Category: ABB

ABB robot data storage describes the properties of the robot controller inside the ABB robot controller data types up to more than 100 kinds of common data types including basic data, i/o data, motion-related data.

1. basic data

bool Logical value: the logical state given in the true or false. Logical value has two cases: established and not established, the logical value is true using true or 1 that is not established, the logical value is false using false or 0 that is

byte byte value: used to measure the storage capacity of a unit of measurement, the value range is (0-255)

num numeric value: variable, can store integer or decimal integer value range (-8388607~8388608)

dnum double numeric: can store integer and decimal, integer value range (-4503599627370495~+4503599627370496)

string String: string is a string of characters consisting of numbers, letters, and underscores. He represents the data type of text in programming languages.

==stringdig == numeric-only string: can handle positive integers not larger than 4294967295

2. i/o Data

dionum digital value: take the value of 0 or 1 for processing digital i/o signals, digital i/o signals in the 0 as a low level 0 ~ 0.7v, 1 as a high level 3.4 ~ 5.0v

signaldi/do Digital input/output signals: binary value input and output, such as switch on is 1. off is 0.

signalgi/go Digital Input/Output Signal Group: Multiple digital inputs or outputs are used in combination.

signalai analogue input: for example, a temperature value is collected by a temperature sampler, which has to be converted into a binary number that can be recognised by the PLC through a transmitter.

signalao analogue output: data – transmitter – actuator

3、Operation related data

robtarget Position data: Defines the position of the robot arm and additional axes.

robjoint Joint data: Define the position of each joint of the robotic arm.

speeddate Speed data: defines the movement rate of the robotic arm and the axes, and contains four parameters:

v_tcp denotes the tool centre point rate in mm/s; v_ori denotes the TCP repositioning rate in mm/s.

v_ori denotes the TCP repositioning rate in (°)/s; and

v_leax denotes the linear external axis rate in mm/s; v_reax denotes the rotary external axis rate in (°)/s; and

v_reax denotes the rate of rotational external axis in (°)/s

zonedata: also known as turn radius, this is used to define how close the robot axis will be to the programmed position before moving towards the next travelling position

tooldata Tool data: Used to define the characteristics of the tool, including the position and orientation of the tool centre point (TCP), and the load of the tool

wobjdata Workpiece data: used to define the position and state of the workpiece

loaddata load data: used to define the load of the robot arm mounting interface

4、Data storage type

ABB robot data storage type is divided into three kinds

CONST Constant: The data has been given a value at the time of definition, and cannot be modified in the programme unless it is manually modified.

VAR Variable: The data will keep the current value when stopped during programme execution. However, if the programme pointer is moved to the main programme, the data will be lost

PERS Variable: data maintains the last value given regardless of the program pointer. Assignment operations can also be performed on the variable storage type in a robot-executed rapid program, and the result of the assignment is maintained after program execution until it is reassigned.

Energy efficiency made easy: Fully compatible variable frequency drives for a wide range of applications in many industries

The ACS580MV medium-voltage converter reduces complexity to simplicity while ensuring maximum reliability. Intuitive setup menus and assistants help you to quickly commission the variable-speed drive and get it up and running. All basic functions are built-in as standard, which reduces the need for additional hardware and facilitates drive selection. The drives are easy to use in controlling pumps, fans, compressors, conveyors and many other variable and constant torque applications.

Reliability and efficiency throughout the entire life cycle

Built-in energy efficiency calculator ensures optimal energy use

Performance-based reliability thanks to power failure ride-through and auto-restart features

Simple to operate and safe to use

User-friendly, intuitive control panel

Start-up and maintenance tools

Communication with all major automation networks

Advanced diagnostics and warning systems enable users to analyse and solve problems efficiently

Power range: 200 kW to 6.3 MW

Voltage range: 3.3 to 11 kV

Reliable drives for a wide range of applications

The ACS580MV general-purpose cabinet drive is designed to control pumps, fans, and many other applications such as compressors, conveyors, mills, and can also be used for process control in different industries. The drive is equipped with a wide range of functions that simplify ordering and delivery and reduce commissioning costs, as all functions are concentrated in one compact assembly.

