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PLC企業(yè)資訊

西門子主機(jī)CPU 1518-4PN/DP

發(fā)布者：wuyangpei 發(fā)布時間：2018-06-28 13:56:45

西門子主機(jī)CPU 1518-4PN/DP

SIMATIC S7-1500, CPU 1516-3 PN/DP ODK, 中央處理器 mit ODK 運(yùn)行時接口, 工作存儲器 4MByte 用于程序和 20MByte 用于數(shù)據(jù), 1. 接口:PROFINET IRT mit 2 Port 交換機(jī), 2. 接口:PROFINET RT, 3. 接口:以太網(wǎng), 4. 接口:PROFIBUS, 1 NS Bit-Performance, 需要 SIMATIC 存儲卡

Order number	6ES7518-4AP00-3AB0
	CPU 1518-4 PN/DP ODK 4MB PROG./20MB DATA
General information
Product type designation	CPU 1518-4 PN/DP ODK
Engineering with
● STEP 7 TIA Portal configurable/integrated as of version	V14
Display
Screen diagonal (cm)	6.1 cm
Supply voltage
Type of supply voltage	24 V DC
Power loss
Power loss, typ.	24 W
Memory
Work memory
● integrated (for program)	4 Mbyte
● integrated (for data)	20 Mbyte
● Integrated (for ODK application)	20 Mbyte
Load memory
● Plug-in (SIMATIC Memory Card), max.	32 Gbyte
CPU processing times
for bit operations, typ.	1 ns
for word operations, typ.	2 ns
for fixed point arithmetic, typ.	2 ns
for floating point arithmetic, typ.	6 ns
Counters, timers and their retentivity
S7 counter
● Number	2 048
IEC counter
● Number	Any (only limited by the main memory)
S7 times
● Number	2 048
IEC timer
● Number	Any (only limited by the main memory)
Data areas and their retentivity
Flag
● Number, max.	16 kbyte
Address area
I/O address area
● Inputs	32 kbyte; All inputs are in the process image
● Outputs	32 kbyte; All outputs are in the process image
Time of day
Clock
● Type	Hardware clock
1. Interface
Interface types
● Number of ports	2
● integrated switch	Yes
● RJ 45 (Ethernet)	Yes; X1
Functionality
● PROFINET IO Controller	Yes
● PROFINET IO Device	Yes
● SIMATIC communication	Yes
● Open IE communication	Yes
● Web server	Yes
● Media redundancy	Yes
PROFINET IO Controller
Services
— PG/OP communication	Yes
— S7 routing	Yes
— Isochronous mode	Yes
— Open IE communication	Yes
— IRT	Yes
— MRP	Yes; As MRP redundancy manager and/or MRP client; max. number of devices in the ring: 50
— MRPD	Yes; Requirement: IRT
— PROFIenergy	Yes
— Prioritized startup	Yes; Max. 32 PROFINET devices
— Number of connectable IO Devices, max.	512; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET
— Of which IO devices with IRT, max.	64
— Number of connectable IO Devices for RT, max.	512
— of which in line, max.	512
— Number of IO Devices that can be simultaneously activated/deactivated, max.	8; in total across all interfaces
— Number of IO Devices per tool, max.	8
— Updating times	The minimum value of the update time also depends on communication share set for PROFINET IO, on the number of IO devices, and on the quantity of configured user data
Update time for IRT
— for send cycle of 125 μs	125 μs
— for send cycle of 187.5 μs	187.5 μs
— for send cycle of 250 μs	250 μs to 4 ms
— for send cycle of 500 μs	500 μs to 8 ms
— for send cycle of 1 ms	1 ms to 16 ms
— for send cycle of 2 ms	2 ms to 32 ms
— for send cycle of 4 ms	4 ms to 64 ms
— With IRT and parameterization of "odd" send cycles	Update time = set "odd" send clock (any multiple of 125 μs: 375 μs, 625 μs ... 3 875 μs)
Update time for RT
— for send cycle of 250 μs	250 μs to 128 ms
— for send cycle of 500 μs	500 μs to 256 ms
— for send cycle of 1 ms	1 ms to 512 ms
— for send cycle of 2 ms	2 ms to 512 ms
— for send cycle of 4 ms	4 ms to 512 ms
PROFINET IO Device
Services
— PG/OP communication	Yes
— S7 routing	Yes
— Isochronous mode	No
— Open IE communication	Yes
— IRT	Yes
— MRP	Yes
