GB/T 37414.1-2019Industrial Robot Electrical Equipment and Systems Part1: Requirements for Controller (English PDF)

3.1 Industrial robot

Automated, reprogrammable, versatile manipulator for programming three or more axes, either fixed or shifted

Move. Used in industrial automation.

Note 1. Industrial robots include.

---Operator with actuator;

--- Controller with teach pendant and some communication interfaces (hardware and software).

Note 2. This includes some integrated additional axes.

[GB/T 12643-2013, definition 2.9]

3.2 Industrial robot control system

The core part of industrial robots is a set of logic control and power functions that can control and monitor the mechanical structure of the robot and the environment.

(Device and user) systems for data communication.

Note 1. Rewrite GB/T 12643-2013, definition 2.7.

Note 2. The common industrial robot control system architecture is shown in Figure 1 and Figure 2.

Figure 1 Control system structure 1. Control-drive separation structure

Figure 2 Control system structure 2. control-drive integrated structure

3.3 Industrial robot control device

Industrial robot controller industrialrobotcontroler

The main part of the industrial robot control system mainly includes the main control unit, I/O interface, bus communication interface, sensor interface, servo

Hardware (and/or circuitry) such as interfaces, human robot interaction interfaces, and their corresponding control software.

Note 1. Industrial robot control devices may also have the ability to sense their environment and/or interact with external resources and adjust industrial robot actions to perform tasks.

Such as having a visual sensor for picking up objects, avoiding collisions and the like.

Note 2. Rewrite GB/T 29482.1-2013, definition 3.2.

3.4 Programming

The behavior of programs that program functions such as motion and assist for industrial robots (or industrial robot systems).

Note. Rewrite GB/T 12643-2013, definition 5.2.1.

3.5 Offline programming

The programming method is programmed into the robot after programming the task program on the device separate from the robot.

[GB/T 12643-2013, definition 5.2.4]

3.6 Teaching programming

Manually guide the robot end effector, or manually guide a mechanical simulation device, or use the teaching box to move the robot step by step

Programming is done in a way that exceeds the desired position.

[GB/T 12643-2013, definition 5.2.3]

3.7 Singular singularity

Appears when the Jacobian matrix is not full.

Note. From a mathematical point of view, in singular isoforms, the joint velocity in joint space can be infinitely large in order to maintain velocity in Cartesian space. In actual operation

In the case, the motion in the Cartesian space at the singular point attachment will produce a high rotational speed that the operator cannot predict.

[GB/T 12643-2013, definition 4.13]

3.8 User interface

A device for exchanging information and actions between a person and a robot during the interaction between a person and a robot.

[GB/T 12643-2013, definition 5.12]

3.9 Human and robot interaction human-robotinteraction

People and robots exchange information and actions through the user interface to perform tasks.

[GB/T 12643-2013, definition 2.29]

4.1 People interact with the robot

4.1.1 Operation status monitoring and display function

The industrial robot control device/controller shall monitor and display the operating state of the robot during the control operation.

To include but not limited to. current program running status, running track, actual position, programming command value, remaining distance to be moved, feed

Rate, motion mode, working coordinate system, currently running workpiece name, main program name, subroutine name, end actuator status monitoring, soft and hard

Limit monitoring and so on.

4.1.2 Job Information Processing Function

The control device shall have the necessary information for the operation planning, and then output to the operation planning unit to simultaneously display and diagnose the abnormality.

The function of information.

4.1.3 Exception Information Processing Function

The control device shall have the possibility of making unpredictable events, making appropriate diagnosis of various information, and judging the occurrence of abnormal events.

A valid display reminds the operator of the function.

4.1.4 Remote Information Function

The control device should have a controller-dependent sharing via fieldbus (controller motion state, robot motion, servo state, external sensing)

Information, etc.), and can receive commands to implement robot-related (calling program, motion state) control functions.

4.1.5 Multi-language display and switching function

The control device should support Chinese, and should support multiple language display and switching functions in English and Russian.

4.2 Programming, operation and operation

4.2.1 Programming instructions

The control device should have the relevant instructions specified in GB/T 29824-2013 and can be customized for special process applications.

Special instructions.

4.2.2 Teaching programming function

The control device shall have a teaching function, that is, before the industrial robot performs the work, the machine is issued by issuing commands for the operation and movement of the robot.

The person moves, and saves the position and posture information, the action sequence and the peripheral device synchronization relationship information, and the action and work condition information.

Over-reproduction realizes the action of the robot and completes the work.

4.2.3 Offline programming function

The control device should have offline programming and direct machining functions, ie machines through industrial robot control devices and computers (PC)

The interaction between human graphical programming and simulation software enables workflow from machining model, programming, job simulation to direct machining.

