1.Equipment introduction:
Our common parallel robots, such as the four axis machine shown in the above figure, can move along the XYZ axis in three-dimensional space and rotate around the z-axis. Its mechanical structure is connected with the reducer through the motor and directly connected to the main boom. The main arm is connected with the auxiliary arm through a limiter. There will be a fourth axis on the fixed platform or moving platform to rotate around the Z axis. When moving, the motor drives the main arm to swing up and down in a certain angle, driving the auxiliary arm to realize the precise positioning of the moving platform.
2.Introduction of application scheme :
In this scheme, Wuhan Hxdwh servo motor and Sigriner Ωm-N1 series multi axis servo driver are combined, and the system adopts EtherCAT bus communication. The driver adopts DC bus power architecture, supports multi drive unit cascade power supply, flexible selection of three-axis and four-axis integration, and is perfectly combined with Hxdwh 23bit absolute value high-precision servo motor to meet different application scenarios.
3.Product configuration
The main configuration of this scheme is shown in the figure as below. The robot control system is connected with Ωm-N1 drive through EtherCAT bus. Under the drive, there are 1, 2, 3 and 4 axes of Delta robot respectively. One button rigid adjustment function can easily and quickly complete the system responsive debugging, and reduce the debugging time of customers. By driving 3 times overload capacity and hardware current loop response, the beat can reach 150 times / min under standard gate test action. The excellent end vibration suppression function can effectively eliminate the end vibration below 100Hz, ensuring fast response and avoiding the impact of terminal jitter on the final grasping effect.
4.Features of the scheme
1. ODM adopts the standard 402 protocol, which can cooperate with the mainstream control systems, including Keba’s robot control system.
2. Ωm-N1 four axis, multi axis control drive perfect matching parallel robot configuration, high synchronization performance.
3. 3. Because of its small size, so it can save the space of electric cabinet for customers; if customers choose bracket installation, it will further compress the installation space to ensure the customized requirements of customers.
4. With the help of dynamic braking function, it can avoid the collision of uncontrolled vehicle due to abnormal command or action.
5. Matching self identification motor can avoid the trouble of customer debugging, only one rigid parameter is needed to meet different response requirements of customers, which greatly shortens the adjustment and setting time.
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Post time: Oct-26-2020