一.干涉的定義

機(jī)器人在作業(yè)過(guò)程中，或者在運(yùn)行過(guò)程中，兩個(gè)或兩個(gè)以上的機(jī)器人同時(shí)占有同一區(qū)間位置而發(fā)生沖突叫干涉。因?yàn)楦缮婵赡芤鸬暮蠊校?/p>

二.干涉區(qū)間

同一工位的機(jī)器人，在工作過(guò)程中，需要進(jìn)入到同一個(gè)區(qū)域，但在進(jìn)入的先后次序無(wú)嚴(yán)格的限定，一臺(tái)機(jī)器人(Master)具有絕對(duì)優(yōu)先的權(quán)利，即該機(jī)器人首先進(jìn)入干涉區(qū)，作業(yè)完成之后另一臺(tái)機(jī)器人(Slave)才可以進(jìn)入該干涉區(qū)工作。任意一臺(tái)機(jī)器人先進(jìn)入(Master)，在工藝上都允許（除了影響運(yùn)行時(shí)間外），允許使用干涉區(qū)信號(hào)對(duì)控制機(jī)器人運(yùn)行，防止機(jī)器人之間碰撞。對(duì)于有嚴(yán)格的工藝時(shí)序的干涉，采用互鎖信號(hào)來(lái)控制。這種干涉區(qū)信號(hào)設(shè)置方法如圖所示。 ⑴如圖中，Rob2機(jī)器人為Master,Rob1機(jī)器人為Slave. Rob1和Rob2機(jī)器人在進(jìn)入干涉區(qū)之前首先分別對(duì)彼此進(jìn)行初始化（開(kāi)啟干涉區(qū)監(jiān)控并釋放干涉區(qū)）。 ⑵機(jī)器人進(jìn)入干涉區(qū)三種情形：

⑶待進(jìn)入干涉區(qū)的機(jī)器人必須等待已進(jìn)入干涉區(qū)的機(jī)器人完成運(yùn)動(dòng)退出干涉區(qū)后方可進(jìn)入。

三.干涉區(qū)間互鎖編程思路：

創(chuàng)建名為Interlock的程序主要適用于存在有關(guān)聯(lián)的機(jī)器人組之間互鎖，該程序包含源代碼SRC文件和數(shù)據(jù)文件DAT兩個(gè)文件：

1.Interlock.dat數(shù)據(jù)文件說(shuō)明：

①枚舉類(lèi)型互鎖指令E_LOCKTYPE：

GLOBAL ENUM E_LOCKTYPE ENTER_LOCK_M,ENTER_LOCK_S,LEAVE_LOCK,CYC_CONTROL,RESET_LOCK

②結(jié)構(gòu)體型互鎖信號(hào)S_LOCKSIG：

GLOBAL STRUC S_LOCKSIG INTROB_IN,INTROB_OUT

③用于診斷的當(dāng)前機(jī)器人激活干涉區(qū)號(hào)zLockNumber：

GLOBAL INT zLockNumber=3

④干涉區(qū)監(jiān)控的中斷及循環(huán)旗幟的定義：

GLOBALCONSTINTczCollInterrupt=1;定義干涉區(qū)監(jiān)控的中斷等級(jí)GLOBALCONSTINTczCycCollision=1 ;定義干涉區(qū)監(jiān)控的循環(huán)旗幟號(hào)