— MRPD	Yes; Requirement: IRT
— PROFIenergy	Yes
— Shared device	Yes
— Number of IO Controllers with shared device, max.	4
2. Interface
Interface types
● Number of ports	1
● integrated switch	No
● RJ 45 (Ethernet)	Yes; X2
Functionality
● PROFINET IO Controller	Yes
● PROFINET IO Device	Yes
● SIMATIC communication	Yes
● Open IE communication	Yes
● Web server	Yes
● Media redundancy	No
PROFINET IO Controller
Services
— PG/OP communication	Yes
— S7 routing	Yes
— Isochronous mode	No
— Open IE communication	Yes
— IRT	No
— MRP	No
— PROFIenergy	Yes
— Prioritized startup	No
— Number of connectable IO Devices, max.	128; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET
— Number of connectable IO Devices for RT, max.	128
— of which in line, max.	128
— Number of IO Devices that can be simultaneously activated/deactivated, max.	8; in total across all interfaces
— Updating times	The minimum value of the update time also depends on communication share set for PROFINET IO, on the number of IO devices, and on the quantity of configured user data
Update time for RT
— for send cycle of 1 ms	1 ms to 512 ms
PROFINET IO Device
Services
— PG/OP communication	Yes
— S7 routing	Yes
— Isochronous mode	No
— Open IE communication	Yes
— IRT	No
— MRP	No
— MRPD	No
— PROFIenergy	Yes
— Prioritized startup	No
— Shared device	Yes
— Number of IO Controllers with shared device, max.	4
3. Interface
Interface types
● Number of ports	1
● integrated switch	No
● RJ 45 (Ethernet)	Yes; X3
Functionality
● PROFINET IO Controller	No
● PROFINET IO Device	No
● SIMATIC communication	Yes
● Open IE communication	Yes
● Web server	Yes
4. Interface
Interface types
● Number of ports	1
● RS 485	Yes; X4
Functionality
● PROFIBUS DP master	Yes
● PROFIBUS DP slave	No
● SIMATIC communication	Yes
Protocols
Number of connections
● Number of connections, max.	384; via integrated interfaces of the CPU and connected CPs / CMs
PROFIBUS DP master
Services
— Number of DP slaves	125; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET
Isochronous mode
Isochronous operation (application synchronized up to terminal)	Yes; With minimum OB 6x cycle of 125 μs
Supported technology objects
Motion Control	Yes; Note: The number of axes affects the cycle time of the PLC program; selection guide via the TIA Selection Tool or SIZER
Controller
● PID_Compact	Yes; Universal PID controller with integrated optimization
● PID_3Step	Yes; PID controller with integrated optimization for valves
● PID-Temp	Yes; PID controller with integrated optimization for temperature
Counting and measuring
● High-speed counter	Yes
Ambient conditions
Ambient temperature during operation
● horizontal installation, min.	0 °C
● horizontal installation, max.	60 °C; Display: 50 °C, at an operating temperature of typically 50 °C, the display is switched off
● vertical installation, min.	0 °C
● vertical installation, max.	40 °C; Display: 40 °C, at an operating temperature of typically 40 °C, the display is switched off
Configuration
Programming
Programming language
— LAD	Yes
— FBD	Yes
— STL	Yes
— SCL	Yes
— GRAPH	Yes
Know-how protection
● User program protection	Yes
● Copy protection	Yes
● Block protection	Yes
Access protection
● Password for display	Yes
● Protection level: Write protection	Yes
● Protection level: Read/write protection	Yes
● Protection level: Complete protection	Yes
Open Development interfaces
● Size of ODK SO file, max.	5.8 Mbyte
Dimensions
Width	175 mm
Height	147 mm
Depth	129 mm
Weights
Weight, approx.	1 988 g

