8.5 Vuam txheej txheem
1 Kev npaj
Ua ntej siv cov txheej txheem welding, npaj cov khoom muaj feem xyuam thiab raug txuas rau hauv Circuit Court
1.1 Npaj RS485 kev sib txuas lus analog module, analog welder thiab nws cov cuab yeej ua tiav 1.2 Npaj cov welder thiab nws cov khoom tiav Cov Lus Cim: Tam sim no tsuas yog txhawb nqa RS485 kev sib txuas lus analog module [Thov xa mus rau qhov txuas rub tawm ntawm RS485 kev sib txuas lus analog module: https://item.taobao .com/item.htm?spm=a1z10 5-cw4002-154739616.26.Y0mH4t&id=534582865102 】
2 Cov khoom sib txuas
Xa mus rau phau ntawv qhia chaw nres nkoj sib txuas rau kev sib txuas
2.1 Robot system analog IO txhais thiab RS485 kev sib txuas lus analog module thiab analog welder txuas
Hluav taws xob lub thawv ntawm neeg hlau 485 analog module Welder kawg DB15 davhlau ya nyob twg tus pin
Kev sib txuas daim duab ntawm 485 analog module thiab Megmeet Ehave CM350 teeb tsa rau HUACHENG tsav thiab tswj kev tswj hwm kev sib koom ua ke
Lus Cim: Cov tswv yim terminals X{{0}}X47 ntawm HUACHENG tsav thiab tswj kev tswj hwm kev sib txuas yog txuas nrog cov ncej tsis zoo ntawm 24V fais fab mov (0V) kom ua tau zoo, thiab lawv cov yam ntxwv hluav taws xob yog conductive optocoupler. Output terminals Y10-Y47 txuas nrog 24V fais fab mov los ntawm kev thauj khoom (kev tiv thaiv tam sim no: 500mA, tiv taus hluav taws xob: 65V, hluav taws xob yam ntxwv: MOS raj ON cov zis tawm).
DB15 davhlau ya nyob twg tus pin sib lawv liag xim txhais
Megmeet analog welder Ehave CM350 (DB15 interface)
Lus Cim 2: Cov khoom siv vuam siv hluav taws xob 24V, thiab tsis txuas nrog vim tias cov neeg hlau muaj 24V fais fab tuag. Ib qho 120ohm resistor raug pom zoo rau kev sib txuas ntawm qhov siab thiab qis ntawm qhov chaw nres nkoj digital, txhawm rau txhim kho kev cuam tshuam kev cuam tshuam hauv kev sib txuas lus. Lus Cim 3: Yog tias Outsidi thiab Insidi xaiv tau rau qhov chaw nres nkoj sib txuas lus, thov siv "Outsidi" chaw nres nkoj rau kev txuas mus rau cov neeg hlau.
Lus Cim 4: Ib qho kawg ntawm kev sib txuas ntawm cov neeg hlau yog R45 tus qauv sau npe jack uas yuav tsum tau siv cov hlua khi hlua khi, thiab lwm qhov kawg yog 5Pin aviation plug uas txuas cov vuam kawg.
3 Vuam txheej txheem teeb tsa cov kauj ruam
3.1 Teem cov kauj ruam rau kev sib txuas ntawm qhov system thiab analog welder
(Nco ntsoov: Cov piv txwv saum toj no yog teeb tsa cov kauj ruam rau kev sib txuas ntawm qhov system thiab analog welder)
3.1.1 Parameter lub ntsiab lus
Txhais lus piav qhia:
① RS485 chaw nres nkoj 1 kev xaiv muaj nuj nqi: Cov ntsiab lus sib txuas ntawm cov khoom siv hluav taws xob "CAN1" chaw nres nkoj pins 4, 5, 6 yog raws li 485-1A, 485-1B thiab 485-GND
② RS485 chaw nres nkoj 2 kev xaiv muaj nuj nqi: Cov ntsiab lus sib txuas ntawm cov khoom siv hluav taws xob "CAN1" chaw nres nkoj pins 7, 8, 6 yog raws li 485-2A, 485-2B thiab 485-GND
③ Siv: qhia txog kev siv CAN chaw nres nkoj.
