DESCRIPCIN DEL ARMARIO

DE CONTROL DEL ROBOT FANUC

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INDICE:

1. INTRODUCCIN...................................................................................

1.1. Partes del Armario de Control

1.2. Arquitectura del Controlador
1.3. Flujos de Control

2. ASPECTO DEL ARMARIO DE CONTROL FANUC............................

2.1. Vista Externa e Interna del Armario de Control

3. FUNCIONES DE LOS COMPONENTES............................................

4. TARJETAS PC.....................................................................................
4.1. TARJETA DE LA CPU PRINCIPAL (A16B-3200-0031)
4.2. TARJETA DE CONTROL DEL PARO DE EMERGENCIA. (A20B 1007 0490)
4.3. TARJETA POSTERIOR (BACKPLANE).
4.4. TARJETA DEL PANEL DE OPERADOR. (A20B 2100 0470, 471)
4.5. TARJETA DE E/S DE PROCESO EA (A16B 3200 0230)
4.6. TARJETA DE E/S DE PROCESO EB (A16B 3200 0231)
4.7. TARJETA DE E/S DE PROCESO FA (A16B 2203 0420)
4.8. TARJETA DE E/S DE PROCESO CA (A16B 2201 0470)
4.9. TARJETA DE E/S DE PROCESO CB (A16B 2201 0472)
4.10. TARJETA DE E/S DE PROCESO DA (A16B 2201 0480)

5. SERVO AMPLIFICADORES...............................................................
5.1. LED DEL SERVO AMPLIFICADOR

6. FUENTE DE ALIMENTACIN............................................................
6.1. DIAGRAMA DE BLOQUES DE FUENTE DE ALIMENTACIN.
6.2. SELECCIN DE LAS BORNAS DEL TRANSFORMADOR
6.3. COMPROBACIN DE LA FUENTE DE ALIMENTACIN PSU

7. CONEXIN.........................................................................................

8. PERIFRICOS, SOLDADURA AL ARCO E INTERFACES DE LA

HERRAMIENTA......................................................................................

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8.1. DIAGRAMAS DE BLOQUES DEL INTERFACE PARA DISPOSITIVOS
PERIFRICOS
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8.2. COMBINACIN DE INTERFACES DE DISPOSITIVOS PERIFRICOS
8.3. SEALES EN LAS TARJETAS DE E/S DE PROCESO
8.4. INTERFACE PARA DISPOSITIVOS PERIFRICOS, EQUIPOS DE SOLDADURA Y
HERRAMIENTAS
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8.5. ESPECIFICACIONES DE LOS CABLES PARA DISPOSITIVOS PERIFRICOS Y
EQUIPOS DE SOLDADURA AL ARCO
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8.6. CABLES DE CONEXIN PARA PERIFRICOS, ELEMENTOS TERMINALES Y
EQUIPOS DE SOLDADURA AL ARCO
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1. INTRODUCCIN
1.1. Partes del Armario de Control

1 ' + " 1 5 " + 1 " " ,!' 6 ' + ( 1" * " !( 1

5 +1 5 ' 1' 1 7 " + 1 +++ " 1 ' + ( 1
1'

'( + " '( + 1 ( " + + + + 1 5 8( ' 1 " "* !

0" "* 6 1' " ' + ( '

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1' " ' + ( ' + 9: ;

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5 1' . / "* + 1 " " , " + 1 ' 7 " ( 1
" + 15 -

+ ++ = + 1 934> ;6 1* " +.+ ? 1 + +" + 9+ (

1 (1 + +" + + 1( 1+ " 1;6 ? 1 + ( " !7 ( 51 1 " ' " "* + 1
5 " 7 (' ) 5 "' " 1 " '*+ 1 5/ " + = 7
( 51 '(1 "* + 1 " ++ + 1 1"* + 1

( . + + ' 1 + ( ' "* 9 ' 1

;! ++ + + "! ' +
( ' "* %1

1 ' ! ( + 5 . "*' 1' +( 1

+1 ' + " 1+ 5

Esquema del interior de un controlador FANUC

+ '/ + 1 1' 1
* " " + ' !1 ' + " 1 1'
"' 1' "* !(1 ! ' + 6 ' + . 1"*

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1.2. Arquitectura del Controlador