公司代理銷售西門子的產(chǎn)品：
SIMATIC S7 系列PLC、S7-200、s7-1200、S7-300、S7-400、ET200 S7-1500
變頻器，工控機(jī)，伺服控制器，NCU模塊，電源模塊，觸摸屏，
西門子電機(jī)，西門子軟啟動器，西門子直流調(diào)速器，西門子S120,G120,我們在價格上有較大優(yōu)勢,更注重售后服務(wù)，現(xiàn)有大量現(xiàn)貨銷售，歡迎您來電咨詢。我公司所有銷售中產(chǎn)品均為西門子原裝正品，質(zhì)保一年，
（西門子一級代理商）中國有限公司
SIEMENS ：上海勵輝自動化科技有限公司
聯(lián) 系人：吳陽培
移動電話：13301918698
聯(lián)系電話：021-60442635
傳真；021-57888115
商務(wù) QQ：2196117499
QQ 郵箱：2196117499@qq.com
聯(lián)系地址：上海市松江區(qū)廣富林路4855弄星月大業(yè)領(lǐng)地19號4樓
公司官網(wǎng)；www.li-h.com

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S7-1500 控制器產(chǎn)品系列中具有較大容量程序及數(shù)據(jù)存儲器的 CPU，適用于具有較高程序范圍和聯(lián)網(wǎng)要求的苛刻應(yīng)用。

具有極高處理速度，適用于二進(jìn)制和浮點(diǎn)運(yùn)算

用于系列機(jī)器、專用機(jī)器以及工廠中的跨領(lǐng)域自動化任務(wù)

C/C++ Runtime 用于在 CPU 1518-4 PN/DP ODK 中執(zhí)行用 C/C++ 實(shí)現(xiàn)的函數(shù)和算法。

在具有集中式和分布式 I/O 的生產(chǎn)線上作為集中式控制器使用

PROFINET IO IRT 接口，帶 2 端口交換機(jī)

PROFINET I/O 控制器，用于在 PROFINET 上運(yùn)行分布式 I/O

用于連接 CPU 作為 SIMATIC 或非西門子 PROFINET IO 控制器下的 PROFINET 設(shè)備的 PRIFINET I-Device

兩個附加 PROFINET 接口，具有用于網(wǎng)絡(luò)分隔的單獨(dú) IP 地址 PROFINET 接口 X2 可用于連接附加 PROFINET IO RT 設(shè)備或作為智能設(shè)備進(jìn)行快速通信。PROFINET 接口 X3 具有千兆數(shù)據(jù)傳輸速率的能力。

PROFIBUS DP 主站接口

OPC UA 服務(wù)器（數(shù)據(jù)訪問）作為運(yùn)行時選件，可輕易將 SIMATIC S7-1500 連接***三方設(shè)備/系統(tǒng)

在 PROFIBUS 和 PROFINET 上實(shí)現(xiàn)等時同步模式

集成運(yùn)動控制功能，用于控制速度控制軸和定位軸，軸定位以及同步操作，支持外部編碼器，凸輪/凸輪軌道和探頭

用于診斷集成 Web 服務(wù)器，帶有創(chuàng)建用戶定義的 Web 站點(diǎn)的選項

一、項目簡介

近年來，機(jī)器人自動化噴涂系統(tǒng)因其具有重復(fù)精度高、涂裝質(zhì)量好、可靠性好、適用性強(qiáng)、效率高等眾多優(yōu)點(diǎn)，已廣泛應(yīng)用于汽車等工業(yè)領(lǐng)域。而目前航空產(chǎn)品制造過程仍舊是勞動密集、工序繁復(fù)、工況惡劣、輔以大量工裝夾具并以手工制造為主，自動化生產(chǎn)能力不足。在**提出十三五規(guī)劃，大力發(fā)展智能制造2025的時代大背景下，中航工業(yè)復(fù)合材料制造所高瞻遠(yuǎn)矚，率先在噴涂領(lǐng)域采用機(jī)器人進(jìn)行自動化生產(chǎn)，加快了企業(yè)生產(chǎn)模式轉(zhuǎn)型升級，提高了裝備先進(jìn)制造能力。

本項目采用的是一臺可移動的懸掛式噴涂6軸機(jī)器人，它安裝在3自由度直角坐標(biāo)變位天車上，可以在噴房范圍內(nèi)（噴漆房內(nèi)尺寸：L30m×W9m×6.5m）進(jìn)行前后、左右、上下及旋轉(zhuǎn)等多個自由度的運(yùn)動，機(jī)器人的手臂上帶有一支噴槍，能實(shí)現(xiàn)對大型復(fù)合材料工件外表面涂裝涂層的噴涂作業(yè)。

二、懸掛式機(jī)器人噴涂系統(tǒng)組成

懸掛式機(jī)器人噴涂系統(tǒng)由總控系統(tǒng)、天車系統(tǒng)（懸掛行走機(jī)構(gòu)）、機(jī)器人系統(tǒng)、智能供漆系統(tǒng)以及視頻監(jiān)控系統(tǒng)組成，系統(tǒng)網(wǎng)絡(luò)圖如圖1所示：

圖1機(jī)器人噴涂系統(tǒng)網(wǎng)絡(luò)圖

天車系統(tǒng)包括：1套縱走機(jī)構(gòu)（X軸）、1套橫走機(jī)構(gòu)（Y軸）、1套升降機(jī)構(gòu)（Z軸）和電氣伺服驅(qū)動系統(tǒng)，還有用于維修和檢測的走臺等附屬設(shè)施。如圖2所示：