④ ID config: Thaum siv cov welder analog, qhov ntsuas no tsis tas yuav tsum tau teeb tsa; Thaum siv cov welder digital, qhov ntsuas no yuav tsum tau teem rau 1
⑤ Baud Teeb: Thaum siv cov khoom siv analog, qhov ntsuas no tsis tas yuav tsum tau teeb tsa; Thaum siv Megmeet digital welder, qhov ntsuas no yuav tsum tau teem rau 125kbps
⑥ Chaw tsim tshuaj paus: Thaum siv analog welder, qhov ntsuas no tsis tas yuav tsum tau teeb tsa; Thaum siv cov welder digital, cov chaw tsim khoom lag luam yuav tsum raug xaiv
⑦ Qauv: Thaum siv cov khoom siv analog, qhov ntsuas no tsis tas yuav tsum tau teeb tsa; Thaum siv cov welder digital, cov qauv sib xws yuav tsum raug xaiv
Nco tseg: Raws li cov chaw tsim khoom siv hluav taws xob digital, tam sim no tsuas yog txhawb nqa Megmeet Artsen series
3.1.2 Kev teeb tsa cov kauj ruam Thaum lub pob qhov hloov pauv yog nyob rau hauv Nres hom / xeev, rau qhov chaw teeb tsa, xaiv "Cov Khoom Siv Khoom", xaiv "cov khoom siv tes ua" → xaiv "Cov txheej txheem vuam" → tom qab ntawd mus rau qhov chaw nres nkoj ua haujlwm, thiab xaiv "RS485 Kev teeb tsa" hauv "Kev Sib Txuas Lus Configs" → "RS485 chaw nres nkoj 1 muaj nuj nqi xaiv" yog RS485 analog module → fais fab tuag thiab rov pib dua → qhib khoom siv tes ua → zuam Analog En → qhov chaw ntawm analog welder txuas nrog cov neeg hlau tiav.
3.2 Lub ntsiab lus ntawm cov txheej txheem rau vuam
3.2.1 Vuam txheej txheem - lub ntsiab lus ntawm vuam txheej txheem tsis
Txhais lus piav qhia:
① Analog En: Yog zuam, analog module qhib; Yog tias tsis zuam, analog module raug kaw
② Arc tshawb pom lub sij hawm: Siv los teem sijhawm ntev npaum li cas lub kaw lus yuav ncua sij hawm tshawb pom tom qab arcing.
③ Arc nrhiav pom lub sijhawm: Siv los teeb tsa lub sijhawm rau lub kaw lus tshawb pom lub teeb liab ua tiav, uas tsuas yog tom qab lub kaw lus tsis tu ncua pom cov teeb liab kev vam meej rau lub sijhawm ntsuas no yuav ua tiav qhov kev ua tiav.
④ Arc depletion detection lub sij hawm: Siv los teem lub sij hawm rau lub kaw lus nrhiav lub arc quenching teeb liab, uas tsuas yog tom qab lub kaw lus tsis tu ncua pom lub arc quenching teeb liab rau lub sij hawm parameter no yuav lub arc quenching yog xam tau tias yog kev vam meej.
⑤ Npaj huab cua lub sij hawm: Siv los teem sijhawm ntev npaum li cas yuav tsum tau muab cov cua tiv thaiv thaum lub kaw lus npaj rau kev kos duab pib
⑥ Lub sij hawm xa khoom cua ncua sij hawm: Siv los teem sijhawm ntev npaum li cas cov cua tiv thaiv yuav tsum tau ncua kom muab tua thaum lub kaw lus npaj rau arc quenching.