Reduced commissioning costs as all functions are concentrated in one compact assembly.

All the essential functions for reliable operation The drive utilises a new generation of cascaded h-bridge technology, which has been combined with the design of the drive to achieve excellent harmonic suppression in a compact design. Other built-in features, such as power loss ride-through, ensure reliable, trouble-free operation and high robustness in the event of weak network performance.

ABB’s new SDe Series improves plant reliability and efficiency with seamless automation system upgrade

ABB Ability Symphony Plus SDe Series continues to innovate and modernise legacy process control system installations with minimal risk and disruption to the plant

Control system upgrades are key to future-proofing, protecting and optimising plant operations across all industries

Plant managers can reuse existing cabinets, field wiring, terminal equipment and cabling to plan progressive system upgrades

ABB has introduced the ABB Capability™ Symphony Plus SDe series is a portfolio of hardware products that

helps modernise existing process control system installations while minimising risk and disruption to plant operations.

The new series enables power, water, oil and gas, pharmaceutical and pulp and paper

plant operators in industries such as power, water, oil and gas, pharmaceuticals and pulp and paper to upgrade their installed control systems to the latest technology, thereby improving efficiency and productivity.

The new SDe series continues to innovate to address one of the biggest challenges facing control system owners: upgrading existing infrastructure without disrupting operations.

By preserving field wiring, terminal units and modular wiring, SDe solutions

Helping plant owners protect process controllers, I/O modules and automation technology as it evolves

their Symphony Harmony and INFI 90 investments while process controllers, I/O modules and automation technology evolve, enabling progressive growth with minimal impact.

The SDe I/O family includes a range of intelligent analogue, HART, digital and hybrid I/O modules with redundancy that

can communicate with higher-level controllers via the local bus.

Each module is supplied with an evolved mounting base for Harmony Rack systems and is fully compatible with HR BRC410 and SD controllers.

The SDe Series I/O product line includes digital and analogue modules for horizontal or vertical DIN rail mounting and integration with intelligent field devices and protocols.

Hardwired I/O and fieldbus I/O co-exist, using the same library of function blocks to build real-time control applications.

The EMB01S-EMR Evolution Module Base mounts an AI12e, AO02e, DI06e, or DO01e I/O module to the EMC-_B0x Evolution Mounting Base.

or DO01e I/O modules to the EMC-_B0x Evolution mounting base.

The base connects the I/O module to the HN800 I/O bus and connects the I/O cable to the field terminal.

The chassis supports all functions of the AI12e, AO02e, DI06e, or DO01e I/O modules. This includes optional module redundancy.

Features and Benefits

Mounts AI12e, AO02e, DI06e, or DO01e I/O modules to the EMC-_B0x Evolution mounting base

Connecting I/O modules to the redundant HN800 I/O bus

Connect I/O module to NTDI0x TU via NKTU01 cable

Connect I/O module to NIDI01 TM via NKTU02 or NKTM01 cable

General information

Article number 7PAA005096R1 (EMB01S-XIO)

Lifecycle status active

Line redundancy yes

Channel 14. 15 or 16

Hot Swap No

Supported IO modules AI12e, AO02e, DI06e, DO01e

Single or redundant Single

Form Factor EMC-_B0_ Evolution Mounting Chassis

Mounting EMC-DB01. EMC-DB02. EMC-SB01. EMC-SB02

HN800 Bus length 190 mm

MTBF (per MIL-HDBK-217-FN2) PR E: 245.577 hours @ 30˚C, 244.473 hours @ 40˚C, 240.272 hours @ 70˚C

MTTR (hours) 8 hours

Functions

The REF542plus multifunctional protection and switchboard control unit integrates all auxiliary functions in one unit.

