CN102862161A - Field bus-based PAC (Programmable Automation Controller) industrial robot control system - Google Patents
Field bus-based PAC (Programmable Automation Controller) industrial robot control system Download PDFInfo
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Abstract
The invention discloses a field bus-based PAC (Programmable Automation Controller) industrial robot control system which comprises a robot axis servo control unit, a high-speed real-time Ethernet field bus, a man-machine interaction, a PAC, and a plurality of input-output modules, wherein the robot axis servo control unit is used for controlling and driving axle joints of manipulators of an industrial robot, the PAC is used for controlling the robot axis servo control unit and the man-machine interaction unit respectively and are respectively connected with the robot axis servo control unit and the man-machine interaction unit, and the plurality of input-output modules are extensibly arranged and are respectively connected with the robot axis servo control unit through the high-speed real-time Ethernet field bus. The system can be used for overcoming the defects of being unreasonable in structure, inconvenient to install and maintain, low in reliability, poor in precision, high in cost, poor in extensibility and the like in the prior art, so as to realize the disadvantages of being reasonable in structure, convenient to install and maintain, high in reliability, good in precision, low in cost and good in extensibility.
Description
Technical field
The present invention relates to the Industrial Robot Technology field, particularly, relate to a kind of Fieldbus Based automation controller able to programme (Programmable Automation Controller is called for short PAC) industrial robot control system.
Background technology
Usually, the arm of industrial robot mainly is comprised of a plurality of mechanical arms and corresponding axle joint, the axle joint can directly be connected with the driving servomotor, also can be connected with the driving servomotor by gear-box, motion by control respective drive servomotor can realize the movement locus of corresponding mechanical arm and the control of direction.Thereby, realize the accurate control to the respective drive servomotor, just can realize the freely-movable of the corresponding mechanical arm of industrial robot.The control principle of the single driving servomotor in industrial robot axle joint can be referring to Fig. 1.
In Fig. 1, the single driving servo control system in industrial robot axle joint, mainly comprise the first comparator 11, movement position control module 21, the second comparator 12, rate control module 22, the 3rd comparator 13, Torque Control module 23, power subsystem 3 and motor (M) 4 that signal successively connects, and minute level signal is connected between motor (M) 4 and the first comparator 11 and the second comparator 12 and the speed and the position feedback module 5 that feed back to respectively the first comparator 11 and the second comparator 12 for speed and position signalling with motor (M) 4; Power subsystem 3 is connected with the 3rd comparator 13 signals, and the current feedback signal of power subsystem 3 is fed back to the 3rd comparator 13; The first comparator 11 also is used for input manipulator shaft motion setting signal.
The control module of single driving servomotor among Fig. 1 mainly comprises Torque Control module 23, rate control module 22 and movement position control module 21.Be the accuracy that guarantees to control, the control of each control module (being Torque Control module 23, rate control module 22 and movement position control module 21), all by current feedback, speed and position feedback module 4 realize feedback closed loop control.
At present, the control system of industrial robot, the schemes that adopt motion control part and servo-drive partly to be integrated more, that is: the servo-drive with a plurality of axles joint (such as 6 axles) of industrial robot partly is assembled into one, the motion control part communicates by each servo drive unit of inner core bus and servo-drive part, realizes motion control.For example, the control principle of 6 axle robot control systems can be referring to Fig. 2; The structure of 6 axle robot control systems can be referring to Fig. 3.
In Fig. 2,6 axle robot control systems comprise robotic programming development environment unit, robot control unit and servomotor unit that signal successively connects.Wherein, robotic programming development environment unit, comprise that the parallel robot application programming module that arranges, motion arrange module, machine religion functional module, computer-aided manufacturing (computer Aided Manufacturing is called for short CAM) programming module and track CAM chart generating module.The robot control unit comprises the motion control part and the servo-drive part that connect by inner core bus; The motion control part comprises the external logic communication interface, robot application control module and the track shaft CAM chart module that are connected with inner core bus respectively; The servo-drive part comprising parallel 6 drivings that arrange and is connected with inner core bus respectively and controlling organization; Each servo and driving mechanism comprises the corresponding axis driver module (such as an axle driver module in the 1st to the 6 axle driver module), movement position control module, rate control module and the Torque Control module that are connected with inner core bus successively.The servomotor unit comprises the motor (M) that is connected with Torque Control module in corresponding driving and the controlling organization respectively.
