1. Introduction
CNC control system is the abbreviation as digital control system. It is a special computer system that performs part or all of numerical control functions according to the control program stored in the computer memory and is equipped with interface circuit and servo drive device. Through the use of digital instructions composed of numbers, words and symbols to realize the action control of one or more mechanical equipment, it usually controls the position, angle, speed and other mechanical and switching values
2.Technical requirement
Because of the precise positioning of picking and stacking artifact, under the manipulator control, in addition to the control of the vertical arm, it also involves the servo control of the horizontal arm and the waist rotation of the manipulator. In the process of transportation, it is required that the servo positioning operation should be smooth and steady. The operation speed of the servo will determine whether the working efficiency of the manipulator can meet the application requirements of customers. When positioning at high speed, the servo motor should not overshoot, which will cause vibration and long setting time.
3. System building
The system is composed of five sets of servo drivers and servo motors (the manipulator transmission system adopts belt transmission, and the rigidity is relatively small). It is responsible for the loading and unloading of the machine tool. Axes 1, 2, 3 and 4 control the movement of X-axis and Y-axis. Axis 5 controls the movement of Z-axis horizontal tray. The control mode adopts the new generation M2 bus system with IK series drivers. The default M2 communication mode of IK series servo driver is Yaskawa mode.
The host computer is connected with the control end of the servo driver, and the control mode is pulse + direction in the position mode. The driver and related operation base plate are fixed in the electric cabinet, and the servo driver receives the pulse command from the upper computer to drive the motor to drive the head to complete the corresponding action.
4.Application debugging of LMDD absolute servo motor and IK bus servo driver in CNC system
1、Related parameter settings
| Adaptive drive and motor | iKAS202B drive, 110ST-M0642030LM1DD | |
| Parameter setting | X Axis parameters
PA001=2 PA509=9900 PA606=1 PA100=1200 PA101=1500 PA102=800 PA401=8 PA409=492 PA410=50 |
Y Axis parameters
PA001=2 PA509=9900 PA606=1 PA100=1200 PA101=1500 PA102=800
|
2、 Operation effect
The figure below is the actual operation diagram of the CNC machine tool, and it is required to draw a circle.
Post time: Mar-04-2020