The multifunctional unit also has a self-monitoring function. All functions are designed as freely configurable software modules.

As a result, the various operational requirements of a MV station can be met without any problems.

The versatility of the software allows the REF542plus to be used on every switchboard regardless of the specific application requirements.

Configuration

Each protection and control application can be easily configured via the software function module, which allows the following functions to be arbitrarily defined as part of the secondary system:

LEDs for local indication (meaning and colour)

Single line diagrams showing the status of switching devices

Protection programme

Control programmes

Interlocking programmes

Automation sequences

All functions of the switchboard can be specified in co-operation with ABB. The configuration results are saved and delivered to the user together with the switchboard.

By using the “Function Block” programming language (FUPLA), the REF542plus multifunctional protection and switchboard control unit provides engineers, in

especially non-software specialists, the opportunity to easily update switchboard operation and handling.

With the REF542plus, users can fully integrate secondary systems into a true programmable controller.

This flexibility is very favourable for defining control functions for automation sequences.

This can include, for example, interlocking of switchgear, preventing the release of specific protective functions and initiating switching sequences.

The REF542plus multifunction unit offers a wide range of logic functions so that the various required control schemes can be configured.

The required control schemes are configured. 

OVERVIEW

The REF601/REJ601 are specialized feeder protection relays for the protection of utility substations and industrial power systems in primary and secondary distribution networks.

Similarly, the REM601 is a specialized motor protection relay for the protection of medium and low voltage asynchronous motors in manufacturing and process industries.

The REF601/REJ601/REM601 is a member of the ABB Relion® product family, belonging to the 605 series.

The relays optimize the combination of protection, monitoring and control functions in a single unit.

It offers best-in-class performance and availability and is based on ABB’s in-depth knowledge of protection and digital technology.

Common features of the REF601/REJ601/REM601 include

 Compact and easy to use

 Standard 1A or 5A CT input for phase current measurement

 Alternate sensor input to support phase current measurements

 Measurement of earth current internally or externally via the CBCT

 Local and remote control of circuit breakers

 Trip circuit monitoring and relay internal monitoring

 Lockout function

 100 event records with date and time stamps

 Five analog fault records

 Non-resettable trip counter

 Primary on-line current measurement

 Comprehensive local HMI

 Universal auxiliary power supply

 Optional MODBUS RTU or IEC 60870-5-103 communication

 Non-volatile memory for setup and fault logging

 User-selectable nominal frequency 50 / 60 Hz

 Configurable binary input, output, and alarm LED indicators

 Local HMI with multi-language support

 Two setup groups

Protection features of the REF601/REJ601 include

 Three levels of overcurrent protection

 Two levels of ground fault protection

 Surge detection for stability during transformer charging

 Thermal overload protection

 Negative sequence overcurrent

 Phase discontinuity protection

 Circuit breaker fault protection

 Multi-shot automatic recloser function for overhead lines

The product’s network connectivity provides a simplified interface for drive control and management, improving quality, productivity, flexibility and scalability.

Communication networks also reduce wiring costs compared to traditional I/O connections.

traditional I/O connections.

Combining these feature-rich adapter modules with ABB inverters can provide a solution for applications focused on food and beverage, material handling, printing,

rubber-plastics and textile industries OEMs and system integrators with powerful inverter solutions.

Advantages of network connectivity

– Reduced mechanical and electrical installation time

– Reduced downtime

– More data at a lower cost

– Reduced time and cost for machine expansion or relocation

– Remote data access

– Diagnostics provide predictive fault warnings

– Open protocol to interface with any major PLC

– PC tool communication through installed PLC networks

Benefits of ABB Network Connectivity

– Connects to virtually any automation architecture

– Fast and simple connection

– Products designed and tested to comply with the protocol

Testing

– First-class support resources

– FENA-21 and FEIP-21 support DLR (Device Level Ring)

End-user benefits

– Lower mechanical and electrical installation costs

– Reduced downtime

– Increased productivity

– Lower start-up costs

– Lower maintenance and diagnostic costs

– Quick access to networked hard disks via PC-based startup and maintenance software tools

Applications

The RET670 provides fast, selective protection, monitoring and control of two- and three-winding transformers, autotransformers, step-up transformers and generator transformer sets.

transformer units, phase shifters, special railroad transformers and shunt reactors.

