REX521GHHPSH06G ABB Power integrated protector

Description

First of all, in the robot control system, REX521GHPHPSH06G needs to configure a unique name for the five input signals and five output signals used in the robot program, such as the starting position of gripper di0JiaZhuaStart, and the ending position of gripper di1JiaZhuaEnd. The program cannot recognize Chinese characters, so these signals must also be alphanumeric and other combinations. Then match these names with the physical address of our communication board.

1. REX521GHHPSH06G configuration I/O unit
1) Click Control Panel
2) Click Configure
3) Click “Theme” to confirm I/O selection
4) Select Unit
5) Select Show All
6) Select Add
7) Set value
8) Click the scroll down arrow
9) Set the address of DN according to the line
10) Click “OK”, click “Yes”
2. Set digital input di1
1) Select “Signal” in the configuration
2) Select Show All
3) Select Add
4) Set the value, click “OK”, click “Yes”
Just follow the steps above to change di1 to di0JiaZhuaStart.
After all the signals are configured, connect the corresponding signal lines to the communication board.
In addition, there is also a communication mode PROFIBUS between the robot and PLC.
1. Click “ABB” on the main page of the touch screen
2. Click “Control Panel”
3. Click “Configuration”
4. Click “Bus”
5. Click “Add” to enter the adding page and modify the parameters
6. After returning to the I/O page in step 3, click “Unit Type”
7. Find “DP_INTERNAL_SLAVE_FA” and click to enter
8. After filling in the product ID number, turn down the page to find “Input Size” and “Output Size”, change them to 64, and click OK. If the pop-up window prompts “Restart Now”, click “No”, and restart after the configuration is completed
9. After returning to the I/O page in step 3, click “Unit” to create a new “profibus1” unit and modify the parameters
10. After returning to the I/O page in the third step, click “Signal” to enter the interface for configuring various I/O signals. The parameter design is basically similar to the previous di1. Only need to change the Assigned to Unit to “profibus1”
6、 Check signal
1. Click the “ABB” icon to enter the system menu
2. Click “I/O” to monitor the I/O signal. 0 means no signal, 1 means there is signal. Check whether the configured signal corresponds to the actual signal correctly
3. doGripperA and doGripperB represent two fixture cylinders of the robot respectively, click one of them
4. Click 0 or 1 again to change the fixture status, force the fixture to loosen and close, and check whether the solenoid valve wiring is wrong.
7、 Importer
1. Click “ABB” icon, select “Program Editor”, and click “Module”
2. In the module interface, select “Load module” and load the program module you need to load from the path where the program module is stored. The module is usually stored in the PROGMOD folder and can be opened with Notepad.
8、 Workpiece coordinate system setting
1. Coordinate system of robot
Setting workpiece coordinates is the premise of teaching, and all teaching points must be established in the corresponding workpiece coordinates. If teaching points are established on wob j0, all points must be re taught after the robot is moved. If the calibration is displayed on the left side of the corresponding workpiece, you can only modify the workpiece coordinates without re teaching all the points.
2. Necessity of correctly setting workpiece coordinates
Inaccurate workpiece coordinates make it difficult for the robot to move in the X/Y direction on the workpiece object.
3. Set coordinates
1) Create a wobj1 project in the teaching pendant
2) Define workpiece coordinates
3) Verify the accuracy of workpiece seating standard
9、 Relative to datum point
1. Click the “ABB” icon to enter the main system interface, and click the “program data”
2. Click “robtarget”
3. Select the station to be modified, and pPick1 and pPkck2 correspond to the basic positions of station 1 and station 2 respectively
4. The pull-down menu appears after clicking the station, select Edit, and select “Modify Position” in the editing options. After modification, the robot will automatically record the new position.
10、 Adjust parameters
1. Fine tune the length, width and height of the carton
If there are some changes in the newly imported cartons, which affect the stacking effect, or the carton packing effect is not very good, it needs to be adjusted:
1) Click the “ABB” icon to enter the main system interface, and click the “program data”
2) Click “num” to find “nBoxH”, “nBoxW” and “nBoxH”, which correspond to the length, width and height of the carton respectively
3) Click the variable to be modified and enter the value
4) Click OK and OK to enter after modification
2. Modify the number of stacked cartons
This adjustment may be required after the cartons are sorted out when the robot fails
1) Click the “ABB” icon to enter the main system interface, and click the “program data”
2) Click “ncount” to enter the array. Components {1} and {2} correspond to the stacked quantity of station 1 and station 2 respectively. Click the corresponding value to modify
3. Fine tune the grab position
1) Click the “ABB” icon to enter the main system interface, and click the “program data”
2) Click “robtarget”
3) Select the station to be modified. “pPick1” and “pPick2” correspond to the basic positions of station 1 and station 2 respectively
4) Find the x, y, z parts to modify
4. Fine tune the stacking position
After setting the position of each reference point, some fine adjustments may be required during the stacking process. It can only be adjusted in manual mode.
1) Click the “ABB” icon to enter the main system interface, and click the “Program Editor”
2) Click the “Module” above to find the program module storing the stacking address, and click the “Display Module” to find the program location of the number of packages to be changed
3) Select the part to be adjusted, click “Edit” below, and click “ABC…” to enter the change interface
4) Enter directly on the keyboard, and click OK when finished. After the change, pay attention to whether there is any change error. Before the automatic stacking, make sure to conduct a low-speed debugging operation to ensure safety.

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