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:
XYR xis Definition | DB44 serial number of servo | Definition | Remark |
PULSE+ | 32 | P+ | |
PULSE- | 33 | P- | |
DIR+ | 34 | S+ | |
DIR- | 35 | S- | |
Alert+ | 26 | DO2+ | |
Alert- | 27 | DO2- |
Z axis Definition | DB44 serial number of servo | Definition | Remark |
PULSE+ | 32 | P+ | |
PULSE- | 33 | P- | |
DIR+ | 34 | S+ | |
DIR- | 35 | S- | |
Alert+ | 26 | DO2+ | |
Alert- | 27 | DO2- | |
Brake+ | 30 | DO4+ | |
Brake- | 31 | DO4- |
4.Application and debugging of LB servo motor and G-B servo driver in four axis welding manipulator
1、Servo drive and motor configuration
Product model | G-B series servo driver | |||
Software version number | 1.18 | |||
Adaptive motor | X Axis
GA3210B 80ST-M03330LF1B
|
Y Axis
GA3207B 60ST-M01930LFB |
Z Axis
GA3215B 110ST-M05030LFB |
R Axis
GA3207B 60ST-M00630LFB |
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.
Post time: Mar-04-2020