圖2天車和機(jī)器人裝置圖

智能供漆系統(tǒng)由虹吸管、隔膜泵、物料罐、過濾器、2KS、調(diào)壓器、空打保護(hù)器等組成一套完整的供漆系統(tǒng)，是噴涂系統(tǒng)的重要組成部分，其承擔(dān)著從原料供應(yīng)到原料調(diào)節(jié)預(yù)混配比等重要的作用，是執(zhí)行機(jī)構(gòu)的必要前提。物料包含油漆、固化劑和清洗劑。

CPU 1518-4 PN/DP ODK 功能：

功能強(qiáng)大的處理器：
該 CPU 的單條二進(jìn)制命令的命令執(zhí)行時間可低至 1 ns。

大容量工作存儲器：
4 MB 用于程序，20 MB 用于數(shù)據(jù)，20 MB 用于 ODK 應(yīng)用程序

采用 SIMATIC 存儲卡作為加裝存儲器；
允許實(shí)現(xiàn)例如數(shù)據(jù)日志和歸檔等其它功能

靈活的擴(kuò)展功能：
單層組態(tài)***多可支持 32 個模塊（CPU + 31 個模塊）

顯示器的功能為：

顯示概覽信息，如集成接口的 IP 地址、站名稱、設(shè)備名稱、位置標(biāo)識符等。

顯示器以及診斷確認(rèn)和用戶消息

模塊信息顯示

顯示設(shè)置

顯示可由用戶定義的*標(biāo)

設(shè)置 IP 地址

設(shè)置日期和時間

選擇運(yùn)行模式

將 CPU 復(fù)位為出廠設(shè)置

項目的備份與恢復(fù)

禁用/啟用顯示

啟用保護(hù)級別

PROFINET IO IRT 接口和** PROFINET IO RT 接口可通過 PROFINET 與分布式 I/O 相連接

三個 PROFINET 接口均可用于網(wǎng)絡(luò)隔離；PROFINET 接口 X3 的數(shù)據(jù)傳輸率高達(dá) 1 Gbit/s

PROFIBUS DP 接口用于通過 PROFIBUS 進(jìn)行分布式 I/O 連接

Functions

性能

指令處理速度更快，語言擴(kuò)展和新的數(shù)據(jù)類型取決于 CPU 類型

由于背板總線速度顯著提高，CPU 的響應(yīng)時間縮短

功能強(qiáng)大的網(wǎng)絡(luò)連接：
PROFINET IO IRT（2 端口交換機(jī)）作為標(biāo)準(zhǔn)接口。兩個附加 PROFINET 接口，用于（例如）網(wǎng)絡(luò)分離。附加的 PROFINET IO RT 設(shè)備可通過 PROFINET 接口 X2 進(jìn)行連接，或以 I-設(shè)備的形式建立快速通信連接。X3 接口可用在數(shù)據(jù)速率為 1 Gbit/s 的傳輸當(dāng)中，比如用于與骨干網(wǎng)通信。

集成技術(shù)

通過標(biāo)準(zhǔn)化的塊 (PLCopen) 連接模擬驅(qū)動器和具有 PROFIdrive 功能的驅(qū)動器

支持速度控制軸和定位軸以及外部編碼器，各軸之間可實(shí)現(xiàn)位置精確的傳動

追蹤功能適用于所有 CPU 標(biāo)簽，既適用于實(shí)時診斷，也適用于偶發(fā)錯誤檢測；還可通過 CPU的網(wǎng)頁服務(wù)器來調(diào)用

**的控制功能，例如，通過便于組態(tài)的塊可自動優(yōu)化控制參數(shù)實(shí)現(xiàn)***優(yōu)控制質(zhì)量

集成安全功能

通過密碼進(jìn)行知識保護(hù)，防止未經(jīng)許可證讀取和修改程序塊

通過復(fù)制保護(hù)，可綁定 SIMATIC 存儲卡的程序塊和序列號：只有在將配置的存儲卡插到 CPU 中時，該程序塊才可運(yùn)行。

4-級授權(quán)理念：
與 HMI 設(shè)備的通信也會受到限制。

操作保護(hù)：
控制器可以識別工程組態(tài)數(shù)據(jù)的更改和未授權(quán)傳輸。

設(shè)計與操作

顯示概覽信息：
例如，站名稱，工廠標(biāo)識符，位置名稱，診斷信息，模塊信息，顯示設(shè)置。

顯示器上可能的操作：
設(shè)置 CPU 或所連接以太網(wǎng)通信處理器的地址、設(shè)置日期和時間、選擇 CPU 的操作模式、復(fù)位 CPU ***認(rèn)設(shè)置、禁用/啟用顯示器、激活保護(hù)等級，確認(rèn)消息，備份和恢復(fù)項目。