In Fig. 3,6 axle robot control systems comprise the robot control unit, and the man-machine interaction unit that is connected with robot control unit's signal respectively (being used for providing man-machine interface), automation equipment logic control element and servomotor unit.The robot control unit comprises the movement position control module that is connected with man-machine interaction unit and automation equipment logic control element respectively, and is connected with movement position control module and servomotor unit respectively and parallel 6 servo-drivers that arrange.The automation equipment logic control element, comprise programmable logic controller (PLC) (the Programmable Logic Controller that is connected with movement position control module among the robot control unit by serial communication interface (or network interface), be called for short PLC), the 3rd input/output module 53 that is connected with PLC, and the second input/output module 52 and the first input/output module 51 that connect by Process FieldbusROFIBUS (Profibus) or DeviceNet bus (being a kind of cheaply communication bus) successively.The servomotor unit comprises respectively 6 servo-actuating devices that are connected with corresponding servo-driver among the robot control unit; Each servo-actuating device comprises the servomotor 7 and the encoder 6 that are connected with corresponding servo-driver respectively, and servomotor 7 is connected connection with encoder.
In realizing process of the present invention, the inventor finds that there is following defective at least in each above-mentioned industrial robot control system:
⑴ unreasonable structure: driver is integral type setting (being that corresponding servo-driver and movement position control module are the integral type setting), so that corresponding drivers can not be placed into the position nearer apart from each servomotor; And because each driver is the integral type setting, when wherein any one driver broke down, other drivers also can be affected, and cisco unity malfunction;
⑵ installation and maintenance is inconvenient: during actual installation, need the power cable of use more, installation personnel is often for selecting suitable power cable and mounting means worried; In addition, because each driver is the integral type setting, when wherein any one driver breaks down, all can have influence on other drivers, work is made troubles to care and maintenance;
⑶ reliability is low: the encoder cable is longer, the reliability of the feedback signal that underspeeds sometimes; In addition, because each driver is the integral type setting, when wherein any one driver breaks down, all can affect the reliability of other drivers;
⑷ poor accuracy: encoder is longer, the accuracy of the feedback signal that underspeeds sometimes;
⑸ cost is high: under the state, the robot control unit is the part of an automation equipment and manufacturing system, only has limited input/output module usually; And automation equipment and manufacturing system automation equipment need to have logic control element, more input/output module; In the practical application, also need another PLC, could realize the automation control of equipment, so just increased equipment cost; And the robot control unit adds the scheme of PLC, has also strengthened the complexity of application and development cycle and system simultaneously, has reduced reliability.
⑹ autgmentability is poor: because carry out communication by inner core bus between motion control part and the servo-drive part, be restricted so that multiaxis drives expansion, can only expand to 6 axles or more more at most.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of Fieldbus Based PAC industrial robot control system,, installation and maintenance reasonable with implementation structure makes things convenient for, reliability is high, accuracy good, cost is low and the advantage of favorable expandability.
For achieving the above object, the technical solution used in the present invention is: a kind of Fieldbus Based PAC industrial robot control system, comprise the manipulator shaft servo control unit of controlling and driving for to the axle joint of each mechanical arm of industrial robot, high speed real-time ethernet fieldbus, man-machine interaction unit, be used for respectively described manipulator shaft servo control unit and man-machine interaction unit being controlled, and the PAC controller that is connected with man-machine interaction unit with the manipulator shaft servo control unit respectively, and expandable type setting, and be connected to successively respectively a plurality of input/output modules of manipulator shaft servo control unit by high speed real-time ethernet fieldbus.
Further, described manipulator shaft servo control unit comprises a plurality of servo-actuating devices that match, are used for the control of realization speed and torque current control and parallel discrete setting with the corresponding axis joint of each mechanical arm of industrial robot; Described a plurality of servo-actuating device, by the high speed real-time ethernet fieldbus that arranges separately and/or the same high speed real-time ethernet fieldbus of sharing with a plurality of input/output modules and PAC controller, be connected between PAC controller and the input/output module successively.
