8.8 Nyias ntu txheej txheem
1 Npaj cov khoom muaj feem xyuam thiab txuas cov xov hlau
1.1 Npaj cov khoom muaj feem xyuam *Cov hauv qab no yog rau kev siv xwb. Cov neeg siv khoom yuav tsum tau npaj cov khoom siv raws li qhov xav tau tiag tiag
2 Software qhib thiab thauj cov kauj ruam
2.1 Software qhib thiab thauj cov kauj ruam Hwj chim ntawm tus neeg hlau tswj system, nkag mus rau cov neeg hlau tswj system, qhib thiab thauj cov software raws li hauv qab no:
① Nkag mus (Nco tseg: Qhib nplooj nkag nkag)
② Tus neeg siv (Cov Lus Cim: Xaiv "Tsev Neeg Siv Khoom" hauv Tus Neeg Siv)
③ Lo lus zais (Nco tseg: nkag mus rau "brtbrt" hauv lub thawv lo lus zais)
④ Nkag mus rau hauv (Cov Lus Qhia: Nyem "Tau Nkag Nkag")
⑤ Chaw (Nco tseg: Nyem "Settings" thaum lub tshuab neeg hlau nyob hauv hom nres)
⑥ Cov Chaw Tsim Khoom (Nco tseg: Xaiv "Cov Khoom Muag")
⑦ Kev teeb tsa khoom siv tes ua (Cov Lus Cim: Nyem "Tshaj Tawm")
⑧ Technology hom (Cov Lus Cim: Xaiv "ThinSectionProcess" mus rau kauj ruam tom ntej)
⑨ Qee cov cuab yeej siv tau zoo tom qab rov pib dua
3 Kev ua haujlwm lub ntsiab lus thiab cov lus qhia qhia
3.1 Lub ntsiab lus piav qhia ntawm cov txheej txheem nyias nyias
① G1 ~ G4: Txhawb 4 pawg ntawm ntu nyias; 4 pawg tuaj yeem teeb tsa tib lub sijhawm, thiab lawv cov ntsiab lus pib yog ywj siab thiab tsis cuam tshuam rau ib leeg
② Pib Pos: Teem lub ntsiab lus pib los tuav thawj ntu; koj tuaj yeem sim khiav qhov pib tam sim no tom qab teeb tsa
③ X suav: Tus naj npawb ntawm pawg hauv X kev taw qhia, X suav × Y suav=tag nrho cov pawg
④ Y suav: Tus naj npawb ntawm pawg hauv Y kev taw qhia, X suav × Y suav=tag nrho cov pawg
⑤ Plane Sel: Paub meej tias koj yuav tsum tau khiav exp, X, Y lossis Z
⑥ X Qhov Chaw thiab Y Qhov Chaw: Qhov sib nrug deb ntawm X thiab Y cov lus qhia ntawm txhua pawg thiab pawg tom ntej
⑦ EXP Len: Max exp nrug ntawm txhua lub sijhawm
⑧ M. EXP Len: Qhov kev ncua deb ntawm thawj ntu mus rau ntu kawg hauv pawg tam sim no
⑨ Seq X->Y and Y->X: Sau cov kab ke uas koj xav khiav ntau pawg; nyob rau hauv cov ntaub ntawv ntawm 1 pawg, tsis muaj sequence.
⑩ SP Ceev: Qhov pib taw tes nrawm ntawm pawg khiav
⑪ F. EXP Ceev: Qhov ceev kom rov qab mus rau qhov chaw pib ntawm pawg thiab ceev exp
⑫ S. EXP Ceev: Qhov ceev ntawm EXP Len raug tua
⑬ D. Offset: Qhov siab sib txawv ntawm thawj daim thiab daim kawg
⑭ Output Config: Siv los teeb tsa Y-hom kev tso tawm tam sim no hauv IO board, sib xws rau OFBE teeb tsa
⑮ Input Config: Siv los teeb tsa cov tswv yim dav dav tam sim no hauv IO pawg thawj coj saib, feem ntau siv los nrhiav cov teeb liab.
