自营086407-502模块备件

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086407-502若PLC控制的系统需要联入工厂自动化网络，则PLC需要有通信联网功能，即要求PLC应具有连接其他PLC、上位计算机及CRT等的接口。大、中型机都有通信功能，目前大部分小型机也具有通信功能。
  （7）对PLC结构形式的选择
  在相同功能和相同I/O点数据的情况下，整体式比模块式价格低。但模块式具有功能扩展灵活，维修方便（换模块），容易判断故障等优点，要按实际需要选择PLC的结构形式。通用电气公司设计了IS220UCSAH1AMark VIe系统的处理器/控制器。

这是一个单盒装组件，带有一个用于通信连接的前面板，两个安装在后边缘的螺丝，以及三个用于通风的格栅孔。控制器设计安装在机柜的底部。对于一个易于为三冗余系统服务的小型设置，0多可以并排安装三个组件。传感器输出机械角θ信号，从系统接口XIO板进入CTR主控板，经R/D转换成θr，再以转子角速度ωr形式，直接将速度反馈送到速度调节器。

转矩给定T_R将来自于速度调节器的SFC_T_R进行转矩限制处理和di/dt运算，求出0终的转矩基准IQ_R信号。ID_R是磁通给定信号，它有以下功能：在基速以下，保持磁通恒定，电机恒转矩调速；基速以上，保持电压恒定，磁通按一定比例减少，电机恒功率调速。

处理器主板在矢量计算控制系统完成IGBT触发信号后，把触发脉冲传送到逆变器，控制IGBT导通和关断，得到所需电机近似于正弦波的输入电压和频率，进而调节电机转速。

2.3数据通信

传动系统和PLC间通信采用FL-NET总线,光纤连接，变频器与HUB之间，以太网通讯。结构见图7。

EN：Ethernet接口模板 I/O：输入输出模板 EGD: Ethernet Global data

FL-NET：FL-NET模板 Switch：开关

PLC系统配置了一块FL612接口模块和一块EGD模块，与各变频器进行数据交换。各变频器地址均在EGD中配置，传动与PLC及传动与传动之间数据交换都是通过EGD来完成。IS220UCSAH1A使用的是QNX操作系统。

它有一个667兆赫的飞思卡尔8349处理器。

该板由12瓦、18-36 V直流电源供电。

IS220UCSAH1A的前面板包括六个母插孔连接器、一个USB端口和各种LED指示灯。

即使在其0大额定温度下，该板也可以在0到65摄氏度的温度范围内工作，并且不需要风扇来冷却。

它包含位于前面板左侧的Link/Act LED指示灯，以及位于面板中央的一排指示灯，分别标有“电源”、“启动”、“在线”、“闪光”、“DC”和“诊断”。

以太网连接通过插孔连接器实现，允许电路板与其他Mark VI、Mark VIe或EX2100励磁控制器以及维护和操作员站接口。ABB推出两款0新的机器人控制器OmniCore? E10和V250XT，以扩展其OmniCore?控制器系列，服务更广泛的制造应用

速度更快、柔性更高，助力客户持续提高生产效率，以响应不断变化的市场需求

新款控制器支持1000余种软硬件功能扩展，满足客户不同需求

为了满足更快、更高效的生产需求，ABB OmniCore?控制器系列推出了0新E10和V250XT控制器。两款控制器可与ABB多种型号机器人配合使用，提供业界领0的运动控制功能，节省高达20%的能源，并通过内置数字化连接和1000多种可扩展功能来满足未来不断变化的需求。E10和V250XT控制器的推出将为电子装配、汽车、物流、通用工业等行业客户带来更强大的机器人控制体验。

今天，各个行业对快速、多样化生产的需求不断增长，同时要求我们对飞速变化的市场状况作出更快速的响应，以提供更快速、准确、灵活的解决方案。作为ABB OmniCore?控制器家族的新成员，E10和V250XT为制造商提供了更多的可能性，使他们能够0大限度地缩短停机时间，提高生产效率，以满足日益变化的需求。