Further, when described a plurality of servo-actuating devices, a plurality of input module and PAC controller are shared same high speed real-time ethernet fieldbus, the PAC controller is the main website of this high speed real-time ethernet fieldbus, and described a plurality of servo-actuating devices and input/output module are the slave station of this high speed real-time ethernet fieldbus.
Further, the structure of described a plurality of servo-actuating devices is identical or different; Can simply increase and reduce the quantity of servo-actuating device according to the actual quantity of the mechanical arm of industrial robot, for example can reduce to 3 servo-actuating devices, also rise to 10 servo-actuating devices.
When the structure of described a plurality of servo-actuating devices is identical, each servo-actuating device, comprise the servo-driver that is connected with input/output module by high speed real-time ethernet fieldbus and PAC controller, and the servomotor and the encoder that are connected with described servo-driver.
Further, in described a plurality of servo-actuating devices, each servo-actuating device comprises respectively the servo-driver that is connected with input/output module with described PAC controller, and the servomotor and the encoder that are connected with described servo-driver respectively; Described servomotor and encoder are connected.
Further, described man-machine interaction unit, at least comprise the CPU processor, be used for providing IDE(Integrated Development Environment) the IDE programming module of programmed environment, and the operation push-button and/or the display module that are used for providing man-machine interface; Described IDE programming module, operation push-button and/or display module are connected with the CPU processor respectively, share same CPU processor.
Further, described IDE programming module comprises that the parallel programming in logic submodule that arranges and be connected with described PAC controller respectively, motion arrange submodule, machine religion function sub-modules, CAM programming submodule and track CAM chart and generate submodule.
Further, described PAC controller, comprise the low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and the Logic control module and the second logic communication protocol module that link to each other; Described Logic control module and movement position control module are connected with the low-power consumption master cpu respectively, share same low-power consumption master cpu; Described movement position control module is used for realizing movement position control, namely is used for realizing Position Control;
Described the first communication protocol module comprises IEC61800-7 communication protocol module (electronic power adjustable-speed drive system framework and interface); And/or described the second communication protocol module comprises that CANOpen[is the high-rise communications protocol of a kind of framework on control area net（CAN） road (Control Area Network, CAN)] communication protocol module.
Further, described man-machine interaction unit comprises that industrial computer, notebook, palm PC and other have any one in the portable terminal (such as removable special computer etc.) of Industrial PC Computer function.
Further, described operation push-button comprises keyboard; And/or described display module comprises LCDs and/or touch-screen.
Further, this system can the applicable industry robot and/or comprises the automation control appliance of industrial robot.
The Fieldbus Based PAC industrial robot control system of various embodiments of the present invention, owing to comprise the manipulator shaft servo control unit of controlling and driving for to the axle joint of each mechanical arm of industrial robot, high speed real-time ethernet fieldbus, man-machine interaction unit, be used for respectively manipulator shaft servo control unit and man-machine interaction unit being controlled, and the PAC controller that is connected with man-machine interaction unit with the manipulator shaft servo control unit respectively, and expandable type setting, and be connected to successively respectively a plurality of input/output modules of manipulator shaft servo control unit by high speed real-time ethernet fieldbus; Can adopt fieldbus and PAC controller, realize the motion control to each axle joint of industrial robot, thereby to realizing the control of robot function and position motion; Thereby can overcome that unreasonable structure in the prior art, installation and maintenance are inconvenient, reliability is low, poor accuracy, cost is high and the poor defective of autgmentability, reasonable with implementation structure, installation and maintenance convenient, reliability is high, accuracy good, cost is low and the advantage of favorable expandability.
Other features and advantages of the present invention will be set forth in the following description, and, partly from specification, become apparent, perhaps understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Accompanying drawing is used to provide a further understanding of the present invention, and consists of the part of specification, is used for together with embodiments of the present invention explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the operation principle schematic diagram of the single driving servo control system in industrial robot axle joint;
Fig. 2 is the operation principle schematic diagram of 6 axle robot control systems;
Fig. 3 is the structured flowchart of 6 axle robot control systems;
Fig. 4 is the operation principle schematic diagram that the present invention is based on the PAC industrial robot control system of fieldbus;
Fig. 5 is the structured flowchart that the present invention is based on the PAC industrial robot control system of fieldbus.
