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。
This is a single box assembly 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 serve a triple redundant system, up to three components can be installed side by side. Sensor output mechanical angle θ Signal, from system interface XIO board to CTR main control board, converted to θ r. At the rotor angular speed ω R form, feedback the speed directly to the speed regulator.



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



After the vector calculation control system completes the IGBT trigger signal, the processor motherboard transmits the trigger pulse to the inverter, controls the IGBT on and off, and obtains the input voltage and frequency of the required motor that is approximate to the sine wave, thereby adjusting the motor speed.



2.3 Data communication



FL-NET bus, optical fiber connection, Ethernet communication between frequency converter and HUB are used for communication between the drive system and PLC. The structure is shown in Figure 7.



EN: Ethernet Interface Template I/O: Input/Output Template EGD: Ethernet Global data



FL-NET: FL-NET templateSwitch: switch



The PLC system is configured with a FL612 interface module and an EGD module for data exchange with each frequency converter. Each frequency converter address is configured in EGD, and the data exchange between transmission and PLC and between transmission and transmission is completed through EGD. IS220UCSAH1A uses the 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 connectors, a 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.



It contains the Link/Act LED indicator located on the left side of the front panel, and a row of indicators located in the center of the panel, labeled "Power", "Start", "Online", "Flash", "DC", and "Diagnostics".



Ethernet connection is realized through jack connector, allowing the circuit board to interface with other Mark VI, Mark VIe or EX2100 excitation controllers and maintenance and operator stations. ABB launched two new robot controllers, OmniCore? E10 and V250XT to extend their 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 kinds of software and hardware function expansion to meet different customer needs



To meet faster and more efficient production requirements, ABB OmniCore? The controller family introduced the new E10 and V250XT controllers. The two controllers can be used together with various types of ABB robots to provide industry-leading motion control functions, save up to 20% of energy, and meet the changing needs of the future through built-in digital connections and more than 1000 expandable functions. The introduction 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, and at the same time, we are required to respond more quickly to the rapidly changing market conditions to provide faster, more accurate and more flexible solutions. As ABB OmniCore? The new members of the controller family, E10 and V250XT, provide more possibilities for manufacturers to minimize downtime and improve productivity to meet changing needs.



——Antti Matinlauri Head of Global Product Management for ABB Robotics



Both new controllers support more than 1000 kinds of hardware and software function expansion, involving programming, offline debugging and simulation, maintenance, vision, security and other fields. In addition, by connecting the cloud ABB Ability? Interconnection service, the controller strengthens the preventive maintenance and lifecycle management functions, thus further improving the robot performance.



ABB also offers OmniCore? The controller has designed the open automation software of the Internet of Things gateway. The IoT gateway technology realizes the seamless transmission of data from factory workshops, machines to machines (M2M), robots to other machines, robots to sensors, MES/ERP systems or the cloud, making true 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 using the new controller will increase by 25%.



The E10 adopts an 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, which require compact layout. The E10 controller can be applied to ABB SCARA robots (such as IRB 920T) and multi joint robots with a load up to 11kg (such as IRB 1300).



OmniCore? The V250XT controller can be applied to multi joint robots with loads up to 300kg (such as IRB 6700), providing diversified 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 the IRC5 controller before ABB, the energy consumption is reduced by 20%, which can help manufacturers reduce energy consumption and energy cost.



The new controller can be used together with ABB teaching pendant. The large 8-inch multi touch display supports standard gesture operations such as tapping, sliding and clicking, simplifying robot programming. ABB teaching pendant supports the "hot plug" connection mode, which can be used to unplug or reconnect without interrupting the operation, so that it can be shared by multiple robots, which not only improves the robot deployment efficiency but also minimizes the cost.



The introduction of E10 and V250XT controllers is ABB OmniCore? The controller family has opened a new chapter. At present, OmniCore? 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 and will be further extended to other ABB robot models in the future. More applications will be introduced in 2022.




FL-NET network takes Ethernet as the physical layer and adopts bus topology structure. It is a PLC network standard adopted by Japan. Its protocol stack layer is UDP/IP+UDP/IP+independent circular communication protocol to ensure real-time communication.



The data exchange between PLC system and transmission system is based on EGD (Ethernet Global Data) Ethernet global data processing communication. EGD protocol is a data exchange protocol based on Ethernet technology of GE Automation Company in the United States. It realizes high-speed transmission of 100Mbps data between one sender and multiple senders in the form of data message, and follows UDP/IP independent circular communication protocol. The data transmission interval is short, the security is strong, and it is not easy to lose. Each station has a two-way role, which is both a server and a client.英维思(3008, 3625, 3508E.3721, 3700A 4351B)

本特利(3500/42M， 3500/ 22M, 3500/ 95.3500/05)

黑马(F3330, F3236， F6217, F7126, F8621A)

福克斯波罗(FBM203, FBM204, FBM217, FMB231)

AB: (1746 1747 1756 1770 1771 1785触摸屏2711系列CPU PLC)

普罗索芙特PROSOFT MVI46/56/69, AB旗下，跟AB模块

瑞恩RELIANCE模块,卡件

飞利浦EPRO MMS6210/ 621…. PR6423/003-031

美尔托Meltal MT1102-02-00, MS3101-00-00, MS3102-01-00

横河YOKOGAWA AAI, ADV, ADI, ANB, AMM, SB, PW(型号开头),卡件模块(CPU,电源,输出，PLC)

摩尔MOORE Q开头, 3开头模块,像电视显示器

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