⑯ OFBE: Tom qab nws raug zuam, tus neeg hlau khiav mus rau qhov pib taw tes thiab tso tawm cov teeb tsa IO.
⑰ CSEF: Yog tias qhov exp ua tsis tiav, hloov mus rau pawg tom ntej thiab xaiv cov khoom dua. (Cov Lus Cim: Yog tias tsis kos, tom qab exp ua tsis tiav, lub tswb yuav tsis muab, thiab rov exp yuav ua tiav; yog tias exp tseem ua tsis tiav tom qab ncav cuag M. EXP Len, lub tswb yuav raug muab. yuav muab
⑱ Txuag: Tom qab nws tau nyem, ib qho kev ruaj khov yuav raug tsim tawm raws li qhov chaw ua khoom siv tam sim no
3.2 Thin seem txheej txheem hais kom ua thiab txhais lus piav qhia
① Lub dav hlau: 0
Piav: 0, 1, 2 raws li Z, Y, X
Nqe: 0
Explanation: 0 and 1 are X->Y and Y->X raws
X suav: 1 Y suav: 2
Piav: Tag nrho cov pawg=X × Y, uas yog 1 × 2=2 pawg
EXP Len: -3 Piav: Txhua exp tau ua nyob deb ntawm -3mm
M. EXP. LOJ: 3
Kev piav qhia: Qhov max nrug ntawm kev tshawb nrhiav yog 3
Cov zis: 16|00; Tswv yim: 2|0
Piav: Qhov chaw nres nkoj Y 17 yog tso zis Y30: ncua 0S; 3rd X chaw nres nkoj yog input X12: nrhiav ON (0 - ON; 1 - OFF)
Pib Point
Kev piav qhia: Lub ntiaj teb ua haujlwm ntawm qhov pib taw tes ntawm cov txheej txheem nyias nyias
SP Ceev: 50
Kev piav qhia: Qhov feem pua ntawm qhov kev pab cuam kab nrawm ntawm qhov program khiav rov qab mus rau qhov pib
Fast Exp Ceev: 30
Kev piav qhia: Qhov feem pua ntawm qhov kev pab cuam kab nrawm ntawm qhov kev zov me nyuam ua kev tshawb nrhiav ceev
Slow Exp Ceev: 10
Kev piav qhia: Qhov feem pua ntawm qhov kev pab cuam kab nrawm ntawm qhov kev zov me nyuam ua qhov kev tshawb nrhiav qeeb
D. Offset: 0
Kev piav qhia: Qhov siab sib txawv ntawm thawj daim thiab daim kawg yog 0
OB: true
Kev piav qhia: Yog tias zuam, txiav tawm IO thaum khiav txoj kev exp
CSEF: cuav
Kev piav qhia: Yog tias "tsis siv" raug zuam, tom qab exp ua tsis tiav, lub tswb yuav tsis muab, thiab rov exp yuav ua tiav; yog tias exp tseem ua tsis tau tom qab mus txog M. EXP Len, lub tswb yuav raug muab.