——Antti Matinlauri ABB机器人0球产品管理负责人

两款0新的控制器均支持1000余种硬件和软件功能扩展，涉及编程、离线调试和模拟、维护、视觉和安0等领域。此外，通过连接云端ABB Ability?互联服务，控制器强化了预防性维护和生命周期管理功能，从而进一步提升了机器人性能。

ABB还为OmniCore?控制器设计了物联网网关开放式自动化软件。物联网网关技术实现了数据从工厂车间、机器到机器（M2M）、机器人到其他机器，以及机器人到传感器、到MES/ERP系统或云端的无缝传输，使真正的联合生产成为可能。

此外，两款控制器都支持ABB的TrueMove和QuickMove运动控制技术应用，从而能够提供行业领0的速度、节拍时间、重复定位精度和路径精度。这使得ABB机器人比其他同级别机器人运行速度更快。相较上一代ABB机器人产品，采用新款控制器的机器人速度将提升25%。

E10采用超薄的19英寸机架式设计，适用于狭窄空间和高密度生产线，如电子行业的小件装配和物料搬运等要求布局紧凑的应用。E10控制器可应用于ABB SCARA机器人（如IRB 920T）和负载达11kg的多关节机器人（如IRB 1300）。

OmniCore? V250XT控制器可应用于负载直至300kg的多关节机器人（如IRB 6700），为电动汽车生产、汽车制造、物流和通用工业等众多应用提供多样和强大的支持。

OmniCore? E10和V250XT控制器采用了节能的能量回馈技术和制动能量回收技术，与ABB之前的IRC5控制器相比，能耗降低20%，可以帮助制造商减少能源消耗、降低能源成本。

新款控制器均可与ABB示教器配套使用。超大8英寸多点触控显示屏支持标准手势操作，如轻触、滑动和点击，简化了机器人编程。ABB示教器支持"热插拔"式连接方式，可在不中断操作的情况下拔掉插头或重新连接使用，从而供多台机器人共享，不仅提升了机器人部署效率还能0大限度降低成本。

E10和V250XT控制器的推出为ABB OmniCore?控制器家族翻开了0新篇章，目前OmniCore?控制器系列可与14款机器人搭配使用，为机器人提供更加强大的动力和柔性。所有OmniCore?控制器都基于ABB行业领0的RobotWare操作系统开发，未来将进一步扩展到ABB其他机器人型号中，更多应用将在2022年陆续推出。


FL-NET网络以Ethernet为物理层，采用总线拓扑结构，是日本采纳的一种PLC网络标准，其协议栈高层为UDP/IP+ UDP/IP+独自循环通信协议，以保证通信的实时性。

PLC系统与传动系统间数据交换基于EGD(Ethernet Global Data)以太网0局数据处理通信，EGD协议是美国GE自动化公司基于以太网技术的数据交换协议，它以数据报文形式在一个发送者和多个发送者之间实现100Mbps数据高速传送，遵循UDP/IP独自循环通信协议。数据发送时间间隔短，安0性强，不易丢失，各站为双向角色，既是服务器也是客户端。

3. 系统调试

从图5中可以看出，这是一个典型的双闭环控制系统，TMd-10e2提供了多种调试手段，从静态的电机自测试到负荷调试，其目的都是为了确保系统的稳定和快速响应。

3.1 系统转矩优化测试Fully meet the requirements of real-time acquisition and control.



Other PLC fixed communication data storage addresses are inconvenient for application. S7-1200 can define different data addresses for different sub stations.



Some PLC communication instruction packages such as Omron or delta fix the data read by each communication in a specific register. When you want to use it, you can "transfer" it out of this register for use. This always means that when PLC reads different data of the same equipment or different equipment, you must "plan" to "move" the data you need from the public fixed data register "accurately" and "timely" according to different times, otherwise the public fixed data register may be replaced by "new" data refresh, resulting in data confusion. To complete these tasks, you must have good programming habits and write a lot of programs for timing processing. If the amount of data is large, it is definitely a test for an engineer.



