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GB/T 37414.1-2019 English PDF

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US$439.00 · In stock
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GB/T 37414.1-2019: Electrical equipment and system of industrial robot -- Part 1: Requirements for controller
Status: Valid

Standard ID	USD	BUY PDF	Lead-Days	Standard Title (Description)	Status
GB/T 37414.1-2019	439	Add to Cart	4 days	Electrical equipment and system of industrial robot -- Part 1: Requirements for controller	Valid

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Basic data

Standard ID: GB/T 37414.1-2019 (GB/T37414.1-2019)
Description (Translated English): Electrical equipment and system of industrial robot -- Part 1: Requirements for controller
Sector / Industry: National Standard (Recommended)
Classification of Chinese Standard: J09
Classification of International Standard: 21.010
Word Count Estimation: 22,274
Date of Issue: 2019-06-04
Date of Implementation: 2020-01-01
Issuing agency(ies): State Administration for Market Regulation, China National Standardization Administration

GB/T 37414.1-2019: Electrical equipment and system of industrial robot -- Part 1: Requirements for controller

---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
Electrical equipment and system of industrial robot--Part 1. Requirements for controller ICS 21.010 J09 National Standards of People's Republic of China Industrial robot electrical equipment and systems Part 1. Technical requirements for control devices Published on.2019-06-04 2020-01-01 implementation State market supervision and administration China National Standardization Administration issued

Content

Foreword III 1 Scope 1 2 Normative references 1 3 Terms and Definitions 1 4 Features and performance 3 4.1 People interact with the robot 3 4.2 Programming, Operation and Operation 4 4.3 Motion Control 5 4.4 PLC Control 6 4.5 Communication and Bus 7 4.6 Perception Function 7 4.7 Security Features 8 4.8 Other 9 4.9 Inspection (test) 9 5 Security 9 5.1 Basic Security 9 5.2 Enabling device security 9 5.3 Control Software Security 10 5.4 Electric shock protection 10 5.5 Protection Connection 10 5.6 Insulation resistance 10 5.7 Withstand voltage 10 5.8 Shell protection 10 5.9 Fire protection and flame retardancy of non-metallic materials 10 6 Environmental conditions 10 6.1 Climate and environmental conditions 10 6.2 Mechanical environmental conditions 11 6.3 Power Conditions 11 6.4 Special working environment conditions 11 7 Design and manufacture 11 7.1 Identification (flag) 11 7.2 Color Requirements 12 7.3 Appearance and structure 12 7.4 Control element position 12 7.5 Functional Ground 12 7.6 Wire connection 12 7.7 Component quality 12 7.8 Serviceability 12 8 Electromagnetic compatibility 12 8.1 Launch 12 8.2 Immunity 13 9 Reliability 13 10 product accompanying documents 13 11 Packaging, storage and transportation 14 12 Manufacturer's guarantee 14 13 Test conditions and inspection rules 14 13.1 Test conditions 14 13.2 Inspection Rules 14

Foreword

GB/T 37414 "Industrial Robotic Electrical Equipment and Systems" is divided into the following sections. ---Part 1. Technical conditions of the control device; ---Part 2. Technical conditions for AC servo motors; --- Part 3. Technical conditions for AC servo drives. This part is drafted in accordance with the rules given in GB/T 1.1-2009. This part was proposed by the China Machinery Industry Federation. This part is under the jurisdiction of the National Industrial Machinery and Electrical Systems Standardization Technical Committee (SAC/TC231). This section drafted by. National Machine Tool Quality Supervision and Inspection Center, Gutech (Shenzhen) Co., Ltd., Chengdu Canop Automation Control Technology Co., Ltd., Guangzhou CNC Equipment Co., Ltd., Shenyang Gaojing CNC Intelligent Technology Co., Ltd., Wuhan Huazhong CNC Co., Ltd. Company, Zhejiang Qixing Electronics Co., Ltd., Computer and Microelectronics Development Research Center (China Software Testing Center), Mountain, Ministry of Industry and Information Technology East China University of Architecture, Shanghai Electric Group Co., Ltd. Central Research Institute, Ningbo Hongxun Technology Co., Ltd., Zhejiang Hulong Technology Co., Ltd. Co., Ltd., Shandong Aitong Industrial Robot Technology Co., Ltd., Shandong Laien Optoelectronics Technology Co., Ltd., Jining Keli Optoelectronics Industry Co., Ltd. Company, China Quality Certification Center, Guangdong Product Quality Supervision and Inspection Institute, Hunan Provincial Product Quality Supervision and Inspection Institute, China Inspection Testing and Certification Group Co., Ltd. The main drafters of this section. Huang Zuguang, Ji Shuai, Liu Yue, Li Liangjun, Xue Ruijuan, He Yingwu, Zheng Yumo, Wu Wenjun, Gong Xiaoyun, Zhang Yujie, Zhou Xing, Chen Yuping, Chen Zhong, Jiang Wei, Wang Jiangdong, Li Zhihong, Yu Junxian, Yu Wei, Xie Wei, Yu Yang, Qian Min, Zhong Sheng, Hu Jinfang, Liu Panchao. Industrial robot electrical equipment and systems Part 1. Technical requirements for control devices