By reference to the accompanying drawings, Reference numeral is as follows in the embodiment of the invention:
11-the first comparator; 12-the second comparator; 13-the 3rd comparator; 21-movement position control module; The 22-rate control module; 23-Torque Control module; 3-motor (M); 4-speed and position feedback module; 51-the first input/output module; 52-the second input/output module; 53-the 3rd input/output module; The 6-encoder; The 7-servomotor.
The specific embodiment
Below in conjunction with accompanying drawing the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the present invention, is not intended to limit the present invention.
According to the embodiment of the invention, a kind of Fieldbus Based PAC industrial robot control system is provided, this system can the applicable industry robot and/or comprises the automation control appliance of industrial robot.
As shown in Figure 4 and Figure 5, present embodiment comprises the manipulator shaft servo control unit of controlling and driving for to the axle joint of each mechanical arm of industrial robot, high speed real-time ethernet fieldbus, man-machine interaction unit, be used for respectively manipulator shaft servo control unit and man-machine interaction unit being controlled, and the PAC controller that is connected with man-machine interaction unit with the manipulator shaft servo control unit respectively, and expandable type setting, and be connected to successively a plurality of input/output modules of manipulator shaft servo control unit (such as the first input/output module 51 by high speed real-time ethernet fieldbus respectively, the second input/output module 52 and the 3rd input/output module 53).
Wherein, above-mentioned manipulator shaft servo control unit comprises a plurality of servo-actuating devices that match, are used for the control of realization speed and torque current control and parallel discrete setting with the corresponding axis joint of each mechanical arm of industrial robot; A plurality of servo-actuating devices, by the high speed real-time ethernet fieldbus that arranges separately and/or the same high speed real-time ethernet fieldbus of sharing with a plurality of input/output modules and PAC controller, be connected between PAC controller and the input/output module successively.The structure of these a plurality of servo-actuating devices is identical, in these a plurality of servo-actuating devices, each servo-actuating device, comprise respectively the servo-driver that is connected with input/output module with the PAC controller, and the servomotor that is connected with servo-driver respectively (such as servomotor 7) and encoder (such as encoder 6); Servomotor and encoder are connected.Each servo-driver comprises by fieldbus being connected to corresponding axis driver module (such as an axle driver module in the 1st to the 6th axle driver module), rate control module and Torque Control module between PAC controller and the corresponding servomotor in turn.
Preferably, when a plurality of servo-actuating devices, a plurality of input/output module and PAC controller were shared high speed real-time ethernet fieldbus, the PAC controller was the master station of this high speed real-time ethernet fieldbus; Corresponding servo-driver in a plurality of input/output modules and a plurality of servo-actuating device is the slave station of this high speed real-time ethernet fieldbus.
The structure of above-mentioned a plurality of servo-actuating devices is identical or different; When the structure of a plurality of servo-actuating devices is identical, each servo-actuating device, comprise the servo-driver that is connected with input/output module by high speed real-time ethernet fieldbus and PAC controller, and the servomotor that is connected with servo-driver and encoder.
Above-mentioned man-machine interaction unit comprises the CPU processor at least, is used for providing the IDE programming module of IDE programmed environment, and the operation push-button and/or the display module that are used for providing man-machine interface; IDE programming module, operation push-button and/or display module are connected with the CPU processor respectively, share same CPU processor.This IDE programming module comprises that the parallel programming in logic submodule that arranges and be connected with the PAC controller respectively, motion arrange submodule, machine religion function sub-modules, CAM programming submodule and track CAM chart and generate submodule.This PAC controller, comprise the low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and the Logic control module and the second logic communication protocol module that link to each other; Logic control module and movement position control module are connected with the low-power consumption master cpu respectively, share same low-power consumption master cpu; The movement position control module is used for realizing movement position control, namely is used for realizing Position Control; Logic control module can adopt PLC, realizes logic control.
