FANUC机器人是四大工业机器人品牌（ABB、KUKA、FANUC、Yaskawa Electric）之一，广泛应用于汽车厂各车间中，用于上下料、点焊、弧焊、涂胶、弧焊、喷涂、视觉等工艺。FANUC机器人支持Ethernet、FL-net、DeviceNet、PROFIBUS、POFINET、CC-Link、CC-Link ie、EtherNet/IP、EtherCAT通讯，PROFINET通讯是其主要通讯方式之一，其PROFINET通讯板卡用于和上游PLC及其下挂IO设备进行通讯。
本文主要讲解1500F系列西门子PLC和R-30iB/R-30iB Plus机器人控制柜A柜PROFINET双通道板卡组态，机器人PROFINET双通道板卡和其下挂IO模块组态。
一、 PROFINET板卡介绍
1 双通道4口板卡
双通道4口板卡由A15L-0001-0150 MOLEX（莫仕）子板和A20B-8101-0930 FANUC母板组成，安装在机器人控制柜内JGP2或JGP4，支持ProfiSafe，1500系列PLC组态机器人需使用博途软件，机器人组态其下挂IO模块需使用PFN-CT（PROFINET IO configuration tool）。板卡使用主板供电和外部24V供电，外部24V供电可保证机器人在断电状态下保持板卡的交换机功能。发那科默认配置双通道PROFINET板卡。Port1和Port2为通道2，用于和PLC进行通讯，Port3和Port4为通道1，用于和其下挂IO模块进行通讯。通道1和通道2之间存在电气隔离，工控机仅可访问PLC及其下挂模块，无法访问机器人下挂IO模块。
2 单通道4口板卡
单通道4口板卡由西门子CP1604/CP1616子板和A20B-8101-0930 FANUC母板组成，安装在机器人控制柜JGP4，支持ProfiSafe，1500系列PLC组态机器人、机器人组态其下挂IO模块需使用博途V14 SP1以上版本进行配置。板卡使用主板供电和外部24V供电，外部24V供电可保证机器人在断电状态下保持板卡的交换机功能。
A20B-8101-0790
FANUC robot is one of the four major industrial robot brands (ABB, KUKA, FANUC, Yaskawa Electric), which is widely used in the workshops of automobile factories for loading and unloading, spot welding, arc welding, gluing, arc welding, spraying, vision and other processes. FANUC robot supports Ethernet, FL-net, DeviceNet, PROFIBUS, POFINET, CC-Link, CC-Link ie, EtherNet/IP, EtherCAT communication, PROFINET communication is one of its main communication methods. The PROFINET communication board is used to communicate with the upstream PLC and its undermount IO devices.
This paper mainly explains the configuration of 1500F series Siemens PLC and R-30iB/R-30iB Plus robot control cabinet A PROFINET dual-channel board, robot PROFINET dual-channel board and its underhung IO module.
First, PROFINET board introduction
1 Dual-channel 4-port board card
Dual-channel 4-port board consists of A15L-0001-0150 MOLEX (MOLex) sub-board and A20B-8101-0930 FANUC motherboard, installed in the robot control cabinet JGP2 or JGP4, support ProfiSafe, 1500 series PLC configuration robot needs to use Boto software, The PROFINET IO configuration tool (PFN-CT) is used to configure the I/O module attached to the robot. The board uses the motherboard power supply and the external 24V power supply, which can ensure that the robot can maintain the switch function of the board in the state of power failure. Fanuc is configured with dual-channel PROFINET boards by default. Port1 and Port2 are channels 2, used to communicate with the PLC. Port3 and Port4 are channels 1, used to communicate with the I/O module. There is an electrical isolation between channel 1 and channel 2, and the industrial computer can only access the PLC and its undermount module, but cannot access the robot undermount IO module.
2 Single channel 4 port board card
The single-channel 4-port board consists of Siemens CP1604/CP1616 child board and A20B-8101-0930 FANUC mother board, installed in the robot control cabinet JGP4, supporting ProfiSafe, 1500 series PLC configuration robot, robot configuration and its underhung IO module need to use Botu V14 SP1 or higher version for configuration. The board uses the motherboard power supply and the external 24V power supply, which can ensure that the robot can maintain the switch function of the board in the state of power failure.
