Generally, industrial robots consist of three main parts and six subsystems. The three main parts are the mechanical part, the sensing part, and the control part; the six subsystems can be divided into the mechanical structure system, the drive system, the sensing system, the robot-environment interaction system, the human-robot interaction system, and the control system. So, what are the components of an industrial robot control system? What are its functions?
I. Composition of Industrial Robot Control System
1. Control Computer: The dispatching and command mechanism of the control system. It is generally a microcomputer or microprocessor, such as the Pentium series CPU and other types of CPUs.
2. Teach pendant: It is responsible for setting the working trajectory and parameters of the teach pendant robot, as well as all human-computer interaction operations. It has its own independent CPU and storage unit, and communicates with the host computer via serial communication.
3. Control panel: Consists of various operation buttons and status indicator lights, and only performs basic functions.
4. Hard disk and floppy disk storage: peripheral storage for storing the robot's working program.
5. Digital and analog inputs and outputs: Inputs or outputs of various status and control commands.
6. Printer interface: Records various information that needs to be output.
7. Sensor interface: Used for automatic information detection to achieve compliant robot control, generally force, touch and vision sensors.
8. Axis Controller: Controls the position, speed, and acceleration of each joint of the robot.
9. Auxiliary equipment control: Control of auxiliary equipment used in conjunction with the robot, such as gripper positioners.
10. Communication interface: Enables information exchange between the robot and other devices, generally including serial interface, parallel interface, etc.
11. Network Interface:
Ethernet interface: Enables direct PC communication between multiple robots or a single robot via Ethernet, with a data transmission rate of up to 10 Mbit/s. After application programming using Windows library functions on the PC, it supports TCP/IP communication protocol and loads data and programs into each robot controller through the Ethernet interface.
Fieldbus interface: Supports a variety of popular fieldbus specifications, such as Devicenet, ABRemoteI/O, Interbus-S, profibus-DP, M-NET, etc.
II. Functions of Industrial Robot Control System
The robot control system is an important component of a robot, used to control the manipulator to complete specific work tasks. Its basic functions are as follows:
1. Memory function: Stores work sequence, movement path, movement mode, movement speed and information related to production process.
2. Teaching Functions: Offline programming, online teaching, and indirect teaching. Online teaching includes two types: teach pendant and guided teaching.
3. Communication with peripheral devices: Input and output interfaces, communication interface, network interface, synchronization interface.
4. Coordinate setting function: Four coordinate systems are available: joint, absolute, tool, and user-defined. Human-machine interface: teach pendant, operation panel, and display screen.
5. Sensor interfaces: position detection, vision, touch, force, etc.
6. Position servo function: multi-axis linkage of the robot, motion control, speed and acceleration control, dynamic compensation, etc.
7. Fault diagnosis and safety protection functions: system status monitoring during operation, safety protection under fault conditions, and fault self-diagnosis.