集成系統(tǒng)診斷

顯示屏上、TIA 博途中、HMI 設(shè)備上以及 Web 服務(wù)器上以純文本形式一致顯示系統(tǒng)診斷信息（甚***顯示來自變頻器的消息），即使 CPU 處于停止模式也會進(jìn)行更新。

集成在 CPU 的固件中，無須進(jìn)行特殊組態(tài)

SIMATIC 存儲卡(用來運(yùn)行 CPU)

用作插入式裝載存儲器，或用于更新固件。

還可用于存儲附加文檔或 csv 文件（用于配方和歸檔）

通過用戶程序的系統(tǒng)函數(shù)創(chuàng)建數(shù)據(jù)塊實(shí)現(xiàn)數(shù)據(jù)存儲/讀取

數(shù)據(jù)記錄（歸檔）和配方

配方和歸檔以 csv 文件保存在 SIMATIC 存儲卡中；
便于使用 Office 工具或通過 web 服務(wù)器，訪問工廠運(yùn)行數(shù)據(jù)

通過 Web 瀏覽器或 SD 讀卡器，可方便地訪問機(jī)器的組態(tài)數(shù)據(jù)（與控制器之間的雙向數(shù)據(jù)交換）

編程

使用 STEP 7 Professional V14 或更高版本進(jìn)行編程

用于從 SIMATIC S7-300/S7-400 升級到 S7-1500 的移植工具；可基本上自動轉(zhuǎn)換程序代碼。記錄不可轉(zhuǎn)換的代碼，并可以手動進(jìn)行調(diào)整。

S7-1200 程序可通過復(fù)制/粘貼轉(zhuǎn)移至 S7-1500

執(zhí)行 ODK 功能：
加載 ODK 函數(shù)庫，在實(shí)時環(huán)境中同步執(zhí)行函數(shù)

Technical Specifications

Order number

6ES7518-4AP00-3AB0

CPU 1518-4 PN/DP ODK 4MB PROG./20MB DATA

General information

Product type designation

CPU 1518-4 PN/DP ODK

Engineering with

● STEP 7 TIA Portal configurable/integrated as of version

V14

Display

Screen diagonal (cm)

6.1 cm

Supply voltage

Type of supply voltage

24 V DC

Power loss

Power loss, typ.

24 W

Memory

Work memory

● integrated (for program)

4 Mbyte

● integrated (for data)

20 Mbyte

● Integrated (for ODK application)

20 Mbyte

Load memory

● Plug-in (SIMATIC Memory Card), max.

32 Gbyte

CPU processing times

for bit operations, typ.

1 ns

for word operations, typ.

2 ns

for fixed point arithmetic, typ.

2 ns

for floating point arithmetic, typ.

6 ns

Counters, timers and their retentivity

S7 counter

● Number

2 048

IEC counter

● Number

Any (only limited by the main memory)

S7 times

● Number

2 048

IEC timer

● Number

Any (only limited by the main memory)

Data areas and their retentivity

Flag

● Number, max.

16 kbyte

Address area

I/O address area

● Inputs

32 kbyte; All inputs are in the process image

● Outputs

32 kbyte; All outputs are in the process image

Time of day

Clock

● Type

Hardware clock

1. Interface

Interface types

● Number of ports

2

● integrated switch

Yes

● RJ 45 (Ethernet)

Yes; X1

Functionality

● PROFINET IO Controller

Yes

● PROFINET IO Device

Yes

● SIMATIC communication

Yes

● Open IE communication

Yes

● Web server

Yes

● Media redundancy

Yes

PROFINET IO Controller

Services

— PG/OP communication

Yes

— S7 routing

Yes

— Isochronous mode

Yes

— Open IE communication

Yes

— IRT

Yes

— MRP

Yes; As MRP redundancy manager and/or MRP client; max. number of devices in the ring: 50

— MRPD

Yes; Requirement: IRT

— PROFIenergy

Yes

— Prioritized startup

Yes; Max. 32 PROFINET devices

— Number of connectable IO Devices, max.

512; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET

— Of which IO devices with IRT, max.

64

— Number of connectable IO Devices for RT, max.

512

— of which in line, max.

