The application of LDD series servo motor and IK series driver in the manipulator

The application of LDD series servo motor and IK series driver in the manipulator

1.System Description

Manipulator can grasp and place objects in space, with flexible and diverse actions. It is suitable for medium and small batch automatic production of changeable production varieties and widely used in flexible automatic line. It can sort and carry the artifact according to the preset procedure. It can partially replace the manual work in the high temperature and dangerous operation area for monotonous and lasting operation, and can change the relevant control parameters at any time according to the changes of conditions and requirements. Due to the positioning accuracy requirements of taking and stacking artifact, in 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.

2.Servo requirements of the manipulator

The system is composed of five sets of servo drivers and servo motors (the manipulator transmission system adopts belt transmission, with relatively small rigidity). It is responsible for the loading and unloading of the machine tool. The 1,2,3,4 axes control the movement in X and Y directions, and the 5 axis control 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 is Yaskawa mode, as shown in the below:

3.Introduction to industry matching performance

The host computer is connected with the control terminal 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 host computer to drive the motor to drive the head to complete the corresponding action.

1、 Servo drive and motor configuration

2、Related parameter settings

⑴Velocity 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.

⑵Position loop gain

Increase the gain of the position loop to accelerate the system response. Reduce positioning error and shorten positioning time. However, mechanical vibration and system position overshoot may be caused by excessive vibration.

⑶Velocity loop integral time constant

When this parameter is reduced, the speed responsiveness can be improved and the speed control error can be reduced. But if the setting is too small, it is easy to produce vibration and noise.