4.2.4 Program editing and management functions

The control device shall have such words as, but not limited to, adding, deleting, modifying, copying, pasting, batch modifying instructions or parameters to the program.

This or the instruction editing function, as well as the operation functions of creating, deleting, copying, and renaming files.

4.2.5 Subprogram Call and Nesting Functions

The control unit should have the function of multiple nested subroutine calls.

4.2.6 Block search function

The control unit should have the function of skipping the block by the block search to the beginning of the specified block.

4.2.7 Block skip function

The control unit shall have the function of locking or jumping several specific blocks while testing or running a new program.

4.2.8 Single step forward and single step back function

The control device shall have a single-step advance teaching test and a single-step backward teaching check for any line of program instructions in the teaching mode.

Check the function.

4.2.9 Program Test Function

The robot control unit should have program testing functions, such as offline or online, to test the correctness of the program.

4.2.10 Program operation and reproduction function

The control device shall have an operation for the industrial robot to accurately perform the operation according to the stored teaching information or the language of the robot.

Ability.

4.2.11 Start, stop, override function

The control device shall have the function of starting the specified program or the arbitrary command of the program at any time; it shall have a pause or stop at any time.

The function of the line program; it should have the function of adjusting the speed multiplier online and changing the running speed of the robot online during the running of the program.

4.2.12 Program restart function

The control device shall have the function of continuing the last run of the program after the alarm is cleared or re-powered.

4.2.13 Running the debugging function

The control device shall have the function of starting from any line of instructions at any time in the teaching or automatic operation mode, or by adding a pause command.

The ability to stop any line of operation.

4.2.14 External operation mode function

The control device should have a control and monitoring function for starting, suspending, and stopping the program through a signal or a network in the remote mode.

4.2.15 Station reservation function

The control device should have a function of performing a job to be executed in advance in the system. Should also have an input letter based on external

The order of the number, the function of the job in sequence.

4.2.16 Running Log Function

The control unit should have the ability to collect and store system health and for users to view.

4.2.17 Mode switching function

The control device should have the function of switching between different operating modes, such as manual and automatic.

4.3 Motion Control

4.3.1 Origin setting function

Industrial robots should have an origin setting function.

4.3.2 Coordinate system calibration and setting function

The control device shall have the function of determining the origin position of the user coordinate system, the absolute coordinate system, and the tool coordinate system.

The control device shall have a function to enable the robot to achieve a positional control under any of the above coordinate systems.

4.3.3 Path and Trajectory Planning Functions

The path is an ordered set of robot poses, and the trajectory is a time-based path. The control device should have a controlled between the motion segments

The function of the motion sequence. The above controlled motion sequences include but are not limited to. point-to-point motion in joint coordinate space, Cartesian coordinates

Straight lines, arcs, and high-order spline interpolation curve motions in space.

4.3.4 Track Smoothing Function

The control device shall have a non-zero speed smooth transition function of the robot during the end-to-end motion of any motion sequence.

4.3.5 Accurate in place function

The control device shall have the motor reach zero speed at the end of any sequence of motion, and then execute the next motion sequence

Columns to achieve accurate in place functionality.

4.3.6 Servo function

The control device shall have control of the movement of each axis of the robot, judge and process the state feedback such as the actual position, and operate

The function of setting and acquiring related parameters.

4.3.7 Parameter Configuration Function

The control device should have the function of matching it with the structure and function of the robot through parameter configuration.

4.3.8 Coordinate system transformation function

Control device can make industrial robots move relative to different types of coordinate systems, including joint reference coordinate system, base coordinate system,

Household coordinate system, tool coordinate system, cylindrical coordinate system, etc. Usually industrial robot programming is relative to one of the coordinate systems, the control device

It should be possible to implement transformations between different reference coordinate systems.

4.3.9 Calibration and error compensation

The control device should have calibration and error compensation functions, that is, for the manufacturing process and assembly error, use the measuring tool to enter the industrial robot

Line measurement and input data into the compensation algorithm, and finally output compensation data to improve the positioning accuracy of the robot.

4.3.10 External axis setting function

The control device shall have a setting function for the external axis (frame shaft, tooling shaft) of the industrial robot. The external shaft is mounted on an industrial robot

The general term for the motion axes outside the body, commonly used are the base shaft and the tool shaft. The pedestal shaft is an axis that can move the industrial robot as a whole, such as walking axis. The tooling shaft refers to the shaft that causes the fixture to be turned and rotated, such as the shaft on the positioner.

The control device shall have the function of cooperating the robot with the external axis. During the movement, the machine in the outer axis coordinate space

The human path and speed are controllable.

4.3.11 Soft floating function

The control unit should have a soft floating function. After the soft float is turned on, the industrial robot can change position and posture by external force and change the size.

Can be set by parameters. When the industrial robot gripper grabs the blank, it can change the posture according to the blank surface to achieve complete fit and avoid collision.

