Based on the analysis of the working principle of the manipulator, this article introduces the application of Zhishan K1/K5/KF 4-axis series servo system on the manipulator
1. Abstract
Based on the analysis of the working principle
of the manipulator, this article introduces the application of Zhishan K1/K5/KF
4-axis series servo system on the manipulator
2. Composition of manipulator equipment
The manipulator equipment system is composed
of PLC, human-machine interface, servo system, and so on. The man-machine
interface uses a touch screen, which is convenient for the operator to set
parameters and monitor the running status of the entire equipment, and is
responsible for man-machine dialogue and communication. As the carrier of the
core program, PLC is responsible for the control of the transmission of the
pulse signal and the processing of various feedback signals to control the
operation and coordination of the implementing agencies. The servo system is
composed of a drive, servo motor, and code wheel feedback signal. As the main
motion mechanism, the main task is to complete the restraint of positioning
accuracy, strictly implement the pulse command restraint from the PLC, and at
the same time, ensure the stability of personal movement under repeated
activation Performance and quick response, the servo performance directly
reflects the performance and quality of the whole equipment.
The outline drawing of the manipulator is
shown in the figure:
3. Introduction to the principle of the
manipulator
The working principle of the manipulator is
driven by the servo motor. Because the servo motor can calculate the detailed
number of rotations, the distance of the movement can be calculated. The axis
commonly used in the manipulator is calculated by the rotation part, and the
rotation part is calculated. An axis. Inside the control cabinet of the
manipulator are the servo module and the calculation board, which are used to
control the movement of the servo motor and calculate the relative position.
The servo driver receives the PLC pulse
command to drive the motor head for positioning movement. During the
positioning operation, the operation should be uniform. The running speed of
the servo will determine whether the working efficiency of the manipulator can
meet the customer's application requirements. The servo motor cannot overshoot,
oscillate, and set for too long during high-speed positioning.
4. Commissioning considerations
To
ensure the reliable, stable, and correct operation of the servo drive, the
following parameters should be noted during the installation, commissioning and
use of the servo system:
1)
Correct wiring: The encoder cable and motor power cable are standard in the
mountain servo, but the signal cable between the servo drive and the controller
must be correctly connected during wiring, otherwise the servo will not operate
normally;
2) The
servo is correctly set in Control mode: Since each machine's application is
different, the correct setting of the servo control mode is the prerequisite
for ensuring the correct operation of the servo;
3)
According to the actual operation effect, the gain parameters are correctly
matched, and the mountain servo should not be enabled when the servo is
enabled. Set the parameters of the electronic position ring and gear ratio when
the motor is running or the motor is running.
4) Make
sure that the motor is well-grounded, and the drive is connected to the
equipment chassis to avoid interference and avoid leakage.
5) The
signal wire should be a shielded twisted pair as much as possible. The
shielding layer is generally connected to the terminal housing;
6) Pay
attention to the interference problem and avoid the interference of the encoder
signal and the control signal. The encoder wire and signal wire should not be
bundled with the motor wire and power wire. Together or through a wire slot,
try to keep a certain distance.
5. Conclusions
This
manipulator fully combines the advantages of Zhishan K1/K5/KF 4-axis series servos
with fast response, accurate positioning, short settling time, and stable
operation. Maximize customer satisfaction. This equipment fully demonstrates
the advantages of Zhishan servo to customers, and also improves the
competitiveness of robotic equipment in the market.
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