S7-1200 is much more flexible in this regard. You can put the data you read into any defined data background data block, which is very easy and simple. 0近新能源汽车和锂电池生产线的话题非常火爆，国内锂电大厂宁德时代加速布局海外市场，0近宣布了计划投资73.4亿欧元（相当于500亿人民币），在匈牙利建设0二座欧洲工厂，生产新能源锂电池，以供应欧洲市场的新能源汽车。之前也有消息说，宁德时代计划投资50亿美元在北美建厂，因为各种敏感性问题，北美计划暂时被搁置。0对值编码器在新建生产线上可以起到什么作用？

      据了解宁德时代公司目前在0球有十大生产基地，早在2018年宁德时代就宣布0一家海外工厂设立在德国图林根州，但是目前来看德国工厂的反馈意见，就是成本太高和建设周期太长，考虑到目前的国际形势，海外建设周期过长可能到投产时就已经减弱了市场竞争力。

      所以无论是匈牙利建厂还是计划北美建厂，甚至在国内建新厂，因疫情和进口涨价的因素，新建生产线都面临着同样问题：

出差要少，调试周期要短，一次通过率要高，使用维护要简单方便，要快速出产能。 针对客户这样的诉求，就有对生产线上自动化设备和器件“性价比”的重新思考，性价比与可靠性的关系在海外的本地化生产需考虑到工人培训、效率、生产线维护对成本的影响。



      0近小米的雷军在演讲中也有相似的表述，其实产品技术0进性，也是要为提高产品性价比服务的。客户既有对技术0进性的追求，可持续发展，又有对于生产线投入产出成本及今后使用成本的考量。面对太新的技术，却感觉成本太高；面对一些把便宜就当作性价比的产品，对于其稳定性可靠性又难以信任。在“0进技术”与“性价比”这两者之间如何做出选择？

可见“技术为本，性价比为纲”已是科技大佬们共同思考的问题。   无论是海外建厂还是国内新建生产线，生产线上设备如何考虑性价比和可靠性?中国制造的自动化设备在海外的生产线上能占多少比重?如何降低采用进口器件受涨价因素和货期因素的影响?上海精浦编码器已有多年随着设备出口欧洲的经验，也有国内参与自动化生产线建设应用的经验，那么我们的0对值编码器在生产线上起什么样的作用呢?
0对值编码器的加入，就可以帮助客户减少对于“可靠性”与“使用成本”的担忧。

首0就从我们编码器的角度来讲，新建生产线至少有这么几点是需要考虑的：
0一点、性价比

0二点、调试周期

0三点、可靠性

0四点、工人培训

0五点、后期维护的便利性
      生产线的稳定、可靠、高效，是直接影响企业效益的，0近宁德时代董事长曾毓群在世界动力电池大会上也提到3点要求：“0一是对研发能力提出更高的要求;0二是大规模交付对制造能力提出更高的要求;0三是产业纵深发展对服务能力提出更高要求。”这其中0二点就是针对制造能力的，现代的工业生产已经不再是单机设备加工了，是需要整个生产过程实现完0的自动化，任何的自动化生产线无论技术0进与否，都要围绕着稳定、可靠、高效的目标去实行。

那么我们认为，生产线上的性价比应该是如下的理解   接下来以锂电生产线为例，在各类车用锂电池制造设备中，一提到制造能力的0进高效，往往会想到各种伺服电机作为执行元器件的控制系统，但是由于电池的制造工艺，在各种生产工序中并非都是由伺服电机来完成，也有部分是步进电机甚至是气缸，比如辊压就是有气缸定位的。

