DTDX991A（6）据是否联网通信选型若PLC控制的系统需要联入工厂自动化网络，则PLC需要有通信联网功能，即要求PLC应具有连接其他PLC、上位计算机及CRT等的接口。大、中型机都有通信功能，目前大部分小型机也具有通信功能。
  （7）对PLC结构形式的选择

  在相同功能和相同I/O点数据的情况下，整体式比模块式价格低。但模块式具有功能扩展灵活，维修方便（换模块），容易判断故障等优点，要按实际需要选择PLC的结构形式。通用电气公司设计了IS220UCSAH1AMark VIe系统的处理器/控制器。

这是一个单盒装组件，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0先的运动控制功能，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0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0先的速度、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0先的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，其实产品技术先进性，也是要为提高产品性价比服务的。客户既有对技术先进性的追求，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“先进技术”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。

首先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In general, for remote data transmission, 4G intelligent gateway devices can be used to realize remote data transmission for different protocols and interface devices. Many such enterprises have their own cloud platforms, and customers can use the cloud platforms to achieve remote maintenance and reduce maintenance costs. In terminal automation, robot applications are often used, specifically when handling cardboard stacking, or when secondary packaging and tray heat sealing are involved. At this time, the protection of personal safety is particularly important, and safety is generally guaranteed by protective devices. In case of maintenance or failure, the machine must be able to resume operation quickly and safely to minimize non productive downtime.



Whether it is access protection and safety door interlocking, safe restart interlocking of robot units, diagnosis and visualization tasks for rapid troubleshooting, or safe transportation of packaging materials through automatic guided vehicles (AGVS) and vehicle systems (AGVS) - pirci can provide appropriate automation solutions for terminal packaging. Safety of retractable packaging and heat sealed pallets



In order to safely monitor the film stretching machine, high equipment availability and operational safety (due to high temperature) must be achieved. This situation is suitable for a complete security solution including the security radar system psenradar and the configurable small controller PNOZmulti 2 - including the compliance evaluation of the whole machine. This is especially suitable for applications in harsh environments up to EN ISO 13849-2 PL D / cat 3, even where dust and dirt accumulate.



Modular safety door system can flexibly protect safety



In terminal packaging using palletizing or robots, protection with safety doors must be adopted. Pilci's modular security door system supports a flexible combination of custom security door monitoring and optional access rights. From the safety process protection using psenslock or the interlock and protection lock using the safety door sensor psenmlock, to the appropriate accessories (such as the psenmlock operation module with integrated actuator and integrated escape release device), and the pitgatebox button unit for easy operation of the safety door system, the products of pirci can be combined separately to meet the requirements of users. The integrated access authorization system pitrader is provided as a user authentication option. Of course, diagnosis and safety series connection can also be performed by safety equipment diagnosis. AGV enables safe material handling



When transporting packaging materials or European standard pallets, the safety of workers and the surrounding environment of automatic guided vehicles and vehicle systems (AGVS / AGVS) must always be ensured. Based on ISO 3691-4, from concept to commissioning (including compliance assessment), pirmagnetic can help users coordinate the application of AGV system. In order to safely transport European standard pallets, pirci's safety laser scanner psenscan and modular safety relay mypnoz are responsible for the safety protection and dynamic navigation of the AGV system, which can be easily integrated through the ready to use ROS module. AGV solutions also include control and signal equipment pitestop and pitsign as well as industrial safety bridges to prevent tampering and misoperation. Today, the Internet Network Based on TCP / IP protocol family provides us with a platform for information sharing. Thanks to the open interconnection characteristics of TCP / IP, more and more communication networks and intelligent devices are connected to the Internet. With the progress and development of modern industry and science and technology, the characteristics of networking and distribution in the field of industrial control are more and more obvious, and the demand is increasing day by day. Industrial control has gradually developed from the traditional field control to the remote monitoring mode. The powerful Internet and the increasingly mature data communication technology make distance no longer a constraint, so the industrial control network has been extended.



The wireless data operation network supported by 4G / 5G technology provides a reliable data channel for the industrial data transmission field. With its wireless access, Internet connection and high data transmission rate, it has been able to realize remote data transmission in the industrial field and complete the networking of industrial remote control. At present, in China, 4G / 5G technology is used as the carrier to provide voice and data services for its users. With the development of wireless communication technology, 4G / 5G products are more and more widely used in the field of data transmission, especially the emergence of 4G / 5G communication modules accelerates the development of this application. Based on years of experience in the field of wireless technology, Beijing Dongyong technology has developed orb305 series products based on TCP / IP network and 4G / 5G network for industrial users in view of the characteristics and needs of today's industrial field. Orb305 series products are characterized by wide temperature operation, wide voltage power supply, high reliability, good adaptability to industrial environment, easy installation and maintenance. It can provide customers with high-speed, always on-line and transparent data transmission, which can fully meet the needs of industrial data collection, transmission and monitoring, and can be widely used in the industrial automation industry. 2、 Scheme design basis



2.1 safety and reliability



Considering that the industrial automation control system has a certain special demand for data, the safety of data should be fully considered in the design of the whole system, and the reliability of equipment should be measured in the selection of equipment to ensure the safe and reliable operation of the whole system.



2.2 progressiveness and practicability of Technology



While ensuring the application of industrial users, it also reflects the progressiveness of the wireless network system. In network design, we should combine advanced technology with existing mature technology and standards, and fully consider the current situation and future development trend of wireless network applications.



2.3 flexibility and scalability



According to the needs and changes of future applications of industrial users, it shall have sufficient access capability and scalability, including the provision of multiple access methods and the scalability of access, the expansion of bandwidth, the smooth upgrade of rate and the scalability of processing capacity, so as to minimize the adjustment of network architecture and existing equipment.



2.4 manageability



Considering that the lower end devices of industrial users are scattered and difficult to maintain, the scheme adopts a centralized management network architecture to monitor the operation status of the devices in real time and remotely set the lower computer through the monitoring center.



2.5 compatibility and economy



Compatibility, which can ensure the availability and continuity of various computer software and hardware resources in the network to the maximum extent; Economy: under the condition of making full use of existing resources, the overall investment in the network system can be minimized. Implement it in a planned and step-by-step manner, and make full use of existing network equipment or make necessary upgrades on the premise of ensuring the overall performance of the network.



3、 Network architecture description 3.2 scheme description



Project site:



The actual project site will be composed of a variety of equipment, and the operation and status of these equipment will be collected and monitored through one or more built-in Ethernet PLCs. The 4G wireless industrial router has a built-in 100Mbps Ethernet interface, which is connected to the Ethernet port of one or more Ethernet PLCs on site to form the project site network. The 4G wireless industrial router can supply power through the 24VDC output of Siemens PLC, and automatically connect to the Internet after power on, and establish an encrypted security tunnel with the "VPN firewall" at the front end of Juyuan monitoring center.



The security tunnel is used to ensure that the communication data flowing to "Juyuan monitoring center" and "project site network" are not obtained by illegal Internet users. At the same time, the "project site network" is seamlessly connected with the "Juyuan monitoring center". The center maintenance personnel can directly access the IP address of the equipment in the "project site network" to change the configuration of the field equipment.



Juyuan monitoring center:



Juyuan center contains all core applications of the enterprise. It is generally composed of wired network access (with fixed public network IP address), firewall supporting VPN access, router, and maintenance personnel.



As a manager, you can maintain or monitor the equipment on the project site manually or through the existing application services of the enterprise.



Travel maintenance engineer:



Maintenance engineers in different places will participate in remote customer support for a variety of reasons. The maintenance engineer can access the Internet and establish a connection with the equipment on the customer's site through the security authentication of Juyuan monitoring center. Based on Dongyong technology's wireless remote maintenance solution, Juyuan can obtain a perfect system that meets the following characteristics:



The project site network is unattended, and the 4G wireless industrial router is online 7 * 24 hours.




    the I / O points of the control system shall be cleared first, and then the standby amount shall be set aside according to 15-20% of the actual number of points required (leaving room for system transformation, etc.), and then the number of points required for PLC shall be determined.

    the output points of PLC can be divided into common point, grouping and isolation. Different voltage types and voltage levels can be used between each group of isolated output points, but the average price per point of this PLC is high. If isolation is not required between output signals, PLC with the first two output modes shall be selected.

  (2) selection of storage capacity

    the user storage capacity can only be roughly estimated. In a system that only controls the switching value, it can be estimated by multiplying the input points by 10 words / point + the output points by 5 words / point; The counter / timer estimates according to (3 ~ 5) words / piece; (5 ~ 10) words / quantity when there is arithmetic processing; In a system with analog input / output, it can be estimated according to the storage capacity of about (80-100) words per analog input / (or output); When there is communication processing, it is roughly estimated according to the number of more than 200 words per interface. After that, a margin is generally reserved at 50-100% of the estimated capacity. For inexperienced designers, it is better to leave more margin when selecting capacity.

  (3) selection of I / O response time

    I / O response time of PLC includes input circuit delay, output circuit delay and time delay caused by scanning mode of operation (generally 2-3 scanning cycles), etc. For the switching value control system, the response time of PLC and I / O can generally meet the requirements of the actual project, so it is unnecessary to consider the I / O response problem. However, for analog control systems, especially closed-loop systems, this problem should be considered.

  (4) type selection according to the characteristics of output load

    different loads have corresponding requirements for the output mode of PLC. For example, transistor or thyristor output type should be selected for inductive load with frequent on-off, rather than relay output type. However, the relay output PLC has many advantages, such as small conduction voltage drop, isolation function, relatively low price, strong ability to withstand instantaneous overvoltage and overcurrent, flexible load voltage (AC and DC) and wide voltage level range. Relay output type PLC can be selected for AC and DC loads with infrequent action.

  (5) selection of online and offline programming