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) " /+ ( 15 7 '(17 " '( # +A /+ ! '
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9 0 + . *! + + = 1+ 1* " ! + - ; ! + "1 1
+ "* + 1 5 " ( B " !7 ( 1' +( + + 1' " + 5 + 17
+(

5" + 1 5 ' " " " 1 5 " 7 1 ( +

( 1+ 1
1+ " 1+ + 5 " 7 " 5 " " 5 7
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+ 5 /+ "' ." 5 ! + " + (7 A 6 # +A 7
( ' /"1 "* + 1 ( 51+ + + 1- 1 ( " 1 + "' 1 5
< . ' 1' + ( 1 1 + ' ( . /+ 7 50 '( 1
'5 ! " 1' !1 "* '/ " '< 7 1" < "' ( " 1+ 5
+ " " 1 !' 7 + + 1 5 + 1 " 7 " ' ( " + 6
' 1( " +

7 " ' 1( " + '/ " 1 5 + 11 " 1 ! ( +

'/ " '(10!+ + 7 1 1. '( + ( 1"* '/ ( 7 ? + '/ ! ' + 1 + + "1 1
' ' 6 /"1 '(1 "* + 1 5 '" ( " + ,(" ' . + 1
1' + 1 ++ + " 1 1' "16 1" '( + + 0 !" '( + ( "( 1 !
1 +( . + + 6 ." 1+ + 1 " 1"

1 7 " ' ( " + ! 1< " ' " ( " + 5 ' (

' 0 7, 17 ) '" ( " + ( 1 ." 1+ " + 0

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Diagrama de bloques del controlador (cabina i)

Diagrama de bloques del controlador (cabina B)

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1.3. Flujos de Control

1" '( + ( "( 111. + 1 ( " + 1 . 1+ " 1 1+ 1 '

(' 1 ! " + ( 1( ' + " + ""* + ' .' !1
" '( + ( "( 1 1- 1 (1 " "* + 1 6 " ! + C( .,D 9 ' + ; 6
" + . 1"+ + ( 1 . " 1+ + 1 " 1" ' + 7 ! .1 +
'( ( 0+ ! 1 ' " ( " + ( "( 1 ' + . " ' + + ( "* 1
'" ( " + + "+ " 1"* G 50 ""1 + '( ' "# ' 6 "+ +
""1 (1 ( + + ! . 1< 1 + ( "* !1 16+ " 16' + .
"' + + ( 1 '

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' 6 "1. ! 1- 1 " + " '( + ( "( 16" '( + + 0 ! ( " . '
++ +.+ 1 + 1 ' + " 1 " " "+ 5 " '< !1 7 "
7 ( + " ' " " 1" '( + ( "( 1!6 1 " ! "" + " 1 ' '
+ 50 +1 ' 7 " 1. 0+ ( ' 1 '(1 "* + 1" 1+ 0
+" 1
1( ' + " 1( 1 5 / 1' " + 1' ' ( ' +1 ' +
" 19 ;!' 7 1( ' + 1' " 1 + 1" = " 9: ;
" ' + 7 0" 1" '( + ( "( 1 " + + ' ' + ( ' '5B ( +
+ "+ + " ' + + 1' 1 + ( ' "* 1 ' 1

1" '( + ( "( 1 0" 1( ' + " 1 + ( ' ! 1" '( +

( "( 1 0" 1 + " + 5 6 "' " " 1 + 1 ++ 15 1
0" "* + "" + ' .' ! 1" '( + ( "( 1 " 5 " ' . "
1- + ' ' + " ' " "* !+ + + 1 " 1" '( + + 0

1" 1+ + 0 1- 1 (1 " "* + 1 6 " 6 ., 1 " + ' .'

" + ' .' " ' "* + . 1"+ + 6 . ( " ( "+ +
1 . " 1+ + 1 " 1"

" +" + ( "* ( . + " ' ( 1" '( + + 0 !6" +

" 11! 1 ' '/ " ' + 1 0!+ " . 1" 16 "*+ + 1 '

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2. ASPECTO DEL ARMARIO DE CONTROL FANUC

2.1. Vista Externa e Interna del Armario de Control

( " 6 " '( ( + . 1 ' < 1' + 1 + 1 + + ' "/ " !

(1" "* 6 (" " ( + " "* ( ' + ' +1 + ' + 1

Vista externa de la cabina R-J3 i

Vista interna de la cabina R-J3 i

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Vista externa de la cabina R-J3 B

Vista interna de la cabina R-J3 B

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3. FUNCIONES DE LOS COMPONENTES
84 * 9: 9: !