1 Scope

This part of GB/T 37414 specifies the function and performance, safety, environmental conditions and design of industrial robot control devices (controllers). And manufacturing, electromagnetic compatibility, reliability, product accompanying conditions, packaging and storage, test conditions and inspection rules. This section applies to industrial robot control devices (referred to as control devices or products) including handling, welding, assembly, palletizing, spraying. its His robot-like controls can be found in this section. Note. This part is the basic and common requirements of industrial robot control devices. Each type of control device can be based on its performance, structure and other characteristics. The relevant content is supplemented and embodied.

2 Normative references

The following documents are indispensable for the application of this document. For dated references, only dated versions apply to this article. Pieces. For undated references, the latest edition (including all amendments) applies to this document. GB 11291.1-2011 Safety requirements for robots for industrial environments - Part 1 GB/T 12643-2013 Robot and Robot Equipment Vocabulary GB/T 29482.1-2013 Industrial machinery - Digital control systems - Part 1. General technical conditions GB/T 29824-2013 Industrial Robot User Programming Instructions

3 Terms and definitions

The following terms and definitions as defined in GB/T 12643-2013 apply to this document. For ease of use, the following is repeated Certain terms and definitions in GB/T 12643-2013. 3.1 Industrial robot industrialrobot Automated, reprogrammable, versatile manipulator for programming three or more axes, either fixed or shifted Move. Used in industrial automation. Note 1. Industrial robots include. ---Operator with actuator; --- Controller with teach pendant and some communication interfaces (hardware and software). Note 2. This includes some integrated additional axes. [GB/T 12643-2013, definition 2.9] 3.2 Industrial robot control system industrialrobotcontrolsystem The core part of industrial robots is a set of logic control and power functions that can control and monitor the mechanical structure of the robot and the environment. (Device and user) systems for data communication. Note 1. Rewrite GB/T 12643-2013, definition 2.7. Note 2. The common industrial robot control system architecture is shown in Figure 1 and Figure 2. Figure 1 Control system structure 1. Control-drive separation structure Figure 2 Control system structure 2. control-drive integrated structure 3.3 Industrial robot control device industrialrobotcontroldevice Industrial robot controller industrialrobotcontroler The main part of the industrial robot control system mainly includes the main control unit, I/O interface, bus communication interface, sensor interface, servo Hardware (and/or circuitry) such as interfaces, human robot interaction interfaces, and their corresponding control software. Note 1. Industrial robot control devices may also have the ability to sense their environment and/or interact with external resources and adjust industrial robot actions to perform tasks. Such as having a visual sensor for picking up objects, avoiding collisions and the like. Note 2. Rewrite GB/T 29482.1-2013, definition 3.2. 3.4 Programming The behavior of programs that program functions such as motion and assist for industrial robots (or industrial robot systems). Note. Rewrite GB/T 12643-2013, definition 5.2.1. 3.5 Offline programming off-lineprogramming The programming method is programmed into the robot after programming the task program on the device separate from the robot. [GB/T 12643-2013, definition 5.2.4] 3.6 Teaching programming teachprogramming Manually guide the robot end effector, or manually guide a mechanical simulation device, or use the teaching box to move the robot step by step Programming is done in a way that exceeds the desired position. [GB/T 12643-2013, definition 5.2.3] 3.7 Singular singularity Appears when the Jacobian matrix is not full. Note. From a mathematical point of view, in singular isoforms, the joint velocity in joint space can be infinitely large in order to maintain velocity in Cartesian space. In actual operation In the case, the motion in the Cartesian space at the singular point attachment will produce a high rotational speed that the operator cannot predict. [GB/T 12643-2013, definition 4.13] 3.8 User interface userinterface A device for exchanging information and actions between a person and a robot during the interaction between a person and a robot. [GB/T 12643-2013, definition 5.12] 3.9 Human and robot interaction human-robotinteraction People and robots exchange information and actions through the user interface to perform tasks. [GB/T 12643-2013, definition 2.29]