ThinGroup -3
Kev piav qhia: Pab pawg thib peb ntawm cov ntu nyias yog siv
② Nres kev nqis tes ua: Pib nrhiav IO: X12ON nres tam sim no
Kev piav qhia: Tom qab ua tiav, yog tias muaj X input teeb liab hauv cov txheej txheem khiav, lub tshuab yuav nres tam sim ntawd thiab dhia mus rau "Xaiv pom"; Txawm li cas los xij, tag nrho cov khoom tso tawm thiab cov chij tseem tshuav yuav ua tau zoo
③ Nres kev nqis tes ua: Xaus nrhiav IO: X12
Kev piav qhia: Ua ke nrog "Pib nrhiav", raws li qhov pom qhov kawg
Lus Cim: Cov khoom tso tawm sab hauv los ntawm cov txheej txheem nyias nyias thiab qhov chaw nyob
4 Siv dej ntws
1. Tom qab tus neeg hlau tau haum nrog qhov kawg sucker jigs, qhib ThinSectionProcess hauv cov ntawv qhia zaub mov bar
2. Teem Pab Pawg 1-4 nyias ntu pib taw tes raws li cov khoom tso rau hauv qhov xwm txheej. Cov piv txwv hauv qab no yog hais txog Pawg 1 Thin Seem: txav qhov kawg sucker jigs ntawm tus neeg hlau saum toj no 1 pawg ntawm ntu, ua kom haum ntawm qhov chaw xaiv, thiab teeb tsa hauv "Start Point"
3. Teem tag nrho cov pawg rau 1, xws li X=1 thiab Y=1
4. Teem "Plane" rau Z (teeb tsa "Plane" raws li qhov tseeb cov khoom tso rau hauv txoj hauj lwm, thiab txhawb qhov chaw ntawm Up thiab Down, sab laug thiab sab xis, pem hauv ntej thiab nraub qaum)
5. Teem "X Space" thiab "Y Space" (qhov nrug deb ntawm cov khoom sib thooj; nyob rau hauv rooj plaub ntawm 1 pawg, teem rau 0)
6. Teem "EXP Len" rau 3 (Qhov chaw siv ntawm no yog raws li qhov tam sim no thickness ntawm cov khoom; tus nqi yog ntau tshaj 1 los yog ntau lub sij hawm ntawm lub thickness; tsuav yog nws muaj kev ruaj ntseg, tsis txhob exp tsis ua hauj lwm vim luv luv. los yog extrusion vim ntev dhau lawm; qhov no yuav tsum tau teem raws li qhov tseeb daim ntawv thov
7. Teem "M. EXP Len" rau 10 (me ntsis siab dua qhov siab tag nrho los ntawm thawj ntu mus rau qhov kawg nyias)
8. Set "Seq" to X->Y (sau nyob rau hauv cov kab ke uas koj xav khiav ntau pawg; nyob rau hauv rooj plaub ntawm 1 pawg, tsis muaj ib ntus).
12.Teem "SP Ceev" rau 50 (sau raws li qhov xwm txheej tiag tiag)
13.Set "F. EXP Ceev" rau 30 (sau raws li qhov xwm txheej tiag tiag)
14.Set "S. EXP Ceev" (sau raws li qhov xwm txheej tiag tiag)
12. Teem D. Offset rau 0 (nyob rau hauv rooj plaub ntawm 1 pawg, tsuav yog muaj qhov siab sib txawv, nws kuj tuaj yeem sau rau hauv)
13. Tso zis Config: Sau hauv Y30; tus neeg siv tuaj yeem kho qhov teeb tsa raws li qhov xwm txheej tiag tiag
16.Input Config: Sau hauv X12; tus neeg siv tuaj yeem kho qhov teeb tsa raws li qhov xwm txheej tiag tiag
17.Tick "OFBE"
17, Yog tias "CSEF" tsis raug zuam, tus neeg siv tuaj yeem kho qhov teeb tsa raws li qhov xwm txheej tiag tiag 17. Tom qab nyem "Txuag", inert tshiab module raws li cov txheej txheem kev tsim khoom.
19.Qhov kev pab cuam tsim tiav, thiab cov module tau txais kev nkag mus
19. Ntxig lub generated module nyob rau hauv lub ntsiab kev pab cuam rau ib txwm siv.
5 Kev qhia piv txwv pwm program
Qhov piv txwv yog qhia cov txheej txheem nyias nyias ntawm pawg 1 khoom
Zaub ntawm cov kab kev pab cuam hauv Generate Program module
8.9 Nqe lus piav qhia ntawm 380V ntxiv axis rau tsav thiab tswj kev sib xyaw ua ke
* Kev Tiv Thaiv Kev Nyab Xeeb ★ Tsis txhob kov lub davhlau ya nyob twg li ntawm 15 feeb tom qab lub hwj chim raug txiav; txwv tsis pub, hluav taws xob poob yuav tshwm sim
1 Xaiv cov axis ntxiv
Lub zog tsav tam sim no thiab tswj kev sib xyaw ua ke 380V ntxiv axis modules txhawb cov motors nrog lub zog siab tshaj plaws ntawm 2.9KW ntxiv rau 0.75KW lossis tsawg dua. Xaiv qhov tsim nyog ntxiv axis modules raws li lub zog xav tau
2 Nruab servo module
2.1 Tus neeg hlau rov qab mus rau qhov tsis suav thiab rov qab dab
Txhawm rau kom tsis txhob poob ntawm lub hauv paus chiv keeb lossis cov ntaub ntawv ntawm tus neeg hlau, tus neeg hlau yuav tsum rov qab mus rau lub hauv paus chiv keeb thiab rov qab mus rau dab ua ntej tshem cov module.
