描述
一、核心功能
1.多轴运动控制
高精度同步控制：
支持1-16轴实时同步，适配KUKA工业机器人（如KR 16、KR 30）及外部轴（变位机、轨道、旋转台），同步周期≤500μs，确保高速运动下的轨迹精度（如焊接速度2m/min时，重复定位精度±0.03mm）。
内置电子凸轮、电子齿轮功能，可实现复杂运动曲线规划（如凸轮分割器替代、飞剪控制）。
动态响应优化：
集成前馈补偿、摩擦补偿算法，减少加速度突变引起的振动，适用于精密装配、打磨抛光等场景。
2.逻辑控制与工艺集成
高性能逻辑处理：
基于CODESYS 3.5平台，支持IEC 61131-3标准编程语言（LD、FBD、ST、SFC、IL），可实现复杂逻辑控制（如顺序控制、条件分支、定时器/计数器）。
提供预置工艺库（如焊接、涂胶、码垛），用户可通过拖拽式配置快速完成工艺参数设置。
多任务并行处理：
支持8个独立任务并行运行，每个任务可分配不同优先级，确保实时性要求高的任务（如急停处理）优先执行。
3.安全功能集成
符合国际安全标准：
支持ISO 13849-1（PL e/Cat.4）和IEC 61508（SIL3），集成STO（Safe Torque Off，安全扭矩关闭）、SS1（Safe Stop 1，安全停止）等功能，可在急停时立即切断电机动力。
提供安全I/O模块（如KUKA Safety I/O 1616），支持安全光幕、安全门、双手操作按钮等设备接入，实现区域防护与碰撞检测。
4.工业通信与扩展能力
多协议支持：
EtherCAT主站：连接KUKA外部轴、Beckhoff I/O模块，同步周期≤250μs。
PROFINET RT/IRT：与西门子S7-1500 PLC协同控制，实现多机器人同步运动。
EtherNet/IP：通过CIP Motion协议与罗克韦尔AB PLC通信，支持分布式控制架构。
OPC UA Server/Client：实现与MES、ERP系统无缝对接，支持生产数据实时上传与远程监控。
I/O扩展能力：
本地I/O：提供32路数字输入（DI）、32路数字输出（DO），支持24V DC源型/漏型切换。
扩展模块：可外接KUKA I/O模块（如KUKA.IO 3232），最多扩展256路I/O，满足大型生产线需求。
二、技术参数
参数类别详细规格
处理器Intel Core i7-1165G7（4核8线程，2.8GHz主频）
内存8GB DDR4（可扩展至32GB）
存储256GB SSD（支持RAID 1冗余）
输入电源24V DC（-15%/+20%），功耗≤150W
控制精度位置精度±0.01mm，速度波动≤±0.05%
环境适应性工作温度0-55℃，湿度≤95%RH（无冷凝），防护等级IP20
尺寸与重量尺寸400mm×300mm×150mm，重量约12kg，支持标准机柜安装或导轨安装
三、典型应用场景
1.汽车制造
车身焊接生产线：
KSD1-16 PLC控制4台KR 16机器人+2台变位机，通过EtherCAT同步实现多工位协同焊接，焊接节拍≤60s/车，焊缝质量符合ISO 5817 A级标准。
总装车间：
集成视觉引导系统，通过PROFINET通信控制KR 30机器人完成发动机与变速箱的精准装配，装配力≤100N，避免过压损伤。
2.3C电子行业
手机组装线：
KR 6机器人搭载真空吸盘，在KSD1-16力控制模式下完成屏幕、摄像头模组的微米级定位，重复定位精度±0.02mm，支持多型号混线生产。
芯片检测：
配合高精度视觉系统，通过OPC UA通信传输检测数据，实现芯片缺陷的快速识别与分拣，检测速度≥5000片/小时。
3.物流与仓储
智能码垛系统：
KR 12机器人在KSD1-16控制下完成纸箱、袋装货物的自动码垛，效率≥1200包/小时，支持多规格货物混合码放。
AGV调度：
通过EtherNet/IP通信与AGV控制系统协同，实现多台AGV的路径规划与避障，优化物料搬运效率。
I.Core functions
1.Multi-axis motion control
High-precision synchronous control:
Supports 1-16 axis real-time synchronization,adapts to KUKA industrial robots(such as KR 16,KR 30)and external axes(positioners,rails,rotary tables),synchronization cycle≤500μs,ensuring trajectory accuracy under high-speed motion(such as welding speed 2m/min,repeat positioning accuracy±0.03mm).
Built-in electronic cam and electronic gear functions can realize complex motion curve planning(such as cam divider replacement,flying shear control).
