ABB XO16N1-B20 XO16N1-C3.0 inventory model multi communication intelligent module

Description

13 commissioning steps of ABB palletizing robot XO16N1-B20
one
Installation robot
Before installing the robot, XO16N1-B20 should first check whether the equipment is missing, and observe whether the robot is intact with eyes. Then install the control cabinet and lift the robot body with a forklift or crane. Finally, connect the robot body and the control cabinet. The connection between the robot and the control cabinet is mainly the connection between the motor power cable, the revolution counter cable and the user cable.
Control cabinet

two
Set language
When the machine is powered on for the first time, the default language is English, which needs to be changed to Chinese for easy operation.
1. Click the “ABB” icon in the upper left corner
2. Click “Control Panel”
3. Click “language”
4. Select “Chinese” and click “OK”
5. Select “Yes” and wait for the robot to restart. The language setting is completed
Main interface of teaching pendant
three
Backup and recovery
Backup the robot regularly. XO16N1-B20 is a good habit to ensure the normal work of the robot. The backup files can be placed on the memory inside the robot or backed up on a USB flash disk.
The backup file contains the running program and system configuration parameters. When the robot system makes an error, you can quickly restore the state before the backup through the backup file. Always make a backup before changing the program. It should be noted that the backup and recovery data is unique and cannot be restored from one robot to another.
four
calibration
Each joint axis of ABB robot has a mechanical origin position. In the following cases, it is necessary to update the rotation counter at the position of the mechanical origin:
1. After updating the battery of servo motor revolution counter
2. When the revolution counter fails, after repair
3. After disconnection between revolution counter and measuring plate
4. After power failure, the joint axis of the robot moves
5. When the system alarm prompts “10036 revolution counter is not updated”
five
System I/O configuration and wiring
It is explained by the electrical schematic diagram of a grab.
Schematic diagram of robot signal input part, including 704 position 24V+, 703 position 24V -. Input signals include gripper start position, gripper end position, pressing plate end position, bag grabbing roller table ready, and tray ready, totaling five.
The first three are the cylinder magnetic switch detection signals, and the last two are the signals prepared for the supporting PLC to transmit to the robot bag and tray. In order to achieve electrical isolation, the level signal from PLC to the robot needs to be converted into the robot’s own level, which needs to be realized through relays.
The schematic diagram of the output part is as follows, which is also five outputs, namely, grab solenoid valve, bag pressing solenoid valve, bag grabbing completion signal, stacking completion signal and robot operation signal.
Usually, the communication board DSQC652 provides us with a communication interface, and each of its interfaces corresponds to an input or output.
The figure shows the DSQC652 communication board. There are two rows of terminals at the top and bottom, including 16 digital inputs and 16 digital outputs. Each interface corresponds to an address. For example, X1.1 corresponds to digital output No. 0 address (do0), X1.2 corresponds to digital output No. 1 address (do1), X3.1 corresponds to digital input No. 0 address (di0), X3.2 corresponds to digital input No. 1 address (di1), and so on. 9 of each terminal block is connected to line 703 (COM) and 10 is connected to line 704 (+24V).
First of all, we need to configure a unique name for the five input signals and five output signals used in the robot program in the robot control system. For example, the starting position of gripper di0JiaZhuaStart and the ending position of gripper di1JiaZhuaEnd. The program cannot recognize Chinese characters, and these signals must also be alphanumeric and other combinations. Then match these names with the physical address of our communication board.
1. Configure 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 https://www.diangon.com/forum.php
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 each I/O signal. The parameter design is basically similar to the previous di1. Only need to change the Assigned to Unit to “profibus1”
six
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
seven
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
eight
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, the workpiece coordinates can be modified without re teaching all 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
nine
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.
ten
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 automatic stacking, make sure to conduct low-speed debugging and operation first to ensure safety
eleven
Manual debugging
1. Turn the No. 4 button on the controller panel to the manual state, that is, the middle gear of the three gear switch
2. Click “ABB”>”Program Editor” to enter the program editor
3. Click “PP to Main”
4. Reduce the robot speed to a lower speed
5. Press and hold the enable controller
6. Press the “Start” button to start
During debugging, once problems are found, the robot will stop immediately after releasing the controller.
twelve
Automatic operation
The automatic operation can only be started after debugging is completed and there must be a lower speed in the early stage.
1. Turn the control panel 4 switch to automatic gear
2. Click “Confirm” and “Confirm” at one time (if the speed is 100%, it will be determined only once), and pay attention to the modification of robot speed. In particular, during the debugging process, it is recommended to manually debug the whole stacking cycle before automatic operation at a slightly slower speed.
3. If there is a fault, confirm the fault and repair it
4. Press the 3 button on the control panel. If it is normal, the white indicator will light up and TP will show that the motor is on
5. Press the start button to start the robot, and then the robot will continue to walk along the program stopped last time
6. If the program needs to be executed from the beginning, the motor can be “PP to Main” and the start button can be pressed again
7. Press the Pause button to stop the robot. At this time, the motor is still on. Press the Start button, and the robot will continue to run
Note: If the motor “PP moves to Main” during the pause, the information such as the number of stacked packages and the calculation of stacking position will be cleared. When the robot runs again, it will re execute from the main program, and the information about the number of stacked packages needs to be re entered.
thirteen
matters needing attention
1. Before power transmission, ensure that the power supply wiring is correct, reliable and effectively grounded
2. The teaching pendant shall be powered off and plugged
3. Restart after power failure, and wait for about 1 minute after complete shutdown to prevent data loss
4. After the program content is modified, it must be rechecked
5. After modifying the stacking position, parameters, etc., be sure to manually run the program at low speed before automatically running
Before changing, make a backup in time.
After completing all the above steps, you can test the effect through on-site inspection, production accompanying and other methods! In case of any deviation in the test results, it is necessary to find out the cause, and you can ask an experienced “old driver” to help you check. After all, robot debugging has a lot to do with the work experience and technical ability of debugging personnel.

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