4 Features and performance

Note. This section only lists the commonly used functions (including basic functions and optional functions). The functions of the control unit are not limited to this. 4.1 People interact with the robot 4.1.1 Operation status monitoring and display function The industrial robot control device/controller shall monitor and display the operating state of the robot during the control operation. To include but not limited to. current program running status, running track, actual position, programming command value, remaining distance to be moved, feed Rate, motion mode, working coordinate system, currently running workpiece name, main program name, subroutine name, end actuator status monitoring, soft and hard Limit monitoring and so on. 4.1.2 Job Information Processing Function The control device shall have the necessary information for the operation planning, and then output to the operation planning unit to simultaneously display and diagnose the abnormality. The function of information. 4.1.3 Exception Information Processing Function The control device shall have the possibility of making unpredictable events, making appropriate diagnosis of various information, and judging the occurrence of abnormal events. A valid display reminds the operator of the function. 4.1.4 Remote Information Function The control device should have a controller-dependent sharing via fieldbus (controller motion state, robot motion, servo state, external sensing) Information, etc.), and can receive commands to implement robot-related (calling program, motion state) control functions. 4.1.5 Multi-language display and switching function The control device should support Chinese, and should support multiple language display and switching functions in English and Russian. 4.2 Programming, operation and operation 4.2.1 Programming instructions The control device should have the relevant instructions specified in GB/T 29824-2013 and can be customized for special process applications. Special instructions. 4.2.2 Teaching programming function The control device shall have a teaching function, that is, before the industrial robot performs the work, the machine is issued by issuing commands for the operation and movement of the robot. The person moves, and saves the position and posture information, the action sequence and the peripheral device synchronization relationship information, and the action and work condition information. Over-reproduction realizes the action of the robot and completes the work. 4.2.3 Offline programming function The control device should have offline programming and direct machining functions, ie machines through industrial robot control devices and computers (PC) The interaction between human graphical programming and simulation software enables workflow from machining model, programming, job simulation to direct machining. 4.2.4 Program editing and management functions The control device shall have such words as, but not limited to, adding, deleting, modifying, copying, pasting, batch modifying instructions or parameters to the program. This or the instruction editing function, as well as the operation functions of creating, deleting, copying, and renaming files. 4.2.5 Subprogram Call and Nesting Functions The control unit should have the function of multiple nested subroutine calls. 4.2.6 Block search function The control unit should have the function of skipping the block by the block search to the beginning of the specified block. 4.2.7 Block skip function The control unit shall have the function of locking or jumping several specific blocks while testing or running a new program. 4.2.8 Single step forward and single step back function The control device shall have a single-step advance teaching test and a single-step backward teaching check for any line of program instructions in the teaching mode. Check the function. 4.2.9 Program Test Function The robot control unit should have program testing functions, such as offline or online, to test the correctness of the program. 4.2.10 Program operation and reproduction function The control device shall have an operation for the industrial robot to accurately perform the operation according to the stored teaching information or the language of the robot. Ability. 4.2.11 Start, stop, override function The control device shall have the function of starting the specified program or the arbitrary command of the program at any time; it shall have a pause or stop at any time. The function of the line program; it should have the function of adjusting the speed multiplier online and changing the running speed of the robot online during the running of the program. 4.2.12 Program restart function The control device shall have the function of continuing the last run of the program after the alarm is cleared or re-powered. 4.2.13 Running the debugging function The control device shall have the function of starting from any line of instructions at any time in the teaching or automatic operation mode, or by adding a pause command. The ability to stop any line of operation. 4.2.14 External operation mode function The control device should have a control and monitoring function for starting, suspending, and stopping the program through a signal or a network in the remote mode. 4.2.15 Station reservation function The control device should have a function of performing a job to be executed in advance in the system. Should also have an input letter based on external The order of the number, the function of the job in sequence. 4.2.16 Running Log Function The control unit should have the ability to collect and store system health and for users to view. 4.2.17 Mode switching function The control device should have the function of switching between different operating modes, such as manual and automatic. 