This IED operates normally over a wide frequency range to accommodate power system frequency changes during disturbances, generator startup and shutdown.

The RET670 features fast, low-impedance differential protection with very low CT requirements. Differential protection function

Differential protection features 2nd harmonic and waveform block suppression to avoid CT saturation and transformer inrush current tripping, as well as 5th harmonic suppression.

It also has a 5th harmonic suppression function to avoid transformer overexcitation trips.

Differential functions provide high sensitivity to low-level internal faults through the use of sensitive differential protection based on amplitude measurement of the negative sequence component and direction comparison.

A variety of low impedance restricted earth fault protection functions are available as sensitive and fast primary protection against winding earth faults.

This function includes an internal/external fault discriminator for increased safety.

In addition, it has a high-impedance differential protection function. It can be used for different applications that

These include limiting earth fault protection as winding protection, autotransformer differential protection, shunt reactor protection, T-feeder protection, busbar protection and generator differential protection.

PROFIBUS networks PROFIBUS is an open serial communication standard that allows the exchange of data between all automation components.

There are three main types of PROFIBUS:

– PROFIBUS FMS (Fieldbus Message Specification)

– PROFIBUS DP (decentralized periphery)

– PROFIBUS PA (Process Automation)

The physical transmission medium of the bus is a twisted pair cable (RS-485 compliant).

The maximum length of the bus cable is 100 to 1200 meters, depending on the transmission rate.

Without repeaters, up to 32 nodes can be connected to the same PROFIBUS segment.

If repeaters are used, 126 nodes (including repeaters and a host station) can be connected to the network.

In PROFIBUS communication, the host station – usually a programmable logic controller (PLC) – selects the nodes that respond to the host’s commands.

The host can also send commands to multiple nodes in the form of broadcasts; in this case, the nodes do not need to send feedback signals to the host.

The PROFIBUS protocol is described in detail in the IEC 61158 standard.

The communication with the drives is defined in the PROFIdrive PROFILE – The PROFIBUS Profile for Adjustable Speed Drives.

FPBA-01 PROFIBUS DP Adapter Module

The FPBA-01 PROFIBUS DP adapter module is an optional device for ABB drives.

The module connects the drive to a PROFIBUS network. In a PROFIBUS network, the drives act as slaves.

The adapter module makes it possible to

– Send control commands to the drive (e.g. start, stop, run allow)

– Provide the drive with a motor speed or torque determination

– Provide the drive’s PID controller with the actual process value or the process decision.

– Read status information and actual values from the drive

– Changing drive parameter values

– Reset drive faults.

Product Overview

The FDPI-02 Diagnostic and Panel Interface is used to branch the RS-485 panel bus and chain a control panel or PC tool to multiple drives.

This interface device provides a straight-through connection between the control unit and the F-type option module.

It is compatible with the ZCU-xx and BCU-xx control units. The interface unit is installed in the option slot of the control unit.

A small F-type option module can then be mounted on top of the Interface Unit.

The Interface Unit has one RJ-11 and two RJ-45 connectors.The RJ-11 connector is used to connect to the Control Unit.

The RJ-45 connector supports a daisy-chained bus for connection to a PC or control panel (simultaneous control panel and PC communication is not allowed).

Bus termination is required to prevent signal reflection at the end of the bus cable. The interface unit has a panel/PC cable bus termination switch.

The termination switch must be in the terminated position if the device is the first or last device on the bus.

If the control panel is connected to one end of the bus, it will terminate the bus, only the other end must be terminated via termination switch S1.

The following figure shows the layout of the interface unit.