⑤信號(hào)安全檢測(cè)時(shí)間，與SPS掃描周期：

GLOBALCONSTREALcrDeadtime=0.200000003 ;信號(hào)安全檢測(cè)時(shí)間，與SPS掃描周期

⑥干涉區(qū)互鎖信號(hào)：

SIGNAL giRobotInterlock $IN[89] TO $IN[104] ;許可當(dāng)前機(jī)器人進(jìn)入干涉區(qū)的輸入信號(hào)組SIGNALgoRobotInterlock$OUT[89]TO$OUT[104] ;當(dāng)前機(jī)器人進(jìn)入干涉區(qū)請(qǐng)求的輸出信號(hào)組DECLS_LOCKSIGTABLE_LOCK[16];定義機(jī)器人干涉區(qū)的互鎖表TABLE_LOCK[1]={ROB_IN89,ROB_OUT89};機(jī)器人干涉區(qū)的互鎖1TABLE_LOCK[2]={ROB_IN 90,ROB_OUT 90} ;機(jī)器人干涉區(qū)的互鎖2TABLE_LOCK[3]={ROB_IN 91,ROB_OUT 91} ;機(jī)器人干涉區(qū)的互鎖3TABLE_LOCK[4]={ROB_IN 92,ROB_OUT 92} ;機(jī)器人干涉區(qū)的互鎖4TABLE_LOCK[5]={ROB_IN93,ROB_OUT93};機(jī)器人干涉區(qū)的互鎖5TABLE_LOCK[6]={ROB_IN94,ROB_OUT94};機(jī)器人干涉區(qū)的互鎖6TABLE_LOCK[7]={ROB_IN95,ROB_OUT95};機(jī)器人干涉區(qū)的互鎖7TABLE_LOCK[8]={ROB_IN 96,ROB_OUT 96} ;機(jī)器人干涉區(qū)的互鎖8TABLE_LOCK[9]={ROB_IN 97,ROB_OUT 97} ;機(jī)器人干涉區(qū)的互鎖9TABLE_LOCK[10]={ROB_IN 98,ROB_OUT 98} ;機(jī)器人干涉區(qū)的互鎖10TABLE_LOCK[11]={ROB_IN 99,ROB_OUT 99} ;機(jī)器人干涉區(qū)的互鎖11TABLE_LOCK[12]={ROB_IN 100,ROB_OUT 100} ;機(jī)器人干涉區(qū)的互鎖12TABLE_LOCK[13]={ROB_IN 101,ROB_OUT 101} ;機(jī)器人干涉區(qū)的互鎖13TABLE_LOCK[14]={ROB_IN 102,ROB_OUT 102} ;機(jī)器人干涉區(qū)的互鎖14TABLE_LOCK[15]={ROB_IN103,ROB_OUT103};機(jī)器人干涉區(qū)的互鎖15TABLE_LOCK[16]={ROB_IN 104,ROB_OUT 104} ;機(jī)器人干涉區(qū)的互鎖16

2.Interlock.src源程序文件說(shuō)明：

①I(mǎi)nterlock源程序包含以下子程序：

②互鎖程序ANTI_COLLISION(eiLockType:IN,ziLockNum:IN)：

●#ENTER_LOCK_M程序邏輯：

●#ENTER_LOCK_S程序邏輯：

●#LEAVE_LOCK程序邏輯：

●#RESET_LOCK程序邏輯：

●#CYC_CONTROL程序邏輯：

代碼：

DEF Interlock( )END;-------------Interlock Active----------------------GLOBAL DEF ANTI_COLLISION(eiLockType:IN, ziLockNum:IN)DECL E_LOCKTYPE eiLockTypeDECL INT ziLockNumDECL BOOL nbOKCONTINUEIF VARSTATE("ziLockNum")<>#INITIALIZED THEN MsgQuit("Lock area not initialized") HALT ELSE IF ziLockNum>16 OR ziLockNum<1 THEN MsgQuit("Lock area msut be 1 to 16!") HALT ENDIFENDIFSWITCH eiLockType ; --- Enter Collision Zone as Master --- CASE #ENTER_LOCK_M WAIT SEC 0 INTERRUPT DISABLE czCollInterrupt ; Disable Monitoring IF ($IN[TABLE_LOCK[ziLockNum].ROB_IN]) THEN $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=FALSE ELSE nbOK=FALSE MSG_ANTICOLL(ziLockNum) REPEAT IF ($IN[TABLE_LOCK[ziLockNum].ROB_IN]) THEN nbOK=TRUE ELSE nbOK=FALSE ENDIF WAIT SEC 0.01 ; Sampling 100 ms UNTIL (INSTRUCTION_OK==TRUE) $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=FALSE ENDIF INTERRUPT ENABLE czCollInterrupt ; Enable Monitoring ; --- Enter Collsion Zone as Slave --- CASE #ENTER_LOCK_S WAIT SEC 0 INTERRUPT DISABLE czCollInterrupt ; Disable Monitoring nbOK=FALSE MSG_ANTICOLL(ziLockNum) REPEAT IF ($IN[TABLE_LOCK[ziLockNum].ROB_IN]) THEN $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=FALSE WAIT SEC crDeadtime IF ($IN[TABLE_LOCK[ziLockNum].ROB_IN]) THEN nbOK=TRUE ELSE nbOK=FALSE $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=TRUE ENDIF ENDIF WAIT SEC 0.01 ; Sampling 100 ms UNTIL (nbOK==TRUE) $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=FALSE INTERRUPT ENABLE czCollInterrupt ; Enable Monitoring ; --- Leave Collision Zone --- CASE #LEAVE_LOCK CONTINUE IF NOT $ON_PATH THEN WAIT FOR $ON_PATH ENDIF TRIGGER WHEN DISTANCE=1 DELAY=0 DO $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=TRUE; --- Initialize Collision Zone --- CASE #RESET_LOCK WAIT SEC 0 WAIT FOR $ON_PATH $OUT[TABLE_LOCK[ziLockNum].ROB_OUT]=TRUE ; --- Prepare for permanent Monitoring--- CASE #CYC_CONTROL GLOBAL INTERRUPT DECL czCollInterrupt WHEN NOT $CYCFLAG[czCycCollision] DO STOP_ROB( ) INTERRUPT OFF czCollInterrupt $CYCFLAG[czCycCollision]=TRUE $CYCFLAG[czCycCollision]=(((goRobotInterlock B_EXOR 'B1111111111111111') B_AND giRobotInterlock) == (goRobotInterlock B_EXOR 'B1111111111111111')) INTERRUPT ON czCollInterrupt INTERRUPT ENABLE czCollInterrupt; --- WARNING: Program Failure Interlocks --- DEFAULT HALT MsgNotify("Unknown Collision Setting!Please Switch Ti Mode!") WAIT FOR $T1ENDSWITCHENDGLOBAL DEF STOP_ROB ( ); *** Stop Movement by Interlock Monitoring*** BRAKE setmsg (99,3,0) WAIT FOR $CYCFLAG[czCycCollision]ENDGLOBAL DEF Msg_Anticoll(ziLockNum :IN)DECL INT ziLockNumDECL REAL nrTimernrTimer=0.0zLockNumber=ziLockNum;Message Outputsetmsg (ziLockNum,1,nzTimer) $TIMER_STOP[20]=TRUE$TIMER[20]=0$TIMER_STOP[20]=FALSEREPEAT WAIT sec .01UNTIL ($IN[TABLE_LOCK[ziLockNum].ROB_IN])==TRUE$TIMER_STOP[20]=TRUEnrTimer=$TIMER[20]nrTimer=nrTimer/1000.0setmsg (ziLockNum,2,nrTimer) ENDGLOBAL DEF SetMsg(ziLockNum:IN,ziMsg:IN,riPar:IN )DECL KrlMsg_T MsgDECL KrlMsgPar_T Par[3]DECL KrlMsgOpt_T OptDECL INT nzHandleDECL INT ziLockNum, ziMsgDECL REAL riPar;Select Msssage Text---------------------SWITCH ziMsg CASE 1 ;Interlock is Active Msg = {Modul[] "Interlock", Nr 007, Msg_txt[] "Interlock Area %1 is Active!"} CASE 2 ;Interlock was active Msg = {Modul[] "Interlock", Nr 008, Msg_txt[] "Interlock Area %1 was active %2[s] ago!"} CASE 3 ;Interlock Cycflag has triggered Msg = {Modul[] "Interlock", Nr 009, Msg_txt[] "Collision Monitoring has Triggered!"}ENDSWITCH;Configuration of message parameter --------Par[1] = {PAR_TYPE #VALUE, PAR_INT 0}Par[1].PAR_INT = ziLockAreaPar[2] = {PAR_TYPE #VALUE, PAR_REAL 00.0}Par[2].PAR_REAL = riPar;Message Options ------------------------------------Opt = {Vl_STOP FALSE, CLEAR_P_RESET TRUE, CLEAR_P_SAW FALSE, LOG_TO_DB TRUE};Message generation---------------------------nzHandle = SET_KRLMSG (#NOTIFY, Msg, Par[], Opt)END