4.3 Motion Control 4.3.1 Origin setting function Industrial robots should have an origin setting function. 4.3.2 Coordinate system calibration and setting function The control device shall have the function of determining the origin position of the user coordinate system, the absolute coordinate system, and the tool coordinate system. The control device shall have a function to enable the robot to achieve a positional control under any of the above coordinate systems. 4.3.3 Path and Trajectory Planning Functions The path is an ordered set of robot poses, and the trajectory is a time-based path. The control device should have a controlled between the motion segments The function of the motion sequence. The above controlled motion sequences include but are not limited to. point-to-point motion in joint coordinate space, Cartesian coordinates Straight lines, arcs, and high-order spline interpolation curve motions in space. 4.3.4 Track Smoothing Function The control device shall have a non-zero speed smooth transition function of the robot during the end-to-end motion of any motion sequence. 4.3.5 Accurate in place function The control device shall have the motor reach zero speed at the end of any sequence of motion, and then execute the next motion sequence Columns to achieve accurate in place functionality. 4.3.6 Servo function The control device shall have control of the movement of each axis of the robot, judge and process the state feedback such as the actual position, and operate The function of setting and acquiring related parameters. 4.3.7 Parameter Configuration Function The control device should have the function of matching it with the structure and function of the robot through parameter configuration. 4.3.8 Coordinate system transformation function Control device can make industrial robots move relative to different types of coordinate systems, including joint reference coordinate system, base coordinate system, Household coordinate system, tool coordinate system, cylindrical coordinate system, etc. Usually industrial robot programming is relative to one of the coordinate systems, the control device It should be possible to implement transformations between different reference coordinate systems. 4.3.9 Calibration and error compensation The control device should have calibration and error compensation functions, that is, for the manufacturing process and assembly error, use the measuring tool to enter the industrial robot Line measurement and input data into the compensation algorithm, and finally output compensation data to improve the positioning accuracy of the robot. 4.3.10 External axis setting function The control device shall have a setting function for the external axis (frame shaft, tooling shaft) of the industrial robot. The external shaft is mounted on an industrial robot The general term for the motion axes outside the body, commonly used are the base shaft and the tool shaft. The pedestal shaft is an axis that can move the industrial robot as a whole, such as walking axis. The tooling shaft refers to the shaft that causes the fixture to be turned and rotated, such as the shaft on the positioner. The control device shall have the function of cooperating the robot with the external axis. During the movement, the machine in the outer axis coordinate space The human path and speed are controllable. 4.3.11 Soft floating function The control unit should have a soft floating function. After the soft float is turned on, the industrial robot can change position and posture by external force and change the size. Can be set by parameters. When the industrial robot gripper grabs the blank, it can change the posture according to the blank surface to achieve complete fit and avoid collision. And friction. 4.4 PLC control 4.4.1 Basic PLC functions The control unit shall have a programmable logic control (PLC) function for sequential control and process control. a) Sequence control. Corresponding logic output can be generated according to the input conditions. Such as the clamp is released. b) Process control. The corresponding analog signal output can be generated according to the input conditions. Such as the current of the welding torch. 4.4.2 Input/Output (I/O) Function The control unit should have general purpose I/O, system I/O (including emergency stop, start, stop, pause, alarm, etc.) and custom I/O functions. 4.4.3 Digital/Analog (Analog/Digital) Conversion Function The control device should have the function of converting digital and analog quantities. 4.5 Communication and bus 4.5.1 Internal network function The control device shall have a network interface such as a field bus or an Ethernet, and a driver, a sensor, a teaching box, etc. having a corresponding interface. L......

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Question 1: How long will the true-PDF of GB/T 37414.1-2019_English be delivered?

Answer: Upon your order, we will start to translate GB/T 37414.1-2019_English as soon as possible, and keep you informed of the progress. The lead time is typically 2 ~ 4 working days. The lengthier the document the longer the lead time.

Question 2: Can I share the purchased PDF of GB/T 37414.1-2019_English with my colleagues?

Answer: Yes. The purchased PDF of GB/T 37414.1-2019_English will be deemed to be sold to your employer/organization who actually pays for it, including your colleagues and your employer's intranet.

Question 3: Does the price include tax/VAT?

Answer: Yes. Our tax invoice, downloaded/delivered in 9 seconds, includes all tax/VAT and complies with 100+ countries' tax regulations (tax exempted in 100+ countries) -- See Avoidance of Double Taxation Agreements (DTAs): List of DTAs signed between Singapore and 100+ countries

Question 4: Do you accept my currency other than USD?

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