     在传统的伺服中，编码器是作为电机末端的传感，各个机位同步就需要接收来自编码器实时位置反馈，控制器通过工业总线或者工业以太网串联，逐个扫描位置数据，即使再快的总线和再快的PLC也会存在些许延时，这就需要专业的伺服技术人员现场调试，有时候设备使用时间久了，机械磨损损耗较大，机械磨损后定位位置发生改变，还需要专业技术人员现场调整和维护，在电池生产线大批量产能需求下，使用成本和维护成本就增加了。 在机械终端加0对值编码器，作为前端传感，位置数据直接并联输出到控制器，同步采集，无论有多少个点同时工作，也无论是采用气缸或者步进电机驱动，都可以实现不同执行器间协同工作，而且不需要繁琐的调试，只需要手动校准，把位置值写入控制器，控制器运行时读到数值输出开关点，控制机器，工作效率显著提高，更加稳定可靠，现场调试简单，且后期维护也方便这里提到开关点，有懂技术的会说用光电开关定位，但是在电池生产线上比如焊头、比如压辊是柔性的，只靠一两个开关点显然不能满足0定位的要求，而且一旦过冲还会损坏设备，所以需要柔性的传感器方案，单圈0对值编码器就被当作“柔性电子凸轮开关”使用。 我们把单圈0对值编码器简单理解为360度里面有很多个位置开关组合，假设把360度分成360个开关点编码，控制设备(比如PLC或单片机)接收到编码，可以根据需要选择这360个位置中任意位置作为电子凸轮的输出开关点，作为“凸轮进-减速”输出和“凸轮出-复归位”输出，来控制机械装置周而复始的往复工作。  这种柔性的电子式凸轮开关精度高、重复性高、可靠性高，在多个位置上可以有多个凸轮开关点，根据需要任意位置编程输出，非常适合只需简单重复而又要求可靠的应用，就如在锂电的焊接和封装生产线上那简单重复的工序要求。

      有了0对值编码器，调试的时候只需要手动锁定几个点的位置，然后在PLC程序里面记入位置值，以后就不会再改变，编程与调试非常简单，后期使用也能保证长期可靠。 关于0对值编码器输出信号，因为大多数工控设备都会用到模拟量接口，模拟量采集模块是同时采集所有输入信号，同步性高、兼容性好，而且现场检查故障只需要一只万用表非常方便，所以4-20mA信号的模拟量信号的单圈0对值编码器具有接线简单、读数简单、调试简单、检修简单诸多优点，在精度要求不高可靠性要求极高的场合下，反而受到现场工程师们的偏好。

      由于锂电生产线空间有限，需要传感器体积小，又是连续高速焊接，一方面周边会产生较高环境温度，另一方面焊机位置靠得近，相互之间会产生较高的电磁干扰，所以对传感器提出以下更高的要求：
E10 adopts an ultra-thin 19 inch rack design, which is suitable for applications requiring compact layout in narrow space and high-density production lines, such as small parts assembly and material handling in the electronic industry. The E10 controller can be applied to abb SCARA robots (such as IRB 920t) and multi joint robots with loads up to 11kg (such as IRB 1300).



OmniCore? V250xt controller can be applied to multi joint robots with loads up to 300kg (such as IRB 6700), providing diverse and powerful support for many applications such as electric vehicle production, automobile manufacturing, logistics and general industry.



OmniCore? E10 and v250xt controllers adopt energy-saving energy feedback technology and braking energy recovery technology. Compared with ABB's previous irc5 controllers, energy consumption is reduced by 20%, which can help manufacturers reduce energy consumption and reduce energy costs.



The new controller can be used with abb teaching pendant. The large 8-inch multi touch display supports standard gesture operations, such as touch, slide and click, which simplifies robot programming. ABB teaching pendant supports the "hot plug" connection mode, which can be unplugged or reconnected without interrupting the operation, so that it can be shared by multiple robots, which not only improves the deployment efficiency of robots but also minimizes the cost.



E10 and v250xt controllers are introduced for ABB omnicore? The controller family has opened a new chapter? The controller series can be used with 14 robots to provide more powerful power and flexibility for robots. All omnicore? The controllers are developed based on ABB's industry-leading robotware operating system, which will be further extended to other ABB Robot models in the future, and more applications will be launched in 2022.




The fl-net network takes Ethernet as the physical layer and adopts the bus topology structure. It is a PLC network standard adopted by Japan. The upper layer of its protocol stack is UDP / IP + UDP / IP + single loop communication protocol to ensure the real-time communication.



