3BHE039204P201REVA带有一个用于通信连接的前面板，两个安装在后边缘的螺丝，以及三个用于通风的格栅孔。控制器设计安装在机柜的底部。对于一个易于为三冗余系统服务的小型设置，0多可以并排安装三个组件。传感器输出机械角θ信号，从系统接口XIO板进入CTR主控板，经R/D转换成θr，再以转子角速度ωr形式，直接将速度反馈送到速度调节器。转矩给定T_R将来自于速度调节器的SFC_T_R进行转矩限制处理和di/dt运算，求出0终的转矩基准IQ_R信号。ID_R是磁通给定信号，它有以下功能：在基速以下，保持磁通恒定，电机恒转矩调速；基速以上，保持电压恒定，磁通按一定比例减少，电机恒功率调速。
处理器主板在矢量计算控制系统完成IGBT触发信号后，把触发脉冲传送到逆变器，控制IGBT导通和关断，得到所需电机近似于正弦波的输入电压和频率，进而调节电机转速。              

2.3数据通信

传动系统和PLC间通信采用FL-NET总线,光纤连接，变频器与HUB之间，以太网通讯。结构见图7。

EN：Ethernet接口模板 I/O：输入输出模板 EGD: Ethernet Global data

FL-NET：FL-NET模板 Switch：开关

PLC系统配置了一块FL612接口模块和一块EGD模块，与各变频器进行数据交换。各变频器地址均在EGD中配置，传动与PLC及传动与传动之间数据交换都是通过EGD来完成。IS220UCSAH1A使用的是QNX操作系统。

它有一个667兆赫的飞思卡尔8349处理器。

该板由12瓦、18-36 V直流电源供电。

IS220UCSAH1A的前面板包括六个母插孔连接器、一个USB端口和各种LED指示灯。

即使在其0大额定温度下，该板也可以在0到65摄氏度的温度范围内工作，并且不需要风扇来冷却。

它包含位于前面板左侧的Link/Act LED指示灯，以及位于面板中央的一排指示灯，分别标有“电源”、“启动”、“在线”、“闪光”、“DC”和“诊断”。

以太网连接通过插孔连接器实现，允许电路板与其他Mark VI、Mark VIe或EX2100励磁控制器以及维护和操作员站接口。ABB推出两款全新的机器人控制器OmniCore? E10和V250XT，以扩展其OmniCore?控制器系列，服务更广泛的制造应用

速度更快、柔性更高，助力客户持续提高生产效率，以响应不断变化的市场需求

新款控制器支持1000余种软硬件功能扩展，满足客户不同需求

为了满足更快、更高效的生产需求，ABB OmniCore?控制器系列推出了全新E10和V250XT控制器。两款控制器可与ABB多种型号机器人配合使用，提供业界领0的运动控制功能，节省高达20%的能源，并通过内置数字化连接和1000多种可扩展功能来满足未来不断变化的需求。E10和V250XT控制器的推出将为电子装配、汽车、物流、通用工业等行业客户带来更强大的机器人控制体验。

今天，各个行业对快速、多样化生产的需求不断增长，同时要求我们对飞速变化的市场状况作出更快速的响应，以提供更快速、准确、灵活的解决方案。作为ABB OmniCore?控制器家族的新成员，E10和V250XT为制造商提供了更多的可能性，使他们能够0大限度地缩短停机时间，提高生产效率，以满足日益变化的需求。

——Antti Matinlauri ABB机器人全球产品管理负责人

两款全新的控制器均支持1000余种硬件和软件功能扩展，涉及编程、离线调试和模拟、维护、视觉和安全等领域。此外，通过连接云端ABB Ability?互联服务，控制器强化了预防性维护和生命周期管理功能，从而进一步提升了机器人性能。

ABB还为OmniCore?控制器设计了物联网网关开放式自动化软件。物联网网关技术实现了数据从工厂车间、机器到机器（M2M）、机器人到其他机器，以及机器人到传感器、到MES/ERP系统或云端的无缝传输，使真正的联合生产成为可能。

