Application of LB servo motor and G-B servo driver in four axis welding manipulator

Application of LB servo motor and G-B servo driver in four axis welding manipulator

1.System Description

Manipulator is a kind of automatic equipment. The arm is the basic part of the robot manipulator, which can rotation and reciprocating motion. It is mainly used in machining, casting and forging, heat treatment and spot welding. The welding manipulator is mainly used for spot welding. A fixed welding gun is installed at the end of the welding manipulator, which can realize the function of automatic welding.The servo system of welding manipulator is mainly used to control the machine wall. The control system gives a series of pulses to the servo motor through the servo driver. Each pulse signal makes the stepping motor shaft produce a certain angular displacement, so as to accurately control the movement of the joint shaft of the mechanical arm.

2. Servo requirements of welding manipulator

The system is composed of four sets of servo drivers and servo motors. The X-axis and R-axis are equipped with reducers to reduce the output speed and increase the output torque. The X-axis, Y-axis, Z-axis and R-axis are all used for positioning control to precisely control the welding position of welding gun. See Fig. 1

3. Introduction to industry matching performance

The host computer is connected with the control end of the servo driver. The control mode is pulse + direction in the position mode. The host computer sends the position command to the servo driver. The servo driver drives the motor to rotate a certain angular displacement according to the given command signal, so as to realize the precise positioning of the position of the welding gun. The control terminal wiring is defined as follows:

4.Application and debugging of LB servo motor and G-B servo driver in four axis welding manipulator

1、Servo drive and motor configuration

2、Related parameter settings

⑴Electronic gear ratio setting

Reciprocal of ratio of target value to actual value

⑵Velocity loop proportional gain

When the gain value is increased, the speed responsiveness can be improved, so that the driver can drive the motor as timely and accurately as possible according to the command. However, if the setting is too large, it is easy to generate vibration and noise. Therefore, the appropriate value should be selected according to the actual situation

⑶Integral time constant of velocity loop

When this parameter is reduced, the speed responsiveness can be improved and the speed control error can be reduced.