And friction.

4.4 PLC control

4.4.1 Basic PLC functions

The control unit shall have a programmable logic control (PLC) function for sequential control and process control.

a) Sequence control. Corresponding logic output can be generated according to the input conditions. Such as the clamp is released.

b) Process control. The corresponding analog signal output can be generated according to the input conditions. Such as the current of the welding torch.

4.4.2 Input/Output (I/O) Function

The control unit should have general purpose I/O, system I/O (including emergency stop, start, stop, pause, alarm, etc.) and custom I/O functions.

4.4.3 Digital/Analog (Analog/Digital) Conversion Function

The control device should have the function of converting digital and analog quantities.

4.5 Communication and bus

4.5.1 Internal network function

The control device shall have a network interface such as a field bus or an Ethernet, and a driver, a sensor, a teaching box, etc. having a corresponding interface.

Letter, the function of robot control.

The network should meet the real-time, synchronization, reliability and safety requirements of the robot control unit.

Note. The network usually includes RS232, RS485, CAN, real-time industrial Ethernet and so on.

4.5.2 External network function

The control device shall have communication with other control devices and upper management networks through an external network interface to realize coordinated control of the device.

And remote management features.

The telecommunications network should meet the real-time, reliability and security requirements of the system.

Note. Typical external networks include CAN, Ethernet, mobile wireless networks, and more.

4.6 Perceptual function

4.6.1 Pose and speed perception

The control device should have the function of sensing the pose and speed of the robot.

4.6.2 External measurement function

The control device should have an object state (such as an obstacle, a target object, etc.) for measuring the outside of the robot, and perform a synchronous action in response.

Controlled features.

4.6.3 Proximity sensing feedback function

The control device should have the function of describing the relative relationship between the robot and the object in a certain range when the robot is in a certain range.

4.6.4 Image Processing Function

The control device preferably has a function of processing image data acquired from light, ultrasonic waves, electromagnetic waves, and obtaining useful information therefrom.

4.6.5 Visual feedback control function

The control device should have the function of combining machine vision for work and motion control.

4.6.6 Voice recognition function

The control device preferably has a function of recognizing voice as an information source.

4.6.7 Force sense (tactile) feedback control function

The control device should have a function of combining force (tactile) sensors for work and motion control.

4.6.8 Squeeze force feedback function

The control device preferably has pressure data that receives and processes the normal direction of the contact surface when the robot is in contact with the object.

And direction data function

4.6.9 Sliding force feedback function

The control device preferably has a function of receiving and processing the measured force data when the robot is in contact with the object.

4.6.10 Induction fusion function

The control device preferably has the function of acquiring information from the external sensor of the robot and deriving new information.

4.7 Security features

4.7.1 Emergency stop function

The control device shall have the emergency stop function specified in GB 11291.1-2011.

4.7.2 Protective stop function

The control device shall have the protective stop function specified in GB 11291.1-2011.

4.7.3 Limit protection function

The control device shall have positive and negative limits that can be set for each joint, and each movable dimension is set under the robotic Cartesian system.

Negative limit function.

4.7.4 joint soft limit setting and alarm processing function

The control device shall have a software control method to limit the range of motion of each joint axis to prevent the person from exceeding the working range.

The function of damage caused by the member and surrounding objects or the robot body.

4.7.5 Singular Point Protection

The control unit should have a singular point protection function.

4.7.6 Speed limit operation function

The control device shall have the manual operation mode specified in GB 11291.1-2011, and the default is the low speed operation mode (the movement speed is not

It is more than 250mm/s).

4.7.7 Workspace and obstacle space protection

The control device shall have an industrial robot work monitoring area and an obstacle monitoring area, as well as alarm processing, prohibition of industrial machines

The ability of a person to leave or enter this area when their instructions are valid.

4.7.8 Mechanical locking function

The control device shall have an operation that causes mechanical action by causing all servo output and I/O output, etc., by setting the mechanical lock to be effective.

Invalid feature.

4.7.9 Operation Rights Management Function

The control device shall have the function of restricting the use of functions, parameter settings and password settings for different users.

4.7.10 Troubleshooting Function

The control device shall have the function of diagnosing the robot fault through various information and performing corresponding maintenance.

4.7.11 Safety function of origin setting

The control device shall have the function of not allowing the robot to teach and reproduce before performing the home position calibration to prevent generation.

Danger.

4.7.12 Collision detection and processing functions

The control device should have a collision detection and processing function, that is, when the tool or the industrial robot body collides with the peripheral device, it does not pass.

Any external sensor that detects and stops the robot in an instant, reducing the damage caused by the collision.

In the teaching mode and the reproduction mode, the industrial robot is stopped in an emergency when it detects a collision.

4.8 Other

4.8.1 Multi-process module support function

For the application of indu...