512

— Number of IO Devices that can be simultaneously activated/deactivated, max.

8; in total across all interfaces

— Number of IO Devices per tool, max.

8

— Updating times

The minimum value of the update time also depends on communication share set for PROFINET IO, on the number of IO devices, and on the quantity of configured user data

Update time for IRT

— for send cycle of 125 μs

125 μs

— for send cycle of 187.5 μs

187.5 μs

— for send cycle of 250 μs

250 μs to 4 ms

— for send cycle of 500 μs

500 μs to 8 ms

— for send cycle of 1 ms

1 ms to 16 ms

— for send cycle of 2 ms

2 ms to 32 ms

— for send cycle of 4 ms

4 ms to 64 ms

— With IRT and parameterization of "odd" send cycles

Update time = set "odd" send clock (any multiple of 125 μs: 375 μs, 625 μs ... 3 875 μs)

Update time for RT

— for send cycle of 250 μs

250 μs to 128 ms

— for send cycle of 500 μs

500 μs to 256 ms

— for send cycle of 1 ms

1 ms to 512 ms

— for send cycle of 2 ms

2 ms to 512 ms

— for send cycle of 4 ms

4 ms to 512 ms

PROFINET IO Device

Services

— PG/OP communication

Yes

— S7 routing

Yes

— Isochronous mode

No

— Open IE communication

Yes

— IRT

Yes

— MRP

Yes

— MRPD

Yes; Requirement: IRT

— PROFIenergy

Yes

— Shared device

Yes

— Number of IO Controllers with shared device, max.

4

2. Interface

Interface types

● Number of ports

1

● integrated switch

No

● RJ 45 (Ethernet)

Yes; X2

Functionality

● PROFINET IO Controller

Yes

● PROFINET IO Device

Yes

● SIMATIC communication

Yes

● Open IE communication

Yes

● Web server

Yes

● Media redundancy

No

PROFINET IO Controller

Services

— PG/OP communication

Yes

— S7 routing

Yes

— Isochronous mode

No

— Open IE communication

Yes

— IRT

No

— MRP

No

— PROFIenergy

Yes

— Prioritized startup

No

— Number of connectable IO Devices, max.

128; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET

— Number of connectable IO Devices for RT, max.

128

— of which in line, max.

128

— Number of IO Devices that can be simultaneously activated/deactivated, max.

8; in total across all interfaces

— Updating times

The minimum value of the update time also depends on communication share set for PROFINET IO, on the number of IO devices, and on the quantity of configured user data

Update time for RT

— for send cycle of 1 ms

1 ms to 512 ms

PROFINET IO Device

Services

— PG/OP communication

Yes

— S7 routing

Yes

— Isochronous mode

No

— Open IE communication

Yes

— IRT

No

— MRP

No

— MRPD

No

— PROFIenergy

Yes

— Prioritized startup

No

— Shared device

Yes

— Number of IO Controllers with shared device, max.

4

3. Interface

Interface types

● Number of ports

1

● integrated switch

No

● RJ 45 (Ethernet)

Yes; X3

Functionality

● PROFINET IO Controller

No

● PROFINET IO Device

No

● SIMATIC communication

Yes

● Open IE communication

Yes

● Web server

Yes

4. Interface

Interface types

● Number of ports

1

● RS 485

Yes; X4

Functionality

● PROFIBUS DP master

Yes

● PROFIBUS DP slave

No

● SIMATIC communication

Yes

Protocols

Number of connections

● Number of connections, max.

384; via integrated interfaces of the CPU and connected CPs / CMs

PROFIBUS DP master

Services

— Number of DP slaves

125; In total, up to 1 000 distributed I/O devices can be connected via AS-i, PROFIBUS or PROFINET

Isochronous mode

Isochronous operation (application synchronized up to terminal)

Yes; With minimum OB 6x cycle of 125 μs

Supported technology objects

Motion Control

Yes; Note: The number of axes affects the cycle time of the PLC program; selection guide via the TIA Selection Tool or SIZER

Controller

● PID_Compact

Yes; Universal PID controller with integrated optimization

● PID_3Step

Yes; PID controller with integrated optimization for valves

● PID-Temp

Yes; PID controller with integrated optimization for temperature

Counting and measuring

● High-speed counter

Yes

Ambient conditions

Ambient temperature during operation

● horizontal installation, min.

0 °C

● horizontal installation, max.

60 °C; Display: 50 °C, at an operating temperature of typically 50 °C, the display is switched off

● vertical installation, min.

0 °C

● vertical installation, max.