Dynamic response optimization:
Integrated feedforward compensation and friction compensation algorithms to reduce vibration caused by acceleration mutations,suitable for precision assembly,grinding and polishing and other scenarios.
2.Logic control and process integration
High-performance logic processing:
Based on the CODESYS 3.5 platform,it supports IEC 61131-3 standard programming languages(LD,FBD,ST,SFC,IL),and can realize complex logic control(such as sequential control,conditional branching,timer/counter).
Provide a preset process library(such as welding,gluing,palletizing),and users can quickly complete the process parameter settings through drag-and-drop configuration.
Multi-task parallel processing:
Supports 8 independent tasks to run in parallel,and each task can be assigned a different priority to ensure that tasks with high real-time requirements(such as emergency stop processing)are executed first.
3.Safety function integration
Compliance with international safety standards:
Supports ISO 13849-1(PL e/Cat.4)and IEC 61508(SIL3),integrated STO(Safe Torque Off),SS1(Safe Stop 1)and other functions,which can immediately cut off the motor power in an emergency stop.
Provides safety I/O modules(such as KUKA Safety I/O 1616),supports the access of safety light curtains,safety doors,two-hand operation buttons and other devices,and realizes regional protection and collision detection.
4.Industrial communication and expansion capabilities
Multi-protocol support:
EtherCAT master station:connects KUKA external axes and Beckhoff I/O modules,with a synchronization cycle of≤250μs.
PROFINET RT/IRT:Collaborative control with Siemens S7-1500 PLC to realize multi-robot synchronous motion.
EtherNet/IP:Communicates with Rockwell AB PLC through CIP Motion protocol and supports distributed control architecture.
OPC UA Server/Client:Realizes seamless connection with MES and ERP systems,and supports real-time upload and remote monitoring of production data.
I/O expansion capability:
Local I/O:provides 32 digital inputs(DI),32 digital outputs(DO),and supports 24V DC source/sink switching.
Expansion module:can be connected to an external KUKA I/O module(such as KUKA.IO 3232),and can expand up to 256 I/O channels to meet the needs of large production lines.
2.Technical parameters
Parameter category Detailed specifications
Processor Intel Core i7-1165G7(4 cores,8 threads,2.8GHz main frequency)
Memory 8GB DDR4(expandable to 32GB)
Storage 256GB SSD(supports RAID 1 redundancy)
Input power 24V DC(-15%/+20%),power consumption≤150W
Control accuracy Position accuracy±0.01mm,speed fluctuation≤±0.05%
Environmental adaptability Working temperature 0-55℃,humidity≤95%RH(non-condensing),protection level IP20
Dimensions and weight Dimensions 400mm×300mm×150mm,weight about 12kg,support standard cabinet installation or rail installation
3.Typical application scenarios
1.Automobile manufacturing
Body welding production line:
KSD1-16 PLC controls 4 KR 16 robots+2 positioners,through EtherCAT Synchronous multi-station collaborative welding is achieved,the welding cycle is≤60s/car,and the weld quality meets the ISO 5817 A-level standard.
Assembly workshop:
Integrated visual guidance system,through PROFINET communication to control the KR 30 robot to complete the precise assembly of the engine and gearbox,the assembly force is≤100N,to avoid overpressure damage.
2.3C electronics industry
Mobile phone assembly line:
KR 6 robot equipped with vacuum suction cups,in the KSD1-16 force control mode to complete the micron-level positioning of the screen and camera module,the repeat positioning accuracy is±0.02mm,and supports multi-model mixed line production.
Chip detection:
With high-precision visual system,the detection data is transmitted through OPC UA communication to achieve rapid identification and sorting of chip defects,and the detection speed is≥5000 pieces/hour.
3.Logistics and warehousing
Intelligent palletizing system:
The KR 12 robot completes the automatic palletizing of cartons and bagged goods under the control of KSD1-16,with an efficiency of≥1200 bags/hour,and supports mixed palletizing of goods of multiple specifications.
AGV scheduling:
Cooperate with the AGV control system through EtherNet/IP communication to achieve path planning and obstacle avoidance of multiple AGVs,and optimize material handling efficiency.
ABB Model: GBU72 3BHE055094R0002 Model: 3BHE055094R0002 GBU72 Model: GBU72 Model: 3BHE055094R0002 Model: 3BHE031197R0001 Model: 3BHB030310R0001 Model: 73BHE055094R0002 GBU72 Model: 73BHE055094R0002 Model: GBU72 Model: ABB PCS6000 PRODUCT FAMLIY ABB 5SHY4045L0006 3BHB030310R0001 3BHE039203R0101 GVC736CE101