2.2 Txav I / O module
Tom qab txiav tawm lub hwj chim thiab sawv ntau tshaj 15 feeb, tshem tawm cov axis kaw daim hlau ntxiv, tshem tawm I / O module, txav mus rau hauv lub luag haujlwm hnyav xaim kev taw qhia mus rau qhov tshwj xeeb ntawm I / O module, txhim kho I / O module nrog xauv cov ntsia hlau ( Tsis txhob rub lub network xaim lossis I / O module fais fab hlau thaum txav mus, Ua ntej tshem cov hlau tsis muaj hau npog thiab tshem tawm cov hlau).
2.3 Nruab ntxiv axis modules
Ntxig qhov npaj ntxiv axis modules ntawm Axis3 / Axis4 thiab I / O module, thiab nruab ntxiv axis nres relays (DC24V).
2.4 Txuas lub zog, kev sib txuas lus thiab nres xov hlau ntawm cov modules
2.4.1 Fais fab hlau interface ntawm modules
2.4.2 Kev sib txuas lus / nres hlau interface
STO thiab COM yuav tsum tau luv luv-circuited los ntawm luv luv txuas hlau; DO1 ntxiv ~ D04 ntxiv yuav tsum tau txuas nrog lub hwj chim 0V, thiab nyob rau tib lub module li nres relay lossis dynamic nres; Qhov kev sib txuas ntawm cov xov hlau yuav tsum raug (I / O module → Axis7 / Axis8 IN, J7 / Axis8 OUT → Axis3 / Axis4 IN, Axis3 / Axis4 OUT → Axis2 / Axis5 IN, Axis2 / Axis5 OUT → Axis1 / Axi).
3 Ntxiv axis txuas
3.1 Encoder/power wire bonding txhais
3.2 Encoder / fais fab hlau interface Axis8 encoder interface Axis8 encoder interface Axis7 encoder interfaceAxis7 encoder
4 Ntxiv axis teeb tsa Kev tso cai nkag mus → Chaw → Cov khoom lag luam → khoom siv tes ua → teeb "Axis Num" rau 8 → fais fab tuag thiab rov pib tsav tsheb thiab tswj lub thawv hluav taws xob sib xyaw
5 Kev teeb tsa lub cev muaj zog
5.1 Axis7 lub cev muaj zog parameter teeb tsa
5.2 Kev teeb tsa lub cev muaj zog
5.3 Axis8 lub cev muaj zog parameter teeb tsa
Xa mus rau Axis7 lub cev muaj zog thiab sau rau hauv daim ntawv qhia chaw nyob raws li qhov tseeb.
6 ResetSII Tom qab teeb tsa lub cev muaj zog, tig tus yuam sij rau qhov chaw nres tsheb → nyem "Hais txog" (cov lus kuaj mob) nyob rau hauv qab sab xis ntawm lub cev muaj zog demonstrator screen → nyem "ResetSII" → Tos li 2 feeb rau lub Hoobkas pib dua thiab tom qab ntawd lub zog tawm thiab rov pib dua.
Daim ntawv ntxiv: Servo Settings Reference
Cov hauv qab no yog cov chaw servo ntawm BRTIRUS2550A nrog ntxiv J7 & J8 (Rau kev siv xwb. Kev txo qis, nce thiab lwm yam tsis tas yuav tsum tau kho raws li qhov tseeb ntawm qhov chaw).
