发那科机器人焊接应用的IO配置总线型.docx

1、发那科机器人焊接应用的IO配置总线型发那科机器人焊接应用的I/O配置(总线型)Version Information【TOP】F Number: YH14979 VERSION : SpotTool+ $VERSION: V7.5093 06/14/2010DATE: 14-AUG-11 18:21 VERSION INFORMATION:SOFTWARE: ID:SpotTool+ 7DA5/12S/W Serial No. : 88150 Controller ID : YH14979 Default Personality (from FD) R-2000iB/210F V7.50P/1

2、2 Servo Code : V15.01 Cart. Mot. Parameter: V3.00JNT. Mot. Parameter : V3.00DCS : NoneSoftware Edition No.: V7.50P/12 Update Version : NoneCustomization Ver. : NoneRoot Version : V7.5093 Boot MONITOR : V7.70P/06Teach Pendant : 7D0F/01MBrowser Plugins : V7.7004TP Core Firmware : V7.7004Media from FRL

3、 06/24/2010CONFIG:FEATURE: ORD NO:SpotTool+ H590English Dictionary H521Multi Language (CHIN) H539AA Vision Mastering AAVMAnalog I/O H550Auto Software Update ATUPAutomatic Backup J545Background Editing J616Camera I/F VCAMCell I/O CLIOCommon shell R645Common shell core CMSCCommon softpanel CMSPCommon

4、style select STYLCondition Monitor J628Constant Path R663Control Reliable CNRECorner Region R654Diagnostic log RSCHDisable Faults CDSBDispense Plug-in SPLGDual Check Safety UIF DCSUEnhanced Mirror Image R698Enhanced Rob Serv Req ORSREnhanced T1 Mode R680Enhanced User Frame J604Ext. DIO Config EIOCEx

5、tended Error Log R542External DI BWD ESETFCTN Menu Save J516FTP Interface J716Group Mask Exchange MASKHigh-Speed Skip J627Host Communications HOCOHour Meter J513I/O Interconnect 2 J542Incr Instruction J510KAREL Cmd. Language J650KAREL Run-Time Env J539Kernel + Basic S/W H510License Checker LCHKLogBo

6、ok(System) OPLGMACROs, Skip/Offset J503MH gripper common MHGCMat.Handling Option MPLGMechStop Protection MCSPMirror Shift J506Mixed logic J554Mode Switch MDSWMotion logger R637Multi Appl Enabler MAENMulti Equipment J617Multi-Tasking J600Position Registers J514Print Function J507Prog Num Selection J5

7、15Program Adjust J517Program Shift J505Program Status PRSTProgram ToolBox R598RDM Robot Discovery FRDMRobot Service Request SRSRRobot Servo Code H930SNPX basic SNBASeal Common SLCMShift Library SHLBShift and Mirror Lib SMLBSoft Parts in VCCM SPVCSpot Plug-in SPPGTCP Auto Set J520TCP Speed Prediction

8、 J524TCP/IP Interface HTCPTMILIB Interface TMILTP Menu Accounting TPACTPTX TPTXTelnet Interface TELNTool Offset J509Unexcepted motn Check UECKUser Frame UFRMVision Core VCORVision Library VIPLVision SP CSXC CSXCVision Shift Tool CVVFWeb Server HTTPWeb Svr Enhancements R626iPendant CGTPiPendant Grid

9、Display IGUIiPendant Setup IPGSR-2000iB/210F H601Servo Gun Axes H869Auto Tuning CS J952Collision Guard R534Collision Guard Pack J684Cycle Time Priority J523DeviceNet Interface J753DeviceNet(Slave) J754Disp 2nd analog port R528Extended Axis Control J518Extended User Frames R696FANUC ServoGun Change J

10、665FRL Params R651HMI Device (SNPX) R553Multi-Group Motion J601PC Interface R641PMC(FAPT Ladder) J760Password Protection J541ROS Ethernet Packets R603Servo Gun Option J643Servo Gun WT Compens J933Space Check J609USB port on iPendant J957YELLOW BOX J775iRCalibration VShift J994Arc Advisor R666Aux Ser

11、vo Code SVMOCommon calib UIF CUIFCycle time Opt. CTOPExtended Axis Speed EXTSFunc stup FCSPHTTP Proxy Svr PRXYHigh Speed ServoGun J886IntelligentTP PC I/F J770JPN ARCPSU PRM J885Motherboard driver MOBOPC Send Macros SENDPressure Control PCTLRequires CP CPRQRobot Library Setup RLCMSSPC error text ETS

12、SServo Gun Core J670Servo Hand Change SVHCSgdiag core SGDGSocket Messaging R636Soft Limit SLMTTCPP Extention TCPEVCalibration Common VCCMVisShift I/F Common CVVCVision Shift Common CVVSistdpnl IPNLiPendant HMI Setup U001RM HELP INCL VIS PKGS U004SMB TP Backup U006RIPE GET_VAR FIX U007FLEXTOOL: ADD R

13、729.FD U008CVIS ADD EP ADV PKG U009CVIS NO WTWTEST LOAD U010LOAD HELP FOR SELECT U011FALSE ALARM CPMO-130 U012MD: HANG FROM INTP U013R709 DRAM AVAILCHECKS U014CVIS VPCS SUPP LIMCHK U015CVIS VPFF POS DIF FIX U0168-12 CHARACTER PROGRA U017SAVE FRAMEVAR.SV U018TP Enable NOAM U026STRCTURE SHADOW UPDAT U

14、027RIPE STATICS TOO MUCH U028TIMQ MOTN-003 U030ROBOGUIDE DAUGHTER U032Disable touch in Edit U033PATH NODE MOVETO U035RIPEREMOVE TIME RETRY U038VMXPACK MAY ASSERT U039CYCLE DATA MAY BE COR U040TOO MANY ARC OPTIONS U043PMC Display wait fix U044APSH-171 fix U045SLOW T1 MOTN U046GET_POS_TPE fix U047jog

15、disable by app wa U048CVIS VPEP HIST RT FIX U049MXSPD TB CPMO003 U050CVIS BARCODE ENHANCE U051prv save may not work U052High RIPE traffic fix U053print from sysvar scr U054PROGRAM ADJUST FOR SH U058RIPE/GETSET ERROR HAN U060IPENDANT SCREEN UNREA U061HANDLE PART CORRECTIO U064NO FILE BACKGROUND ED U0

16、66CVIS EP PKG INCL SVIP U067SIX DIGIT VERSIONS U068CVIS NEW VERSION P06 U069IMAGE SAVE LOAD U070DISP PROC ISSUE U071REPLAN JOINT DELTA U078TP EDIT CALLFROM FIX U079CVIS FIX IPNDT RT IMG U080$coord_mask default U084R719 ENHANCEMNT/FIXES U085Local Hold TIMQ Adjus U097PG: CHDELMON can caus U100CVIS: 3D

17、 multi-view d U101Increase Number of FD U103KAREL CANNOT ACCESS M U104Robot Settings are lo U108PAINT - Wait/Release U109FlexTool: Backward mo U114PAINT - PaintPRO Repa U117EDIT SCREEN IS CLOSED U500ANTIDEFECT UIF FIX U507PNIO V750 FIX1 U509FIX LOADING DB SYSVAR U510FIX EDGE DETECTION U511ONLINE HEL

18、P BUGFIX U512CVIS: CAM CALIB FIX U514DISP CUSTOM FOR SSGUN U515FIX ABC JARKY MOTION U517MILLIMETER CONVERSION U518GARBLED STR REG U519ALARM TEXT BUG FIX U520DISP CUST DRY FOR SSG U521IMPROVE LWR DETECTION U523CVIS FREEZE VLOG TASK U525VP2S MM CONVERSION U526FIX TP FREEZE IBPX U527FX DB/TB BUSY RUNNI

19、NG U528RECORD CALIBRATION LO U529DIV CALCULATION FIX U530FIX FOR BWD RETURN U531CONDITION MONITOR FIX U532VOFS: UNEXP ALARM FIX U533FIX SERVO GUN TEXT U534FIX FENCE SVEMG ABNML U535DCS CC_SAFEIO ALARM U537IMPROVED GUN TOUCHUP U540FIX GUN CHG WITH DNET U541UPDATE GUNTCH PAEAMS U542DOT PETTERN BUG U54

20、3CVIS: IRVISION BUG FI U544UPDATE SVGN ERROR TXT U545FIX TOOLCHG WITH DNET U546MLOCK CHK WITH GUNCHG U547MECH COMP FOR GUNTCH U549IMPROVE GUNTCH PARAMS U550VISION MEMORY LEAK U551FIX UNWANTED MESSAGE U552SUPPORT DET SOFT WORK U553CVIS:SPEC CHANGE OF V U554GRID DETECT BUG FIX U559MOTOR: GR: AX: MOTOR

21、 ID AND INFO: 1 1 ACaiSR30/3000 80A H1 DSP1-L 1 2 ACaiSR30/3000 80A H2 DSP1-M 1 3 ACaiSR30/3000 80A H3 DSP1-J 1 4 ACa12/4000iS 40A H4 DSP1-K 1 5 ACa12/4000iS 40A H5 DSP2-L 1 6 ACa12/4000iS 40A H6 DSP2-M 1 7 aiF22/3000 80A H DSP - 2 1 aiS8/4000 80A H DSP -SERVO:GROUP: AXIS: SERVO PARAM ID: 1 1 P02.06

22、 1 2 P02.06 1 3 P02.06 1 4 P02.06 1 5 P02.06 1 6 P02.06 1 7 P00.39 2 1 P00.39Memory Detail【TOP】MEMORY USAGE:MEMORY DETAIL (MAIN):Pools TOTAL AVAILABLE LARGESTTPP 800.0KB 577.8KB 555.0KBPERM 1978.0KB 371.6KB 366.5KBSYSTEM 7182.0KB 2.5KB 2.5KBSHADOW 5894.5KB 5556.5KB 32.0KBTEMP 21052.5KB 1422.8KB 714.

23、2KBFROM 31857.0KB 9258.0KB .0KBHARDWAREFROM 32MBDRAM 32MBSRAM 2MBMEMORY DETAIL (COMM):Pools TOTAL AVAILABLE LARGESTTPP 0.0KB 0.0KB 0.0KBPERM 48.0KB 47.8KB 47.8KBSYSTEM 6144.0KB 5553.0KB 5553.0KBSHADOW 5894.5KB 5556.5KB 32.0KBTEMP 9844.5KB 8201.3KB 7949.9KBProgram Status Information【TOP】TASK STATES:1

24、 RESET status = ABORTED* History Data *Routine depth: 0 Routine: RESET Line: 1 Program: RESET Type: TP 2 STHICHNG status = ABORTED* History Data *Routine depth: 0 Routine: STHICHNG Line: 128 Program: STHICHNG Type: PC 3 PNLINST status = ABORTED* History Data *Routine depth: 0 Routine: PNLINST Line: 223 Program: PNLINST Type: PC 4 PSCOLD status = ABORTED* History Data *Routine depth: 0 Routine: PSCOLD Line: 93 Program: PSCOLD