The data exchange between PLC system and transmission system is based on EGD (Ethernet global data) ethernet global data processing communication. EGD protocol is a data exchange protocol based on Ethernet technology of Ge automation company in the United States. It realizes 100Mbps data high-speed transmission between one sender and multiple senders in the form of data packets, and follows UDP / IP single cycle communication protocol. The data transmission time interval is short, the security is strong, and it is not easy to lose. Each station is a two-way role, which is both a server and a client.



3. System commissioning



It can be seen from Fig. 5 that this is a typical double closed-loop control system. Tmd-10e2 provides a variety of debugging means, from static motor self-test to load debugging, all of which are aimed at ensuring the stability and rapid response of the system.



3.1 fully meet the requirements of real-time acquisition and control





Other PLC fixed communication data storage addresses are inconvenient for application. S7-1200 can define different data addresses for different sub stations.





Some PLC communication instruction packages such as Omron or delta fix the data read by each communication in a specific register. When you want to use it, you can "transfer" it out of this register for use. This always means that when PLC reads different data of the same equipment or different equipment, you must "plan" to "move" the data you need from the public fixed data register "accurately" and "timely" according to different times, otherwise the public fixed data register may be replaced by "new" data refresh, resulting in data confusion. To complete these tasks, you must have good programming habits and write a lot of programs for timing processing. If the amount of data is large, it is definitely a test for an engineer.





S7-1200 is much more flexible in this regard. You can put the data you read into any defined data background data block, which is very easy and simple. Recently, the topic of new energy vehicles and lithium battery production lines has become very hot. Ningde times, a large domestic lithium battery manufacturer, has accelerated the layout of overseas markets and recently announced plans to invest 7.34 billion euros (equivalent to 50 billion yuan) to build a second European factory in Hungary to produce new energy lithium batteries to supply new energy vehicles in the European market. It was also reported that Ningde times planned to invest $5 billion to build a factory in North America, but the North American plan was temporarily shelved due to various sensitive issues. What role can absolute value encoder play in the new production line?



It is understood that Ningde times currently has ten major production bases in the world. As early as 2018, Ningde Times announced that its first overseas factory was set up in Thuringia, Germany. However, at present, the feedback from German factories is that the cost is too high and the construction cycle is too long. Considering the current international situation, the excessively long overseas construction cycle may have weakened the market competitiveness when it is put into production.



Therefore, whether it is building a factory in Hungary, planning to build a factory in North America, or even building a new factory in China, the new production line is facing the same problems due to the epidemic and import price increases:



Less business trips, short commissioning cycle, high one-time pass rate, simple and convenient use and maintenance, and fast production. In response to such demands of customers, there is a rethinking of the "cost performance" of automation equipment and devices on the production line. The relationship between cost performance and reliability in overseas localized production needs to consider the impact of worker training, efficiency and production line maintenance on costs.





Lei Jun of Xiaomi also made a similar statement in his speech recently. In fact, the progressiveness of product technology is also aimed at improving the cost performance of products. Customers not only pursue progressiveness technology and sustainable development, but also consider the input-output cost of the production line and future use cost. Facing too new technology, but feeling that the cost is too high; In the face of some products that regard cheap as cost-effective, it is difficult to trust their stability and reliability. How to choose between "advanced technology" and "cost performance"?



It can be seen that "technology-based, cost-effective" has become a common problem for science and technology leaders. Whether it is an overseas factory or a new domestic production line, how do you consider the cost performance and reliability of the equipment on the production line? What is the proportion of automation equipment made in China in overseas production lines? How to reduce the impact of price increase and delivery time on the use of imported devices? Shanghai Jingpu encoder has many years of experience in exporting equipment to Europe, and also has experience in participating in the construction and application of automatic production lines in China. What role does our absolute value encoder play in the production line?

The addition of absolute value encoder can help customers reduce their worries about "reliability" and "cost of use".



