ABB PM152 3BSE003643R1 ABB PM152 3BSE003643R1 ABB PM152
3BSE003643R1
EMAIL: miya@mvme.cn
Description
I/O System
A distributed I/O system is used, based on the fieldbus standard
CAN/DeviceNet. This
makes it possible to mount the I/O units either inside the cabinet
or outside the cabinet
with a cable connecting the I/O unit to the cabinet.
Two independent CAN/DeviceNet buses allow various conditions of I/O
handling.
Both channels can be operating as master or slave. One bus, CAN1,
is operating with
fixed data rate, and the other, CAN2 (accessible by the software
option I/O Plus), with
different data rates.
A number of different input and output units can be installed:
- Digital inputs and outputs.
- Analog inputs and outputs.
- Gateway (slave) for AB Remote I/O.
- Gateway (slave) for Interbus Slave.
- Gateway (slave) for Profibus DP Slave.
S4Cplus with the option I/O Plus can be configured for fieldbus
units from other
suppliers. For more details see the Product Specification RobotWare
Options.
The inputs and outputs can be configured to suit your installation:
- Each signal and unit can be given a name, e.g. gripper, feeder.
- I/O mapping (i.e. a physical connection for each signal).
- Polarity (active high or low).
- Cross connections.
- Up to 16 digital signals can be grouped together and used as if
they were a single
signal when, for example, entering a bar code.
- Sophisticated error handling.
- Selectable “trust level” (i.e. what action to take when a unit is
“lost”).
Program controlled enabling/disabling of I/O units.
- Scaling of analog signals.
- Filtering.
- Polarity definition.
- Pulsing.
- TCP-proportional analog signal.
- Programmable delays.
- Simulated I/O (for forming cross connections or logical
conditions without
need the for physical hardware).
- Accurate coordination with motion.
Signals can be assigned to special system functions, such as
program start, so as to be
able to control the robot from an external panel or PLC.
The robot can function as a PLC by monitoring and controlling I/O
signals:
- I/O instructions are executed concurrent to the robot motion.
- Inputs can be connected to trap routines. (When such an input is
set, the
trap routine starts executing. Following this, normal program
execution
resumes. In most cases, this will not have any visible effect on
the robot motion,
i.e. if a limited number of instructions are executed in the trap
routine.)
- Background programs (for monitoring signals, for example) can be
run in parallel with the actual robot program. Requires
Multitasking option, see
Product Specification RobotWare.
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