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4. TARJETAS PC
0 + "" '( / ( ( + + /5 " K 1' !1 + /7
1- 0 11 '5B + " 5 1 1- "* + 1 ( + . " "* 6 1 "+ + 1
+" + 0 + "" '( /+ "16 1 0 + " " '( ( "( 16
'/ 0 * '*+ 1 1+ # - 1 ' 1 0 + "" '( ( "( 1
0 ( " " + " ! +" + 6 ( 1 1+ (1/ " 1(
( #6 " " ( 1 (1" 95 "L(1 ;

4.1. TARJETA DE LA CPU PRINCIPAL (A16B-3200-0031)

Tarjeta de circuito impreso de la CPU principal.

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A $

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4.2. TARJETA DE CONTROL DEL PARO DE EMERGENCIA. (A20B 1007 0490)

9;

4.3. TARJETA POSTERIOR (BACKPLANE).

Tarjeta posterior(a).

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 Tarjeta posterior(b).

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4.4. TARJETA DEL PANEL DE OPERADOR. (A20B 2100 0470, 471)

Tarjeta de panel operador.

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4.5. TARJETA DE E/S DE PROCESO EA (A16B 3200 0230)

Tarjeta de E/S de proceso EA.

9 % & "

* % . (* 0 * $BC29 M+ " + 1 + . "#(

FE N $ @ N $$E3;

O> H & P 2 =

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4.6. TARJETA DE E/S DE PROCESO EB (A16B 3200 0231)

Tarjeta de E/S de proceso EB.

9 % & "

* % . (* 0 * $BC29 M+ " + 1 + . "#(

FE N$ @ N$$E3;

O> H & P 2 =

4.7. TARJETA DE E/S DE PROCESO FA (A16B 2203 0420)

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 Tarjeta de E/S de proceso FA.
9 % & "

* % . (* 0 * $BC 9 + " + 1 + . "#(

FE N $ @ N$$E3;

O> H & P 2 =

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4.8. TARJETA DE E/S DE PROCESO CA (A16B 2201 0470)

Tarjeta de E/S de proceso CA.

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* % . (* 0 * $BC 9 M+ " + 1 +.
"#( FE N $ @ N $$E3;

O> H & P 2 =

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4.9. TARJETA DE E/S DE PROCESO CB (A16B 2201 0472)

Tarjeta de E/S de proceso CB.

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* % . (* 0 * $BC 9 + " + 1 +.
"#( FE N $ @ N$$E3;

O> H & P 2 =

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4.10. TARJETA DE E/S DE PROCESO DA (A16B 2201 0480)

Tarjeta de E/S de proceso DA.

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* % . (* 0 * $BC 9 + " + 1 +.
"#( FE N $ @ N $$E3;

O> H & P 2 =

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5. SERVO AMPLIFICADORES
( " "" + 1 . '(1 " + +( + + + 1 7 ( "

5.1. LED DEL SERVO AMPLIFICADOR

1 . '(1 " + + 1' 6 + ' " 1- 1

1' +" + ( 1 !" 1 + '5B 1 +" "* + 1 ' 1 "# +

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3&
6. FUENTE DE ALIMENTACIN
6.1. DIAGRAMA DE BLOQUES DE FUENTE DE ALIMENTACIN.

Diagrama de bloques de la fuente de alimentacin (cabina i)

34
Diagrama de bloques de la fuente de alimentacin (cabina B)

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6.2. SELECCIN DE LAS BORNAS DEL TRANSFORMADOR

1"" 1 ' + 6" " " " + " " 1 * + 1' "* 1""
15 + " )* + 1 ' + + ' 7 1 * + 1' "* ' + Q $R
N @R + 1 * +" +

Ubicacin de montaje del transformador y estructura.

3E
Seleccin de los bornes.