四.互鎖信號(hào)程序的使用：

1.初始化干涉監(jiān)控：

ANTI_COLLISION(#CYC_CONTROL,0 )

2.重置并釋放干涉區(qū)信號(hào)-依據(jù)自己需求：

ANTI_COLLISION(#RESET_LOCK,1)ANTI_COLLISION(#RESET_LOCK,2)ANTI_COLLISION(#RESET_LOCK,3)ANTI_COLLISION(#RESET_LOCK,4)ANTI_COLLISION(#RESET_LOCK,5)ANTI_COLLISION(#RESET_LOCK,6)ANTI_COLLISION(#RESET_LOCK,7)ANTI_COLLISION(#RESET_LOCK,8)

3.進(jìn)入干涉區(qū)：

-作為主機(jī)器人進(jìn)入：

ANTI_COLLISION(#ENTER_LOCK_M,3)ANTI_COLLISION(#ENTER_LOCK_M,4) ；三臺(tái)機(jī)器人同時(shí)進(jìn)入該區(qū)域ANTI_COLLISION(#ENTER_LOCK_M,5)

-作為從機(jī)器人進(jìn)入：

ANTI_COLLISION(#ENTER_LOCK_S,3)ANTI_COLLISION(#ENTER_LOCK_S,4) ；三臺(tái)機(jī)器人同時(shí)進(jìn)入該區(qū)域ANTI_COLLISION(#ENTER_LOCK_S,5)

復(fù)雜的互鎖建議最好由PLC來(lái)統(tǒng)一處理；

4.退出干涉區(qū)：

ANTI_COLLISION(#LEAVE_LOCK,3)

五.說(shuō)明：

本文主要講述絕對(duì)優(yōu)先干涉區(qū)的設(shè)定，此種方法必須區(qū)分主次關(guān)系，主機(jī)器人獲得絕對(duì)的優(yōu)先處理的權(quán)力，而從機(jī)器人在遇到主從機(jī)器人同時(shí)進(jìn)入干涉區(qū)時(shí)，獲得的優(yōu)先級(jí)低于主機(jī)器人，必須等待主機(jī)器人處理完退出干涉區(qū)之后才能進(jìn)入。