IRC5P的IPS系统

CNAUS-1ABBIRC5PIPSIRC5P-IPSsystemABBDMRO/RS/PPA-GeorgeZhengCNAUS-2IPSHVCPPRUIPSI-DriverGeneralI/OVCDVCDVCDIPS(PIB)RobotControllerTPUPCGUIIPSPIBCNAUS-3PaintRapidIPSCNAUS-4I/OIPSCNAUS-5IRC5PIPSPIBPIBIPSIPSPIBCNAUS-6IPS--PIBconfigIPSa_physicalIPSb_deviceIPSc_applicatorIPSd_brushIPSparamIPSbrushdevicenamee.g:A1BrushBrushTablecalib:...indexCNAUS-7PIBIPScalibindexPIBIPSautoexec.batcfgloadconfig!callparamcfgloadconfigcallparamRobViewPIBIPS/IPSCNAUS-8PIBIPSdataalarmdevicefixeddeviceIPS/PARAMIPSCNAUS-9PIBIPScoeffname-IIRCOEFFfiltername-IIRFILTERcurvename-LINEARCURVEdevname-Anout1typename-signalname-paramname-filename-tablename-INDEXTABLECNAUS-10PIBIPSconfig/a-physical:a_physical/A1IP.cfg:IPS:CFG_2.0::ACTUATOR:-nameA1Shape2IP-use_outputMac9/Ppru1/IP1-nameA1Shape1IP-use_outputMac9/Ppru1/IP2-nameA1AtomIP-use_outputMac9/Ppru1/IP3“PARAMETER:-pathMac9/Ppru1/IP1/IntMode-value3-pathMac9/Ppru1/IP2/IntMode-value3-pathMac9/Ppru1/IP3/IntMode-value3-pathMac9/Ppru1/IP3/Silent-value1-pathMac9/Ppru1/IP1/ZeroOutput-value0.08-pathMac9/Ppru1/IP2/ZeroOutput-value0.08-pathMac9/Ppru1/IP3/ZeroOutput-value0.08CFG_ENDACTUATOR:IPSACTUATORSENSOR,LINEARCURVEIPSStructure/Page.134.135CNAUS-11PIBIPSconfig/a-physical:a_physical/A1motor.cfg:IPS:CFG_2.0::LINEARCURVE:-nameA1M1Curve-offset0-factor12.63SENSOR:-nameRectOnS-use_inputSpi1/Mib1/InPort3/SYS2_MOT2_RLY_FB“ACTUATOR:-nameA1Servo1-use_outputMac54/iDrive-nameA1M1-use_outputA1Servo1-unit5-use_curveA1M1Curve“DEVIATIONALARM:-nameA1Servo1Dev-superviseA1Servo1“LIMITALARM:-nameRectOnLim-superviseRectOnS-notifyA1Servo1“PARAMETER:-pathA1Servo1Dev/AbsLimit-value75-pathA1Servo1Dev/RelLimit-value7.5-pathA1Servo1Dev/Notify-value1-pathA1Servo1Dev/ErrTime-value128-pathA1Servo1Dev/FbkHoldOff-value5-pathRectOnLim/Silent-value1-pathRectOnLim/MinVal-value1-pathRectOnLim/MaxVal-value2CONNECTION:-fromRectOnS-toMac5/Digout5“CFG_ENDDEVIATIONALARMLIMITALARMPARAMETERCONNECTIONIPSCNAUS-12PIBIPSconfig/b-devices:b_devices/A1FluidRed6cc.cfg:IPS:CFG_2.0::LINEARCURVE:-nameA1PumpCurve-offset0-factor0.1666ACTUATOR:-nameA1Pump-use_outputA1M1-unit3-use_curveA1PumpCurve-nameA1Fluid-use_outputA1PumpLIMITALARM:-nameA1PumpPSInLim-superviseA1PumpPSIn-notifyA1Pump-nameA1PumpPSOutLim-superviseA1PumpPSOut-notifyA1PumpCFG_ENDb-devices6ccLINEARCURVEy=ax+bafactorboffsetLINEARCURVECNAUS-13PIBIPSconfig/b-devices:ACTUATOR:-nameA1Pump-use_outputA1M1-unit3-use_curveA1PumpCurve“Unit[num]:ACTUATOR1=Bar2=Psi3=ml/min4=Nl/min5=rpm6=krpm7=Kv8=A9=mV10=C11=radUnit[num]SENSOR1=Bar2=Psi3=ml/min4=Nl/min5=rpm6=krpm7=Kv8=A9=mV10=C11=radCNAUS-14PIBIPSconfig/c-applicator:c_applicator/A1Bell.cfg:IPS:CFG_2.0::APPLICATOR:-nameA1-use_needleA1Needle-use_fluidA1Fluid\-use_atomA1Atom-use_shapeA1Shape1-use_shapeA1Shape2\-use_highvoltA1HV“SENSOR:-nameCabinIL-use_inputSafety/InPort8/CabinIntOk“LIMITALARM:-nameA1AirSupPSLim-superviseA1AirSupPS-notifyA1-nameCabinILLim-superviseCabinIL-notifyA1“PARAMETER:-pathA1AirSupPSLim/MinVal-value1-pathA1AirSupPSLim/MaxVal-value2CONNECTION:-fromA1/Enable-toA1Atom/Enable-fromA1/Atom-toA1AtomV“CFG_ENDc-applicatorAPPLICATORIPSAPPLICATORCNAUS-15PIBIPSconfig/d-brush:d_brush/A1brush.cfg:IPS:CFG_2.0::INDEXTABLE:-nameA1BrushTab-use_fileA1BTab.ndxBRUSHDEVICE:-nameA1Brush-use_fileA1BrushACTUATOR:-nameA1BrushTabNdx-use_outputA1Brush/Table\-use_curveA1BrushTabVARIABLEDEVICE:-nameA1Material“CONNECTION:-fromA1Brush/Param1-toA1/Fluid-fromA1Brush/Param2-toA1/Atom-fromA1Brush/Param3-toA1/Shape-fromA1Brush/Param4-toA1/Shape2-fromA1Brush/Param5-toA1/HighVolt“CFG_ENDd-brushA1brushINDEXTABLEBRUSHDEVICE/VARIABLEDEVICECNAUS-16IRC5P---IPSBrushTablesA1BrushBRUSHDEVICEParam1Param2Param3APPLICATORShapeA1FluidAtomFluidProcessAtomProcessShapeProcessACTUATORA1MaterialTableINDEXTABLEA1BrushTabIPSRWA1BrushA1MaterialA1BrushI/O’s:NumberA1EnableEnableCNAUS-17PIBIPS/param:PARAMETER:-path“A1Needle/DelayUp”-value150-path“A1Needle/DelayDown”-value-150-pathA1Shape/DelayUp-value50-pathA1Shape/DelayDown-value50-pathA1Shape/CurveSize-value20-pathA1Shape/HoldOffUp-value304-pathA1Shape/HoldOffDn-value400-pathA1Shape/ZeroOutput-value-1-pathA1Shape/CompHoldUp-value400-pathA1Shape/CompHoldDn-value450-pathA1Shape/CompAbsLim-value2-pathA1Shape/CompRelLim-value20-pathA1Shape/CompCutReg-value1PARAMETER:PARAMETER:-pathA1Shape/DelayUp-value50-pathA1Shape/DelayDown-value50-pathA1Fluid/DelayUp-value50-pathA1Fluid/DelayDown-value50-pathA1FluidPl/Volume-value200-pathA1FluidPl/WarnTime-value100-pathA1ShapeDev/HoldOff-value304-pathA1ShapeDev/AbsLimit-value20-pathA1ShapeDev/RelLimit-value0-pathA1ShapeDev/WarnLimit-value50-pathA1ShapeDev/Notify-value1ArgumentsPARAMETER:CNAUS-18PIBIPS/A1Brush:d_brush/A1brush.cfg:CONNECTION:-fromA1Brush/Param1-toA1/Fluid-fromA1Brush/Param2-toA1/Atom-fromA1Brush/Param3-toA1/Shape-fromA1Brush/Param4-toA1/Shape2-fromA1Brush/Param5-toA1/HighVolt“CFG_ENDA1Brushd_brush/A1brush.cfgGlobal.bt:0,40,350,200,0#IdleBrush0,40,350,200,70#StartBrush0,-999,-999,-999,-999#WaitBrush0,30,400,200,0#MtrlChBrush0,30,400,200,0#HubClnBrush0,15,150,300