introduction
Fieldbus technology has adapted to the direction of decentralized, networked, and intelligent development of industrial control systems. Once it has emerged, it has become a hotspot in global industrial automation technology and has received widespread attention worldwide.
Rockwell Automation has been producing PLCs based on devicenet fieldbus since 1971, which are used for automotive production line control. With the development of the company, Rockwell has made remarkable achievements in the fields of factory automation control, microprocessor, radio, space shuttle, advanced communication system and global positioning system. Rockwell Automation provides users with a full range of industrial network solutions from the control of workshop-level equipment to enterprise-level production control and information management-enterprise information systems based on network integrated automation. Today, Rockwell Automation is committed to expanding the scale of cip-based automation control products. cip is a three-layer network device network, control network, and ethernet / ip network shared application layer, which can help achieve common control, configuration, data collection and sharing on a series of devices. It can also bring huge benefits to automation users: reduce costs, increase ease of use, make product and network integration easier, and at the same time support the interoperability of equipment provided by multiple vendors, providing the convenience of device connection .
ethernet / ip industrial Ethernet
ethernet / ip was jointly launched by two important international organizations odva and controlnet internaTIonal in 2000. It is a true standard industrial Ethernet using tcp / ip protocol. Once launched, it has been supported by nearly 100 suppliers worldwide. At present, there are hundreds of ethernet / ip products for users to choose from, including process controllers, plc, i / o, frequency converters, soft starters, visual products, barcode scanning equipment, weighing equipment, power intelligent monitoring units, and processes The bus ff links equipment, switches, etc., and is widely used in various industries such as automobiles, food and beverage, power, chemical, water treatment, mining, metallurgy, building materials, and tires.
The controlnet network controlnet controlnet is based on the modified canbus technology and can be used as a communication logic control and process control system with a transmission rate of 5mbps. The control network is a high-speed deterministic network used for information transmission in time-critical applications. It provides real-time control and message delivery services for peer-to-peer communications. It acts as a high-speed communication link between the controller and the i / o device, integrating the capabilities of various existing networks. The control network is the most modern open network. It provides the following functions: i / o, real-time interlock, peer-to-peer communication message transmission and programming operations on the same link all have the same bandwidth. Both discrete and continuous process control applications have deterministic and repeatable functions.
Device network field bus devicenet devicenet is based on canbus technology, used for communication network between PLC and field devices. It can be connected to switches, dragging devices, solid-state overload protection devices, bar code readers, i / o and human-machine interfaces, etc., with a transmission rate of 125-500kbps. The device network connects the bottom-level devices directly to the workshop-level controller through an open network, without connecting them to the i / o module through hard wires. More than 150 sellers worldwide actively support the open equipment network sellers association (odva) network based on can technology. This 64-node, multi-branch network allows one cable to connect devices within 500m and as far as the user's programmable controller, eliminating the need to connect each device to an i / o rack with wires. In short, all of this can reduce the cost of wires and facilitate installation.
Automotive body-in-white welding line system
Automobile welding line is an integrated production line of robot system that assembles and welds body stamping parts into body-in-white. The structure is divided into a floor line and a main assembly line. The floor line mainly consists of the front floor assembly, the rear floor assembly, and the engine compartment assembly. It is welded into the lower floor of the car body, and the main line is the combination of the floor line, the left and right sides of the car body, the front and rear roof beams, and the top cover into a complete body in white. It consists of spot welding equipment, conveyor system, spot welding robot, robot control system and electrical auxiliary equipment. After the body is spliced, the key point accuracy test is completed through the online measurement station, and compared with the model of the vehicle model to obtain the shape size tolerance, check the quality, and then the body line is sent to the adjustment line for visual inspection, door, engine cover , The installation of trunk lid and other work pieces, so far the process of automobile welding has been completed.
Chery Automobile Welding Line Project Control Network Structure Introduction (see attached picture)
This project is the body welding line system of Chery's new models. The design ideas reflect the design ideas of the new era automation control system. The entire welding line is mainly composed of 51 kuka robot spot welding robot systems and related mechanical equipment. The transportation equipment includes Rolling bed, reciprocating bar, chain conveyor, fixture, ems trolley, etc., the control equipment includes 7 sets of guard logix plc system and related modules. The attached drawing is a frame diagram of a set of plc control area in the whole system.
Control scheme introduction
Chery's automotive welding line system uses the guardlogix safety controller system as the main controller, which combines the high performance and flexibility of the control logix platform, integrates the highest level of safety control features (safety integration level 3), and the programming method is simple flexible. The spot welding robot uses the German kuka company kr200 series universal robot to install the power frequency spot welding gun to achieve the spot welding fusion of the body parts. The robot realizes the master / slave communication method of the devicenet interface through the pci interface card. The distributed i / o system uses 1734 point io , 1732 armor block i / o realizes the input and output control of the equipment signal, the safety circuit uses the devicenet safety bus and the safety io module to realize the input and output control of the safety signal, and the power transmission motor uses the power flex (40, 70, 80) series inverter Through bus control, the connection is simple and errors are reduced. The production safety zone control uses safety equipment such as safety gratings, safety radar scanners, safety blankets, safety door switches, etc. to achieve protection of on-site operators. Pneumatic components such as cylinders, positioning pins, locking mechanisms, etc. use valve terminals to achieve integrated control, and the protection level reaches ip65. The man-machine interface uses the panel view touch screen to realize the display of equipment status, fault alarms, and robot status information in the control area, and the realization of manual operation functions of mechanical equipment. See attached table for main equipment model.
Conclusion
rslogix5000 software's tag-based database management technology is really convenient to use. It is a PLC that uses tag technology addressing. Each module in the communication between the host computer and the PLC logic has a unique name. The same variable can be different. The label of the controller is displayed, and the label of the controller is visible to all tasks. This method improves efficiency and reduces the complicated naming and address marking process than traditional programming software.
The guardlogix plc controller integrates the functions of the safe plc, and the programming and debugging are completed in the same set of software, which provides programmers with a familiar and easy-to-use programming environment. The hard-wire connection also changes the way that the bus interface is needed in the past to achieve seamless connection.
The use of the pid module is very simple and convenient, and the functions are very complete, including soft manual and hard manual switching, pv-sp tracking and other functions, which can easily realize hand-free automatic switching.
The ai (4 ～ 20ma) i / o module can perform range conversion on the sampled data, no longer need to do range conversion in hmi or plc logic, and each channel can set high and low alarm values, and directly output alarm information from the module. The ao (4ma-20ma 0v ～ 10v) module can output the corresponding analog signal by writing the actual value, and can also realize the range conversion.
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