40 °C; Display: 40 °C, at an operating temperature of typically 40 °C, the display is switched off

Configuration

Programming

Programming language

— LAD

Yes

— FBD

Yes

— STL

Yes

— SCL

Yes

— GRAPH

Yes

Know-how protection

● User program protection

Yes

● Copy protection

Yes

● Block protection

Yes

Access protection

● Password for display

Yes

● Protection level: Write protection

Yes

● Protection level: Read/write protection

Yes

● Protection level: Complete protection

Yes

Open Development interfaces

● Size of ODK SO file, max.

5.8 Mbyte

Dimensions

Width

175 mm

Height

147 mm

Depth

129 mm

Weights

Weight, approx.

1 988 g

項目選用的是史陶比爾（Staubli）TX250系列6軸機(jī)器人，也是***新款的機(jī)器人。整個機(jī)器人系統(tǒng)由3個部件組成，包括控制器CS8C、機(jī)械手臂（Arm）以及手動示教盒（Manualcontrolpendant，MCP）。

圖3機(jī)器人全貌

三、控制系統(tǒng)架構(gòu)

此套系統(tǒng)的總控系統(tǒng)控制器采用西門子S7-1500PLC作為主控制器，WinCCProfessionalV13SP1作為上位機(jī)操作畫面，TP1200作為操作面板，天車、機(jī)器人和供漆系統(tǒng)分別采用S7-1200作為控制器。S7-1500總控系統(tǒng)通過PROFINET總線與噴涂機(jī)器人系統(tǒng)、供漆系統(tǒng)和懸掛行走系統(tǒng)通訊，完成系統(tǒng)整體控制，實(shí)現(xiàn)對系統(tǒng)運(yùn)行狀態(tài)的實(shí)時監(jiān)控及操作，保證對整個工件的連續(xù)噴涂�？刂葡到y(tǒng)架構(gòu)如圖4所示，主控系統(tǒng)硬件設(shè)備表單，如下表1所示。

圖4系統(tǒng)硬件配置圖

表1主控系統(tǒng)硬件設(shè)備表單

四、控制系統(tǒng)實(shí)現(xiàn)的功能

懸掛式機(jī)器人噴涂系統(tǒng)可以實(shí)現(xiàn)對天車系統(tǒng)和機(jī)器人噴涂系統(tǒng)的單獨(dú)進(jìn)行操作。在現(xiàn)場天車可以通過操作屏TP700進(jìn)行操作，分別對X、Y和Z軸伺服電機(jī)進(jìn)行上電、零點(diǎn)校準(zhǔn)、***定位等。

供漆系統(tǒng)的現(xiàn)場屏TP700可以顯示油漆液位、清洗劑液位、固化劑液位、管路壓力、電磁閥狀態(tài)、流體調(diào)壓器狀態(tài)、2KS系統(tǒng)各種油漆的自動配比情況、氣動泵以及防空打保護(hù)器等。

機(jī)器人系統(tǒng)的現(xiàn)場屏TP700顯示X、Y、Z、RX、RY、RZ六軸移動情況�，F(xiàn)場示教盒可對機(jī)器人進(jìn)行離線軌跡規(guī)劃等。

總控制系統(tǒng)包括現(xiàn)場控制系統(tǒng)和遠(yuǎn)程控制系統(tǒng)兩套組成�，F(xiàn)場控制系統(tǒng)能通過總線與機(jī)器人系統(tǒng)、懸掛行走系統(tǒng)和供漆系統(tǒng)通訊，完成系統(tǒng)整體控制，對整個工件的連續(xù)噴涂；遠(yuǎn)程控制系統(tǒng)主要實(shí)現(xiàn)對系統(tǒng)運(yùn)行狀態(tài)的實(shí)時監(jiān)控及操作。

總控制系統(tǒng)能夠?qū)Ψ窒到y(tǒng)進(jìn)行控制及狀態(tài)顯示�？蓪┢嵯到y(tǒng)自動進(jìn)行換色、加料、清洗等操作�？蓪覓煨凶邫C(jī)構(gòu)運(yùn)動過程中產(chǎn)生的誤差進(jìn)行修正。

五、噴涂工藝流程及控制的技術(shù)要點(diǎn)