This first communication protocol module comprises the IEC61800-7 communication protocol module; And/or the second communication protocol module comprises the CANOpen communication protocol module.This man-machine interaction unit comprises that industrial computer, notebook, palm PC and other have any one in the portable terminal of Industrial PC Computer function.This operation push-button comprises keyboard; And/or display module comprises LCDs and/or touch-screen.
The Fieldbus Based PAC industrial robot control system of above-described embodiment, utilize technology and novel automatic controller (the being the PAC controller) control technology of the bus latest development of real time high-speed Ethernet fieldbus, can be applied to the control field of industrial robot.For example, in Fig. 4 and Fig. 5, enumerate the motion of 6 joint shafts (being called for short 6 axles) of the industrial robot of 6 servomotors control.The industrial robot of 6 axles can be realized the application in many fields, and very strong compliant motion track is arranged.6 independently servo-driver respectively with 6 corresponding connections of servomotor, and respectively be used for to realize that electric power is connected and be connected the encoder connection with the speed feedback function.The PAC controller couples together by 3 input/output modules of real-time ethernet supporting bus with 6 servo-drivers and 3 slave stations.Servo-driver and input/output module can be shared same fieldbus, thereby realize industrial robot and the integrated control of automation equipment.
During implementation, above-mentioned servo-driver can adopt German Metronix servo-driver, and the PAC controller can adopt Kai Mute PAC controller, and input/output module can adopt the Kai Mute input/output module.For example, can adopt the up-to-date ARS2000 series of servo driver of German Metronix, this series of servo drives supports real-time ethernet fieldbus (EtherCat); The PAC controller can adopt the PAC controller of the up-to-date PAC-510 of Kai Mute, and this PAC has loaded Intel low-power consumption Atom CPU, supports motion control, logic control and Integrated HMI software operation interface; Input/output module can be selected the Kai Mute fieldbus module.
The Fieldbus Based PAC industrial robot control system of above-described embodiment utilizes the automated control technologies such as field bus communication and automation controller (PAC), realizes the control in a plurality of axles joint of industrial robot; Industrial field bus has adopted EPA technology and real-time communication agreement; Servo-driver and servomotor are connected respectively with for the encoder (such as speed encoder) that carries out electric power and speed acquisition, and servo-driver only carries out speed closed loop control to servomotor; The rate signal of encoder is sent to the controller of industrial robot by the Real-time Fieldbus of servo-driver; The controller of industrial robot has adopted the PAC controller, and the PAC controller is mounted with to have motion control function and generate each axle joint motions location track of industrial robot and relates to chart (Profile) function; According to each axle joint motions position movement locus chart of industrial robot, the PAC controller carries out real-time control to the industrial machine human motion.This Fieldbus Based PAC industrial robot control system, because the field bus technique that adopts and the control technology of PAC controller, so that each servo-driver can be installed in as much as possible corresponding servomotor near, and the PAC controller can be placed on any suitable place away from the Industry Control scene, thereby reduce cable material and installation cost, short-range encoder cable of while, reliability and the accuracy of the feedback signal that can greatly gather way.
The Fieldbus Based PAC industrial robot control system of above-described embodiment has following characteristics at least:
⑴ utilize the realization of real-time ethernet high-speed field bus to the motion control in each axle joint of industrial robot;
⑵ on the basis of ⑴, and the real-time ethernet high-speed field bus is connected with input/output module, other sensors (such as encoder or other speed and position sensor), executive component (such as servomotor) and drive unit (such as servo-driver) simultaneously;
⑶ PAC controller is the main website (Master) of real-time ethernet high-speed field bus, and other are connected to other devices of servo-driver on the fieldbus, input/output module etc. and are slave station;
⑷ PAC controller is the master controller of this industrial robot, realizes the control of robot function and position motion; And servo-driver is implemented speed and the Current Control of motor;
⑸ can be connected with host computer (being man-machine interaction unit) by the ethernet lan interface, and host computer is used for realizing the programming in logic to this Fieldbus Based PAC industrial robot control system, the track machine religion of industrial robot and the Stateful Inspection of this Fieldbus Based PAC industrial robot control system; Host computer can be desktop industrial computer, hand-held isolated plant and notebook computer etc.
