机器人网络故障排查及解决办法机器人出现网络故障主要原因有：1．网线接头松动2．切换盘信号针坏3．带切换盘机器人突然断电以后，系统没有自动连接抓手或焊枪上的模块4．MULTIBUS网线中的网络线或电源线在接头里断开5．模块损坏解决方法：1．紧固网线接头2．放下抓手或焊枪检查换枪盘信号针是否有弹不起来的状况或生锈的状况。
在信号针比较脏的情况下用电子原件清洗剂清洁3．走机器人程序profi_module(*,on)尝试连接模块4．将网络接头拆开检查是否有连接线断开的情况发生，用万用表测量网线是否有开路。
5．在不拆下原有模块的情况下，用一个新I/O模块测试网络是否正常预防性措施：1．用电子清洗液清洁换枪盘的信号针，每半月一次2．因现场的机器人网线从模块到焊枪盘与从换枪盘到模块不一样，一种是镜像的，一种不是，因此做好4根不同规格长度的网线备用。
机器人网线接线图正常的：镜像的（工具侧换枪盘到模块）：公头（黑色）母头（白色）公头（黑色）母头（白色）1------------------------1 1----------------------112------------------------2 2----------------------103------------------------3 3-----------------------94------------------------4 4-----------------------85------------------------5 5-----------------------76------------------------6 6-----------------------67------------------------7 7-----------------------58------------------------8 8-----------------------49------------------------9 9-----------------------310----------------------10 10----------------------211----------------------11 11-----------------------112----------------------12 12----------------------1213----------------------13 13----------------------1614----------------------14 14----------------------1515----------------------15 15----------------------1416----------------------16 16----------------------1317----------------------17 17----------------------17备注：地板线50L1机器人抓手和地板线30R2抓手换枪盘到模块的接线为正常用的网线，因这两个地方的工具侧换枪盘内部接线未镜像。
•Robust PROFIBUS-DP station • 6 x 2 inputs and 2 x 2 outputsApplications•For robot applications•For connection of twelve 2/3 pnp wire sensors or mechanical contacts •For connection of four actuators,2 A max. each Special features•Common short-circuit monitoring of pnp inputs•Glass fibre reinforced plastic housings with encapsulated electronics and nickel-plated brass connectors meet protection degree IP67•Transmission rate up to 12 Mbps •Intelligent bus terminatorFLDP-IOM124-0001Wiring diagramThe FLDP-IOM124-0001 busstop ® station provides a direct connection to PROFIBUS-DP. Up to twelve 2-/3-wire pnp sensors and up to four actuators with an output current of 2 A each may be connected to the station.The inputs feature common short-circuit monitoring. The signal status of the inputs/outputs is indicated by green LEDs. The ON-LINE/OFF-LINE status of the station is signalled by a green/red LED.The robust station is epoxy-encapsulated and equipped throughout with metal connectors.Connection to PROFIBUS-DP is accomplished with 17-pole round connectors.The station supports transmission rates of up to 12 Mbps and adjusts automatically to the communication rate determined by the master station. The address of the station is set via two rotary switches located under a protective cover. It can be set from 0 to 99.Power is also fed via a 17-pole connector. A green Power LED indicates that the station is powered, while a red Power LED indicates that the load voltage is missing. If the load voltage falls below the minimum value of 18 VDC, the Power LED turns red.The robot module can be connected to the earth potential via the external earthing screw.The earth (PE) is capacitively coupled with the shield of the bus cable.The GDS file can be downloaded from the internet under .Input/output module FLDP-IOM124-00016 x 2 inputs/2 x 2 outputs, 24 VDCType FLDP-IOM124-0001Ident-no.6825347Operating/load voltage 18...30 VDCInternal current consumption < 200 mA (from operating voltage)Adjustments Address0...99 (decimal) via 2 rotary switches located under protective coverdiagnosis function …U L ”disabling of the diagnosis function via U LIn this example address 15 is setdiagnosis function …U L ”Input circuits (12) pnp 3-wire sensors/2-wire sensors Input voltage 18...30 VDC (from operating voltage)Input currenttotal input current ≤ 500 mA,short-circuit protection Switching threshold OFF / ON 2 mA / 4 mA Input time delay2.5 ms Switching frequency < 250 Hz Isolationto busOutput circuits (4) DC actuatorsOutput voltage 18...30 VDC (from load voltage)Output current2 A per output, short-circuit protection Switching frequency < 250 Hz Isolationto busLED indications Busgreen/red: normal operation/no communicationVoltage supply green/red: normal operat./load voltage missing I/O status(12) green: input ON / (4) green: output ON Common short-circuit indication (LED SC)red: short-circuit at one inputConnectionOperating and load voltage 17-pole round connector Bus line17-pole round connector Inputs/outputs M12 x 1 connectorBus terminatorautomatic activation of the internal bus terminator if pin 15 and pin 16 of 17-pole female connector are not shortedMaterial PA6-G F30; nickel-plated brass connectors Mountingvia 4 through-holes, Ø 5.3 mm Protection degree (IEC 60529/EN 60529)IP67 (NEMA 1, 3, 4, 12, 13)Shock and vibration test according to EN 60068-2-6/2-27Temperature range 0 °C up to +55 °C (32 °F up to +131 °F)01234567890123456789x10x1OffOnPin configurationD 300454 0303*D 300454ßß0303*Subject to change without notice • Edition 03.03 • © Hans Turck GmbH & Co.KG 2003Hans T urck GmbH & Co.KG • D–45466 Mülheim/Ruhr • T el. 0208/4952-0 • Fax 0208/4952-264 • E-Mail: turckmh@mail.turck-globe.de • 。