First of all, from the point of view of our encoder, there are at least the following points to consider for the new production line:

First, cost performance



Second, commissioning cycle



Third, reliability



Fourth, worker training



Fifth, convenience of later maintenance

The stability, reliability and efficiency of the production line directly affect the enterprise's efficiency. Recently, Zeng Yuqun, chairman of Ningde times, also mentioned three requirements at the world power battery conference: "the first is to put forward higher requirements for R & D capability; the second is to put forward higher requirements for manufacturing capability through large-scale delivery; and the third is to put forward higher requirements for service capability through in-depth industrial development." The second point is aimed at manufacturing capacity. Modern industrial production is no longer a single machine processing, but requires complete automation of the whole production process. No matter whether any automated production line is technologically advanced or not, it should be implemented around the goal of stability, reliability and efficiency.



Then we think that the cost-effectiveness of the production line should be understood as follows. Next, take the lithium battery production line as an example. In all kinds of lithium battery manufacturing equipment for vehicles, when it comes to the advanced and efficient manufacturing capacity, we often think of various servo motors as control systems for executing components. However, due to the manufacturing process of batteries, servo motors are not always used in all production processes, Some of them are stepper motors or even air cylinders. For example, the roller press is positioned by air cylinders.



In the traditional servo, the encoder is used as the sensor at the end of the motor, and the synchronization of each position needs to receive real-time position feedback from the encoder. The controller is connected in series through the industrial bus or the industrial Ethernet, and scans the position data one by one. Even the fastest bus and the fastest PLC will have some delay, which requires professional servo technicians to debug on the spot. Sometimes the equipment is used for a long time, and the mechanical wear and loss are large, If the positioning position changes after mechanical wear, professional and technical personnel need to adjust and maintain it on site. Under the demand of large-scale production capacity of the battery production line, the use cost and maintenance cost increase. The absolute value encoder is added to the mechanical terminal as the front-end sensor, and the position data is directly output to the controller in parallel for synchronous collection. No matter how many points work at the same time, or whether they are driven by air cylinders or stepper motors, it can achieve cooperative work between different actuators, and it does not need tedious debugging. It only needs manual calibration, writes the position value into the controller, and reads the value output switch point when the controller is running, To control the machine, the working efficiency is significantly improved, it is more stable and reliable, the on-site debugging is simple, and the later maintenance is also convenient. When it comes to switching points, some skilled people will say that photoelectric switches are used for positioning, but in the battery production line, such as welding heads and pressure rollers, which are flexible, it is obvious that only one or two switching points can not meet the requirements of accurate positioning, and once overshoot occurs, it will damage the equipment, so a flexible sensor scheme is needed, The single turn absolute value encoder is used as a "flexible electronic cam switch". We simply understand the single turn absolute value encoder as a combination of many position switches in 360 degrees. It is assumed that 360 degrees are divided into 360 switch point codes. After the control equipment (such as PLC or single chip microcomputer) receives the codes, it can select any of these 360 positions as the output switch point of the electronic cam as needed, as the "cam advance deceleration" output and the "cam exit reset" output, So as to control the repetitive reciprocating operation of the mechanical device. This flexible electronic cam switch has high precision, high repeatability and high reliability. There can be multiple cam switch points at multiple positions. It can be programmed and output at any position according to needs. It is very suitable for applications requiring only simple repetition but also reliability, such as the simple and repeated process requirements on the lithium battery welding and packaging production line.



With the absolute value encoder, you only need to manually lock the positions of several points during debugging, and then record the position values in the PLC program, which will not be changed in the future. Programming and debugging are very simple, and later use can ensure long-term reliability. As for the output signal of the absolute value encoder, because most industrial control equipment will use the analog interface, the analog acquisition module collects all input signals at the same time, with high synchronization and good compatibility, and it is very convenient to check the fault on site with only one multimeter, so the single turn absolute value encoder of the analog signal of the 4-20mA signal has many advantages such as simple wiring, simple reading, simple debugging and simple maintenance, In the case of low accuracy and high reliability, it is preferred by field engineers.



As the space of the lithium battery production line is limited, the sensor is required to be small in size, and continuous high-speed welding is required. On the one hand, high ambient temperature will be generated around, and on the other hand, the welding machine is close to each other, which will generate high electromagnetic interference. Therefore, the following higher requirements are put forward for the sensor: