAbs
Circular:
MC_MoveCircAbsMM现代制造
MC_MoveLinAbs and MC_MoveCircAbs
AxesGroup
Execute
AxesGroup
Done
MC_MoveLinAbs
Busy
Active
Position
Velocity
CommandAborted
Error
ErrorID
JobID
BufferMode
AxesGroup
Execute
AxesGroup
Done
MC_MoveCircAbs
Busy
Active
CircMode
AuxPoint
CommandAborted
Error
ErrorID
JobID
EndPoint
PathChoice
MainPlane
Velocity
BufferMode
TransitionMode
TransitionBuffer
MM现代制造
工具TCP定义
Position and orientation
of the tool depend on
tool geometry
If the tool changes, the
parameters must be
changed online
2
4
MM现代制造
系统扩展性总结
基于开放式PLC编程平台
可自行开发C/C++程序对示教器与I/O系统进行扩展
可自行开发C/C++程序对视觉系统进行扩展
符合PLCopen规范进行机器人控制
提供额外针对机器人的辅助功能模块
可以扩充机器人运动模型
可配置机器人轴为虚拟轴或者实际基于EtherCAT或者其他总线,脉冲类型的驱动器(默认方案提供基于EtherCAT解决方案)。
MM现代制造
基于高性能IPC架构
27
MULTIPROG
Soft-PLC, Real-time EthernetIEC 61131, HMI, Bus Configuration
INtime virtual machine
eCLRPROFINET
/EtherCAT
MM现代制造
Motion Control Platform Architecture
29
Channel 1
D E C
Channel 2
D E C
Channel n
Axis control
SAI
SAI
SAI
+/- 10 V
311 14 5 6 229 8
Simulation
SERCOS StepmotorsProfidrive CAN
CNC / MC PLC
...
T G C
D y n P re p
D E C
2
AX 1
AX 2
AX n
CH 2
CH 1
| |
|--| |--|/|----( )-|
| A B C |
IEC 61131 Logic
Positioning
Gearing Camming
Drum Sequencer
Robot Transform
Logic
Single
Axis
DualAxis
Multiple AxisGroups (Channels)
M A x Ipo
T R A F O
M A x Ipo M A x Ipo
T R A F O T R A F O
T G CT G C
D yn P re p D yn P re p
MM现代制造
Integrated Robot features:Path Planning
30
Automatic detection of prismatic
and HSC trajectory segments
Trajectory optimization
Jerk limited contouring
Interpolation
LinearCircular
Akima-Spline B-Spline
Velocity profiles
(slope function)
Programmable velocity
profile parameters5
R 12 Fillets and
chamfers
Helical
MM现代制造
Blending and Transition Modes
Overview of available Blending and
Transition Modes
3
2
BufferMode TransitionMode Description
Aborting Not supported in Coordinated Motion
Buffered Start FB after all before send FBs have
finished. Velocity will be zero at the end of
this block. No transition to a following
block is made.
Blending
TMNone No geometric transition curve is inserted.
The transition velocity depends on change
of direction of the new FB.
TMConstantVelocity A transition curve is inserted.
The FB will not be executed immediately,
because a following FB is expected.
A following FB is needed to calculate the
transition curve.
The last FB of a sequence of FBs must
have BufferMode “Buffered”.
TMCornerDistance
TMMaxCornerDeviation
TMConstDeviation
TMIntermediatePoint
TMDynamicOptimized
MM现代制造
Phoenix Contact Robot Solution
42
实时操作系统: INtime
机器人算法内核: ISG 内核
实时以太网总线: EtherCAT主站
开放的PLC平台: MULTIPROG
MM现代制造