此外，两款控制器都支持ABB的TrueMove和QuickMove运动控制技术应用，从而能够提供行业领0的速度、节拍时间、重复定位精度和路径精度。这使得ABB机器人比其他同级别机器人运行速度更快。相较上一代ABB机器人产品，采用新款控制器的机器人速度将提升25%。

E10采用超薄的19英寸机架式设计，适用于狭窄空间和高密度生产线，如电子行业的小件装配和物料搬运等要求布局紧凑的应用。E10控制器可应用于ABB SCARA机器人（如IRB 920T）和负载达11kg的多关节机器人（如IRB 1300）。

OmniCore? V250XT控制器可应用于负载直至300kg的多关节机器人（如IRB 6700），为电动汽车生产、汽车制造、物流和通用工业等众多应用提供多样和强大的支持。

OmniCore? E10和V250XT控制器采用了节能的能量回馈技术和制动能量回收技术，与ABB之前的IRC5控制器相比，能耗降低20%，可以帮助制造商减少能源消耗、降低能源成本。

新款控制器均可与ABB示教器配套使用。超大8英寸多点触控显示屏支持标准手势操作，如轻触、滑动和点击，简化了机器人编程。ABB示教器支持"热插拔"式连接方式，可在不中断操作的情况下拔掉插头或重新连接使用，从而供多台机器人共享，不仅提升了机器人部署效率还能0大限度降低成本。

E10和V250XT控制器的推出为ABB OmniCore?控制器家族翻开了全新篇章，目前OmniCore?控制器系列可与14款机器人搭配使用，为机器人提供更加强大的动力和柔性。所有OmniCore?控制器都基于ABB行业领0的RobotWare操作系统开发，未来将进一步扩展到ABB其他机器人型号中，更多应用将在2022年陆续推出。


FL-NET网络以Ethernet为物理层，采用总线拓扑结构，是日本采纳的一种PLC网络标准，其协议栈高层为UDP/IP+ UDP/IP+独自循环通信协议，以保证通信的实时性。

PLC系统与传动系统间数据交换基于EGD(Ethernet Global Data)以太网全局数据处理通信，EGD协议是美国GE自动化公司基于以太网技术的数据交换协议，它以数据报文形式在一个发送者和多个发送者之间实现100Mbps数据高速传送，遵循UDP/IP独自循环通信协议。数据发送时间间隔短，安全性强，不易丢失，各站为双向角色，既是服务器也是客户端。

3. 系统调试

从图5中可以看出，这是一个典型的双闭环控制系统，TMd-10e2提供了多种调试手段，从静态的电机自测试到负荷调试，其目的都是为了确保系统的稳定和快速响应。

3.1 系统转矩优化测试Fully meet the requirements of real-time acquisition and control.



Other PLC fixed communication data storage addresses are inconvenient for application. S7-1200 can define different data addresses for different sub stations.



Some PLC communication instruction packages such as Omron or delta fix the data read by each communication in a specific register. When you want to use it, you can "transfer" it out of this register for use. This always means that when PLC reads different data of the same equipment or different equipment, you must "plan" to "move" the data you need from the public fixed data register "accurately" and "timely" according to different times, otherwise the public fixed data register may be replaced by "new" data refresh, resulting in data confusion. To complete these tasks, you must have good programming habits and write a lot of programs for timing processing. If the amount of data is large, it is definitely a test for an engineer.