The Fieldbus Based PAC industrial robot control system of above-described embodiment can reach following beneficial effect at least:
⑴ embodied modularization and the modularization of systemic-function, can expand flexibly according to demand in the practical application;
⑵ during practical application, can save installation cost and cable material cost;
⑶ servo-driver and input/output module can be shared same fieldbus, so that industrial robot and automation equipment control are integrated, simple in structure and reasonable, reliability strengthens;
⑷ same development platform is shared in the application controls of industrial robot, motion control and automation equipment application controls, and the user can greatly reduce the application and development cycle;
⑸ install, operation and maintenance is all simpler.
It should be noted that at last: the above only is the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment the present invention is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme that aforementioned each embodiment puts down in writing, and perhaps part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. Fieldbus Based PAC industrial robot control system, it is characterized in that, comprise the manipulator shaft servo control unit of controlling and driving for to the axle joint of each mechanical arm of industrial robot, high speed real-time ethernet fieldbus, man-machine interaction unit, be used for respectively described manipulator shaft servo control unit and man-machine interaction unit being controlled, and the PAC controller that is connected with man-machine interaction unit with the manipulator shaft servo control unit respectively, and expandable type setting, and be connected to successively respectively a plurality of input/output modules of manipulator shaft servo control unit by high speed real-time ethernet fieldbus.
2. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described manipulator shaft servo control unit comprises a plurality of servo-actuating devices that match, are used for the control of realization speed and torque current control and parallel discrete setting with the corresponding axis joint of each mechanical arm of industrial robot; Described a plurality of servo-actuating device, by the high speed real-time ethernet fieldbus that arranges separately and/or the same high speed real-time ethernet fieldbus of sharing with a plurality of input/output modules and PAC controller, be connected between PAC controller and the input/output module successively.
3. Fieldbus Based PAC industrial robot control system according to claim 2, it is characterized in that, when described a plurality of servo-actuating devices, a plurality of input module and PAC controller are shared same high speed real-time ethernet fieldbus, the PAC controller is the main website of this high speed real-time ethernet fieldbus, and described a plurality of servo-actuating devices and input/output module are the slave station of this high speed real-time ethernet fieldbus.
4. Fieldbus Based PAC industrial robot control system according to claim 3 is characterized in that the structure of described a plurality of servo-actuating devices is identical or different;
When the structure of described a plurality of servo-actuating devices is identical, each servo-actuating device, comprise the servo-driver that is connected with input/output module by high speed real-time ethernet fieldbus and PAC controller, and the servomotor and the encoder that are connected with described servo-driver.
5. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described man-machine interaction unit comprises at least be used to the IDE programming module that programmed environment is provided, and the operation push-button and/or the display module that are used for providing man-machine interface; Described IDE programming module, operation push-button and/or display module are shared same CPU processor.
6. Fieldbus Based PAC industrial robot control system according to claim 5, it is characterized in that, described IDE programming module comprises that the parallel programming in logic submodule that arranges and be connected with described PAC controller respectively, motion arrange submodule, machine religion function sub-modules, CAM programming submodule and track CAM chart and generate submodule.
7. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described PAC controller, comprise the low-power consumption master cpu, the track shaft CAM chart module, robot application control module, movement position control module and the first communication protocol module that connect successively, and the Logic control module and the second logic communication protocol module that link to each other; Described Logic control module and movement position control module are shared same low-power consumption master cpu; Described movement position control module is used for realizing movement position control, namely is used for realizing Position Control;
Described the first communication protocol module comprises the IEC61800-7 communication protocol module; And/or described the second communication protocol module comprises the CANOpen communication protocol module.
8. Fieldbus Based PAC industrial robot control system according to claim 1, it is characterized in that, described man-machine interaction unit comprises that industrial computer, notebook, palm PC and other have any one in the portable terminal of Industrial PC Computer function.
9. Fieldbus Based PAC industrial robot control system according to claim 5 is characterized in that described operation push-button comprises keyboard; And/or described display module comprises LCDs and/or touch-screen.
10. Fieldbus Based PAC industrial robot control system according to claim 1 is characterized in that, this system can the applicable industry robot and/or comprises the automation control appliance of industrial robot.
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