GB/T 39134-2020 in English
VALIDIndustrial robot numerical control system of machine tool—Programming language
- Issued on:2020-10-11
- Implemented on:2021-05-01
- File Format:PDF
- Delivery:Via email within 5 business days
$359.00
| Standard No: | GB/T 39134-2020 |
| Document status: | VALID |
| Title in English: | Industrial robot numerical control system of machine tool—Programming language |
| Title in Chinese: | 机床工业机器人数控系统 编程语言 |
| Language: | English |
| File Format: | Electronic (PDF) |
| Delivery: | Via email within 5 business days |
| Issued on: | 2020-10-11 |
| Implemented on: | 2021-05-01 |
| ICS Classification: | 25.040.20-Numerically controlled machines |
| Chinese Classification: | J50-Machine tool in general |
| Professional Classification: | GB-National Standard |
| Related Topics: | robot
Industrial robot programming CNC system CNC Industrial Robot Standard Programming language robot version "Machine Tool Industry" robot+ system programming GBT39134 GB/T 39134-2020 Industrial Robots (Performance Parameters) CNC machine tool industry Robot system industry Industrial computer industry CNC macro programming software Robot standards |
《GB/T 39134-2020机床工业机器人数控系统 编程语言》由TC367（全国机床数控系统标准化技术委员会）归口，主管部门为中国机械工业联合会。
Introduction
Technical background and evolution of the standard
With the development of intelligent manufacturing, the demand for collaborative operation between industrial robots and CNC machine tools has increased sharply. This standard establishes a unified programming language system for machine tool industrial robots for the first time. Compared with GB/T29824-2013, it adds 6 new instructions such as force control instructions and collaborative control instructions, bringing the total number of instructions to 82.
Core Instruction Function Comparison
| Instruction Type | Typical Instruction | Functional Difference | Application Scenarios |
|---|---|---|---|
| Motion Instructions | J/L/C | Joint/Linear/Circular Interpolation | Trajectory Planning |
| Force Control Instructions | FORCEMODE | Impedance/Force Tracking Mode | Polishing/Assembly |
| Coordinate System Instructions | UT/UF | Tool/Workpiece Coordinate System Switching | Multi-station operation |
Key technological innovations
1. Compound motion instructions
JDO/LDO/CDO instructions realize the synchronization of motion and IO control, such as CDO P1 P2 Vel=1000 DO[128]=ON can trigger the signal at the midpoint of the arc path, which is 40% more efficient than traditional step-by-step programming.
2. Dynamic force control technology
The FORCEPARA instruction realizes the independent setting of the impedance parameters of the six degrees of freedom, such as FORCEPARA Y Stiff=2000 can adjust the Y-axis stiffness coefficient separately.
Implementation suggestions
- Singularity point processing: It is recommended to enable SINGAREA WristON in complex trajectory segments and use WristOFF mode for work points
- Load setting: The handling operation needs to update the GRIPLOAD and MECHUNITLOAD parameters synchronously
- Safety protection: Establish a collaborative work restricted area through the WZBOXDEF instruction
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