S7-1200 is much more flexible in this regard. You can put the data you read into any defined data background data block, which is very easy and simple. 0近新能源汽车和锂电池生产线的话题非常火爆，国内锂电大厂宁德时代加速布局海外市场，0近宣布了计划投资73.4亿欧元（相当于500亿人民币），在匈牙利建设第二座欧洲工厂，生产新能源锂电池，以供应欧洲市场的新能源汽车。之前也有消息说，宁德时代计划投资50亿美元在北美建厂，因为各种敏感性问题，北美计划暂时被搁置。0对值编码器在新建生产线上可以起到什么作用？

      据了解宁德时代公司目前在全球有十大生产基地，早在2018年宁德时代就宣布0家海外工厂设立在德国图林根州，但是目前来看德国工厂的反馈意见，就是成本太高和建设周期太长，考虑到目前的国际形势，海外建设周期过长可能到投产时就已经减弱了市场竞争力。

      所以无论是匈牙利建厂还是计划北美建厂，甚至在国内建新厂，因疫情和进口涨价的因素，新建生产线都面临着同样问题：

出差要少，调试周期要短，一次通过率要高，使用维护要简单方便，要快速出产能。 针对客户这样的诉求，就有对生产线上自动化设备和器件“性价比”的重新思考，性价比与可靠性的关系在海外的本地化生产需考虑到工人培训、效率、生产线维护对成本的影响。



      0近小米的雷军在演讲中也有相似的表述，其实产品技术0进性，也是要为提高产品性价比服务的。客户既有对技术0进性的追求，可持续发展，又有对于生产线投入产出成本及今后使用成本的考量。面对太新的技术，却感觉成本太高；面对一些把便宜就当作性价比的产品，对于其稳定性可靠性又难以信任。在“0进技术”与“性价比”这两者之间如何做出选择？

可见“技术为本，性价比为纲”已是科技大佬们共同思考的问题。   无论是海外建厂还是国内新建生产线，生产线上设备如何考虑性价比和可靠性?中国制造的自动化设备在海外的生产线上能占多少比重?如何降低采用进口器件受涨价因素和货期因素的影响?上海精浦编码器已有多年随着设备出口欧洲的经验，也有国内参与自动化生产线建设应用的经验，那么我们的0对值编码器在生产线上起什么样的作用呢?
0对值编码器的加入，就可以帮助客户减少对于“可靠性”与“使用成本”的担忧。

首0就从我们编码器的角度来讲，新建生产线至少有这么几点是需要考虑的：
0点、性价比
With a front panel for communication connection, two screws mounted on the rear edge, and three grille holes for ventilation. The controller is designed to be installed at the bottom of the cabinet. For a small setup that is easy to service a triple redundant system, up to three components can be installed side by side. Sensor output mechanical angle θ The signal enters the CTR main control board from the system interface XIO board, and is converted into θ r. Then at the rotor angular velocity ω R form, directly feed back the speed to the speed regulator.



Torque given (T)_ R will come from SFC of speed regulator_ T_ R performs torque limit processing and di / dt calculation to obtain the final torque reference IQ_ R signal. ID_ R is the magnetic flux given signal, which has the following functions: keep the magnetic flux constant below the base speed, and adjust the speed of the motor with constant torque; Above the base speed, keep the voltage constant, reduce the magnetic flux in a certain proportion, and adjust the speed with constant power.



After the vector calculation control system completes the IGBT trigger signal, the processor main board transmits the trigger pulse to the inverter to control the IGBT on and off, so as to obtain the input voltage and frequency of the required motor approximate to the sine wave, and then adjust the motor speed.



2.3 data communication



The communication between the drive system and PLC adopts fl-net bus, optical fiber connection, and Ethernet communication between the frequency converter and the hub. See Fig. 7 for the structure.



En: Ethernet interface template I / O: input / output template EGD: Ethernet global data



Fl-net: fl-net template switch: switch



The PLC system is configured with a fl612 interface module and an EGD module to exchange data with each frequency converter. Each frequency converter address is configured in EGD, and the data exchange between transmission and PLC and transmission and transmission is completed through EGD. Is220ucsah1a uses QNX operating system.



It has a 667 MHz Freescale 8349 processor.



The board is powered by a 12 Watt, 18-36 V DC power supply.



The front panel of is220ucsah1a includes six female jack connectors, one USB port and various LED indicators.



Even at its maximum rated temperature, the board can work in the temperature range of 0 to 65 degrees Celsius, and does not need a fan to cool.



It contains the link / act led indicator on the left side of the front panel and a row of indicator lights in the center of the panel, marked with "power", "start", "online", "flash", "DC" and "diagnosis".



The Ethernet connection is realized through the jack connector, which allows the circuit board to interface with other Mark VI, mark vie or EX2100 excitation controllers and maintenance and operator stations. ABB launches two new robot controllers omnicore? E10 and v250xt to extend its omnicore? Controller series, serving a wider range of manufacturing applications



Faster and more flexible, helping customers continuously improve production efficiency to respond to changing market demands



The new controller supports more than 1000 software and hardware function extensions to meet different needs of customers



In order to meet the needs of faster and more efficient production, abb omnicore? The controller family introduces the new E10 and v250xt controllers. The two controllers can be used with ABB's various models of robots, providing industry-leading motion control functions, saving up to 20% of energy, and meeting the changing needs in the future through built-in digital connections and more than 1000 expandable functions. The launch of E10 and v250xt controllers will bring more powerful robot control experience to customers in electronic assembly, automobile, logistics, general industry and other industries.



Today, the demand for rapid and diversified production in various industries is growing. At the same time, we are required to respond more quickly to the rapidly changing market conditions to provide faster, accurate and flexible solutions. As abb omnicore? The new members of the controller family, E10 and v250xt, offer manufacturers more possibilities to minimize downtime and improve production efficiency to meet changing demands.



——Antti martinlauri, global product management director of ABB Robotics



The two new controllers support more than 1000 kinds of hardware and software function expansion, involving programming, offline debugging and simulation, maintenance, vision and safety. In addition, ABB's ability? Interconnected service, the controller strengthens the preventive maintenance and life cycle management functions, thus further improving the performance of the robot.



ABB also provides omnicore? The controller designs the open automation software of IOT gateway. The IOT gateway technology realizes the seamless transmission of data from factory workshop, machine to machine (M2M), robot to other machines, robot to sensor, MES / ERP system or cloud, making real joint production possible.



In addition, both controllers support ABB's truemove and quickmove motion control technology applications, which can provide industry-leading speed, beat time, repetitive positioning accuracy and path accuracy. This makes ABB robots run faster than other robots of the same level. Compared with the previous generation of ABB Robot products, the robot speed with the new controller will be increased by 25%.



E10 adopts ultra-thin 19 inch rack design, which is suitable for narrow space and high-density production lines, such as small parts assembly and material handling in the electronic industry and other applications requiring compact layout. E10 controller can be applied to abb SCARA robot (such as IRB 920t) and multi joint robot (such as IRB 1300) with load up to 11kg.



OmniCore? V250xt controller can be applied to multi joint robots with load up to 300kg (such as IRB 6700), providing diverse and powerful support for many applications such as electric vehicle production, automobile manufacturing, logistics and general industry.



OmniCore? E10 and v250xt controllers adopt energy-saving energy feedback technology and braking energy recovery technology. Compared with ABB's previous irc5 controllers, energy consumption is reduced by 20%, which can help manufacturers reduce energy consumption and reduce energy costs.



The new controller can be used with abb teaching pendant. The large 8-inch multi touch display supports standard gesture operations, such as touch, slide and click, which simplifies robot programming. ABB teaching pendant supports "hot plug" connection mode, which can be unplugged or reconnected without interrupting operation, so as to be shared by multiple robots, which not only improves the deployment efficiency of robots but also reduces the cost to the maximum.



E10 and v250xt controllers were introduced for ABB omnicore? The controller family has opened a new chapter? The controller series can be used with 14 robots to provide more powerful power and flexibility for robots. All omnicore? The controllers are developed based on ABB's industry-leading robotware operating system, which will be further extended to other ABB Robot models in the future, and more applications will be launched in 2022.




The fl-net network takes Ethernet as the physical layer and adopts the bus topology structure. It is a PLC network standard adopted by Japan. The high layer of the protocol stack is UDP / IP + UDP / IP + single loop communication protocol to ensure the real-time communication.