懸掛式機(jī)器人噴涂系統(tǒng)噴涂工藝流程如下：

首先天車系統(tǒng)、供漆系統(tǒng)和噴涂系統(tǒng)準(zhǔn)備就緒，工件進(jìn)入**位置，并定位→系統(tǒng)檢測工件實(shí)際位置→坐標(biāo)擬合→示教（手動調(diào)試程序）→啟動運(yùn)行，總控讀取噴漆“工件數(shù)據(jù)”，發(fā)噴涂“軌跡號”和噴涂“配方確認(rèn)”信號給機(jī)器人噴涂系統(tǒng)→機(jī)器人噴涂系統(tǒng)讀取噴涂“軌跡號”和顏色“配方號”→機(jī)器人噴涂系統(tǒng)確定是當(dāng)前噴涂配方，則給總控發(fā)出位置1的“噴涂申請”信號→懸掛系統(tǒng)三軸分別到達(dá)**位置1后，發(fā)“天車已到噴涂位置”信號給總控→2KS混合，機(jī)器人開始自動噴涂（調(diào)用噴涂程序1）→噴涂工件1號區(qū)域，噴涂完成，機(jī)器人回到HOME位后停止，并給總控發(fā)“噴涂完成”信號→總控讀取“噴涂完成”信號，變換工件指針，指向2號區(qū)域工件數(shù)據(jù)，發(fā)噴涂“軌跡號”和噴涂“配方確認(rèn)”信號給機(jī)器人噴涂系統(tǒng)→機(jī)器人噴涂系統(tǒng)讀取噴涂“軌跡號”和顏色“配方號”→機(jī)器人噴涂系統(tǒng)確定是當(dāng)前噴涂配方，則給總控發(fā)出位置2的“噴涂申請”信號→懸掛系統(tǒng)三軸分別到達(dá)**位置2后，發(fā)“天車已到噴涂位置”信號給總控→2KS混合，機(jī)器人開始自動噴涂（調(diào)用噴涂程序2）→噴涂工件2號區(qū)域，噴涂完成后，機(jī)器人回到HOME位后停止……

按上述程序分別噴涂工件3號區(qū)域，4號區(qū)域……n號區(qū)域，直***成工件的全部噴涂任務(wù)→機(jī)器人回零位（HOME點(diǎn)），天車回到原始位置，工件下線。

圖7噴涂工藝流程圖

為了完成對整個工件的連續(xù)噴涂，直***車回到原始位置，總控的S7-1500控制器作為整個系統(tǒng)***為關(guān)鍵的核心部件，協(xié)調(diào)控制天車和機(jī)器人系統(tǒng)的工作。手動示教調(diào)試機(jī)器人程序時，要把工件在每個區(qū)域的天車X、Y、Z坐標(biāo)值、機(jī)器人的軌跡號要手動記錄下來，通過在總控的操作屏TP1200或者在中控的工控機(jī)上輸入，存入總控S7-1500PLC的數(shù)據(jù)塊里，系統(tǒng)自動運(yùn)行時，再自動一步一步按照工藝順序調(diào)用已經(jīng)存入的數(shù)據(jù)。

由于工件種類多，不同工件劃分的區(qū)域大小是不一樣的，而且每個區(qū)域是多個數(shù)值，存儲數(shù)據(jù)的DB塊是數(shù)據(jù)的嵌套，即為多重數(shù)組，所以DB塊的大小要開辟足夠大，才能滿足生產(chǎn)要求�？偪厝暨x擇普通的S7-300/400PLC用STEP7編程方式實(shí)現(xiàn)數(shù)據(jù)的存儲和讀取有一定的困難，故選擇S7-1500PLC采用TIA博途的SCL編程方式實(shí)現(xiàn)此功能，更加方便和容易。下面介紹實(shí)現(xiàn)過程。

工件工藝數(shù)據(jù)表的建立過程：

⑴.在TIA博途V13SP1編程軟件下，添加一個新的“PLCdatatypes”（相當(dāng)于Step7里建立的用戶自定義DB塊），命名為“工件配方”，在里面添加“天車X坐標(biāo)”（定義為整數(shù)數(shù)據(jù)類型）、“天車Y坐標(biāo)”（定義為整數(shù)數(shù)據(jù)類型）、“天車Z坐標(biāo)”（定義為整數(shù)數(shù)據(jù)類型）和“機(jī)器人軌跡號”（定義為字節(jié)數(shù)據(jù)類型），外加兩個備用數(shù)據(jù)，防止以后客戶提出增加新功能時用，“油漆配方號”（定義為Word數(shù)據(jù)類型）和“油漆流量”（定義為整數(shù)數(shù)據(jù)類型），現(xiàn)在這兩個數(shù)據(jù)是在畫面上直接輸入，供漆系統(tǒng)直接接收的。

圖8“工件配方”數(shù)據(jù)組

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Functions

Technical Specifications