3F
6.3. COMPROBACIN DE LA FUENTE DE ALIMENTACIN PSU

+ ++ + 1' "* " ( ( + 0 +

? * * &+ *, "

Interface de la fuente de alimentacin

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7. CONEXIN
( + " 5 5 .' 1" ) + 1B" " + 1 ' + " 1 "
9 + ' + 517 ;

' + 517 + 1" ) + 1B" " 9" 5 ;

SSSSSSSSSSSSSSSSSSS +" 1 " ) 1B" "

% % % % % % % % % % % % % % % % % +" " )* ' "/ "

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8. PERIFRICOS, SOLDADURA AL ARCO E INTERFACES DE LA
HERRAMIENTA
" ( 1 = + 1 1' ( B" "16 0 + "" '(
1"" < 1 (1" "* 51 4 9;+ 11 1 0 + "" '( 6 ++ 51 4
95; +" 1 ++ 7 ( + 5" + 1 ' +1 ( 4' 1 5" "*
+ 0 6 ++

4 & *, &'

: D+ + * * , *

: D+ + * * , *

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Ubicacin de los interfaces de los elementos perifricos

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8.1. DIAGRAMAS DE BLOQUES DEL INTERFACE PARA DISPOSITIVOS
PERIFRICOS

" "* ' + ' + 517 + " + 1' ( B" 6

( " ""

Diagrama de bloques de la tarjeta E/S de proceso EA y EB

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Diagrama de bloques de la tarjeta de E/S de proceso CA y CB

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8.2. COMBINACIN DE INTERFACES DE DISPOSITIVOS PERIFRICOS

!? "

" ( +( . ( B" ( + '(1' + 1 "5 +

" 1( +

% 0 + =+ ( "
% 0 + =+ ( "
% 0 + =+ ( "
% + ++ = ' + 1 9@ ;
% + ++ = ' + 1 9 + ++ "Q + +5 Q + ++ )( *

+ " '5 "* + '/ + + ++ " 1 "5 +!

" / + ' !" " " ( '/ + 11

!? "

0 ++ +

'5 "* + + 0 = ++

'5 "* + 0 = ++

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8.3. SEALES EN LAS TARJETAS DE E/S DE PROCESO

J6 H + + + 9 ; )"1 . 6 3$ 1+ + + 9 ; )"1 . 0 +
"" '( + =

?1 / + 1" + = + ( " " "+ (' 1 !" +

" '5 + *' 0 9 ?1 1 = ! / + 1 + 6
0 + =+ ( " ;

* " '< + 1 ?1 + + ( 1 ( 4 + 1" " 3 / +

Q34 > 9" '< ; "+ 0 + =+ ( "

51 ' 1 ?1 + 0 + "" '( + =+ ( "

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8.4. INTERFACE PARA DISPOSITIVOS PERIFRICOS, EQUIPOS DE SOLDADURA Y
HERRAMIENTAS

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(1" 51 1 ( + 0 + =+ ( "

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Outputs A2

' + " )* ( " '< + Q34 >

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(1" 51 1 0 + =+ ( "

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4E
8.5. ESPECIFICACIONES DE LOS CABLES PARA DISPOSITIVOS PERIFRICOS Y
EQUIPOS DE SOLDADURA AL ARCO

1"1 " 6 1 " 51 !+ 5 / 1 /+ + + "

""*

* * & 1 23 4 +. 56 !

* * & 1 #23 4 +. 56 !

/ * * & * + 17 23 4 + . 5/# !

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 A $ B< FEG< 9 1 9 1E;H1E B 5 A <4B 4 1 E< A I
J:E9B $ BA$ $:1 A 1 B

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Cable de conexin de dispositivos perifricos (armario i)

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Conector del cable de conexin de dispositivos perifricos (Honda Tsushin Kogyo)

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 Conector del cable de conexin de dispositivos perifricos (Honda Tsushin Kogyo)

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Conector del cable de la herramienta

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" 1 +( . ( B" 1- + " 51 ' ( + !

" '(1 ' ( 11+ !" ' 1 ( " "" + 1 51 9; 0 )" +
1 + + @$ "' ( ( 1" 51 1 + ++ " 1 1 + '/)' + 1" 51 + 5
1 &$'

1 51 ( + ( " 1" 51 " ' + + 9( " )* + + ( . ( B" ;

Tabla (a).

" 1 1' ' 1 1- + " 51 ' ( + !" #1 +

) ' 1)51+ +!" ' 1 ( " "" + 1 51 95; 1 + + 1" 51
+ ' + ' 7 " 1 # ' 6 7 1 ' ?" ( + ' .
" '(1 ' 1 1+ ++ "

51 ' 1" 51 " ' + + 9( " )* + 1 # ' ;

Tabla (b).

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