The data exchange between the PLC system and the transmission system is based on the Ethernet global data processing communication (EGD). The EGD protocol is the data exchange protocol based on the Ethernet technology of Ge automation company of the United States. It realizes the high-speed transmission of 100Mbps data between one sender and multiple senders in the form of data packets, and follows the UDP / IP single loop communication protocol. The data transmission time interval is short, the security is strong, and it is not easy to lose. Each station is a two-way role, which is both a server and a client.



3. System commissioning



It can be seen from Fig. 5 that this is a typical double closed loop control system. Tmd-10e2 provides a variety of debugging means, from static motor self-test to load debugging, with the purpose of ensuring the stability and rapid response of the system.



3.1 fully meet the requirements of real-time acquisition and control





Other PLC fixed communication data storage addresses are inconvenient for application. S7-1200 can define different data addresses for different sub stations.





Some PLC communication instruction packages such as Omron or delta fix the data read by each communication in a specific register. When you want to use it, you can "transfer" it out of this register for use. This always means that when PLC reads different data of the same equipment or different equipment, you must "plan" to "move" the data you need from the public fixed data register "accurately" and "timely" according to different times, otherwise the public fixed data register may be replaced by "new" data refresh, resulting in data confusion. To complete these tasks, you must have good programming habits and write a lot of programs for timing processing. If the amount of data is large, it is definitely a test for an engineer.





S7-1200 is much more flexible in this regard. You can put the data you read into any defined data background data block, which is very easy and simple. Recently, the topic of new energy vehicles and lithium battery production lines has been very hot. Ningde times, a large domestic lithium battery manufacturer, has accelerated the layout of overseas markets. Recently, it announced that it plans to invest 7.34 billion euros (equivalent to 50 billion yuan) to build a second European plant in Hungary to produce new energy lithium batteries to supply new energy vehicles in the European market. It has also been reported that Ningde times plans to invest US $5 billion to build a plant in North America. Due to various sensitive issues, the North American plan has been temporarily shelved. What role can absolute value encoder play in the new production line?



It is understood that Ningde times currently has ten production bases in the world. As early as 2018, Ningde Times announced that its first overseas factory was set up in Thuringia, Germany. However, at present, the feedback of German factories is that the cost is too high and the construction cycle is too long. Considering the current international situation, the long overseas construction cycle may have weakened the market competitiveness when it is put into production.



Therefore, whether it is a factory in Hungary, a factory in North America, or even a new factory in China, the new production line is faced with the same problems due to the epidemic and import price rise:



Less business trips, shorter commissioning cycle, high one-time pass rate, simple and convenient use and maintenance, and rapid production. In response to such demands of customers, there is a rethinking of the "cost performance" of automation equipment and devices on the production line. The relationship between cost performance and reliability. The impact of worker training, efficiency and production line maintenance on costs needs to be considered in overseas localization production.





Lei Jun of Xiaomi also made a similar statement in his speech recently. In fact, the progressiveness of product technology is also to improve the cost performance of products. Customers not only pursue the progressiveness technology and sustainable development, but also consider the input-output cost of the production line and the future use cost. Facing too new technology, they feel that the cost is too high; It is difficult to trust the stability and reliability of some products that regard cheap as cost-effective. How to choose between "advanced technology" and "cost performance"?



It can be seen that "technology-based, cost-effectiveness oriented" has been the common thinking of science and technology leaders. Whether it is an overseas factory or a new domestic production line, how to consider the cost performance and reliability of the equipment on the production line? What is the proportion of automation equipment made in China in overseas production lines? How to reduce the impact of price rise and delivery time on the use of imported devices? Shanghai Jingpu encoder has many years of experience in exporting equipment to Europe, as well as domestic experience in the construction and application of automatic production lines. What role does our absolute value encoder play in the production line?

The addition of absolute value encoder can help customers reduce their worries about "reliability" and "use cost".



First of all, from the perspective of our encoder, there are at least the following points to consider for the new production line:

First, cost performance