⑦ Welding interrupt arc detection: Siv los teeb seb puas muaj kev cuam tshuam arc nrhiav pom muaj. Thaum muaj kev ua haujlwm zoo, nyob rau hauv rooj plaub arc cuam tshuam thaum vuam, lub kaw lus yuav nres vuam thiab txuag qhov cuam tshuam arc; thaum rov pib dua lwm zaus, tus neeg hlau yuav rov qab mus rau qhov cuam tshuam ntawm arc rau arc restarting ua ntej khiav
⑧ Tiv thaiv kev sib tsoo: Siv los teeb seb puas muaj kev tiv thaiv kev sib tsoo. Thaum cov haujlwm ua haujlwm tau zoo, yog tias muaj kev sib tsoo sensor tau qhib, lub kaw lus yuav nres vuam, thiab txiav tawm lub zog ntawm servo
⑨ Voltage Setting: Nyem los teeb tsa qhov hluav taws xob sib tw ntawm cov neeg hlau thiab cov khoom siv hluav taws xob analog
⑩ Kev teeb tsa tam sim no: Nyem los teeb tsa tam sim no sib tw ntawm cov neeg hlau thiab cov khoom siv sib txuas
⑪ txuag: Tom qab txhaj "txuag" ntawm nplooj ntawv vuam txheej txheem, cov ntawv sau ua haujlwm yuav siv tau; txwv tsis pub, lawv yuav tsis ua haujlwm
⑫ Rov pib ua haujlwm: Tom qab raug zuam, rov pib ceev thiab rov pib dua ntawm "welding tsis" yuav ua tau zoo
⑬ Arc depletion check lub sij hawm: Siv los teem lub sijhawm rau lub kaw lus pom lub arc quenching teeb liab (X20 OFF), uas tsuas yog tom qab lub kaw lus tsis tu ncua pom lub arc quenching teeb liab rau lub sijhawm ntsuas no yuav ua tiav qhov arc quenching.
⑭ Lub Sijhawm Arc Lim: Yog tias muaj lub teeb liab arcing nyob rau lub sijhawm no, yuav tsis muaj lub tswb; yog tias lub sijhawm nruab nrab ntawm qhov tsis muaj txiaj ntsig thiab muaj txiaj ntsig tsawg dua lub sijhawm no, nws suav tias yog siv tau.
3.2.2 Vuam txheej txheem - vuam txheej txheem tsis - tam sim no/voltage matching chaw
Nco tseg: Cov txiaj ntsig sib piv yuav cuam tshuam ncaj qha rau cov txiaj ntsig vuam tiag tiag, yog li thov ua raws li cov kauj ruam teeb tsa los ua haujlwm.
DA2 voltage txuam qhov chaw: nkag mus rau "Voltage Setting" nplooj ntawv → sau cov voltage yuav tsum tau kuaj ntawm "outputVoltage" (tus nqi no yog analog, uas yog lub voltage outputted rau welder DA2, yuav tsum tau kuaj los ntawm 0V mus txog rau thaum lub welder hluav taws xob saib xyuas vaj huam sib luag nplooj hloov, nrog rau qhov kev hloov pauv ntawm tus nqi no raws li qhov tsawg kawg nkaus; yuav tsum tau sim los ntawm qhov tsawg kawg nkaus kom txog rau thaum lub welder voltage saib xyuas vaj huam sib luag nplooj ntawv tsis hloov, nrog rau qhov kev ntsuam xyuas qhov siab tshaj plaws hloov pauv ntawm tus nqi no yog qhov siab tshaj plaws) → nyem "Test Voltage" thiaj li hais tias cov analog module pib tso zis sib xws voltage rau welder ("Test Voltage" yog siv tau los ntawm ntev xovxwm, thiab nws yuav pib dua tom qab tso tawm) → Sau nyob rau hauv lub siab tshaj plaws 7.950V thiab yam tsawg kawg nkaus 0.500V tau los ntawm Kev ntsuam xyuas feem ntawm qhov nkhaus siab tshaj plaws thiab qis tshaj nkhaus taw tes ntawm "outputVoltage" nyob rau sab laug sab laug, thiab sau cov nqi ntsuas hluav taws xob ntawm lub vaj huam sib luag sib txuas rau cov khoom siv hluav taws xob sib txuas ntawm "Coj voltage" → DA2 voltage analog matching tiav.
Nco tseg: Tom qab kev sib txuam ua tiav, thov kuaj qhov preset "Qhov tseeb voltage", thiab tshuaj xyuas seb tus nqi tso tawm ntawm lub vaj huam sib luag puas ua tau raws li qhov yuav tsum tau siv.
DA1 tam sim no sib piv qhov chaw: nkag mus rau "Tam sim no Setting" nplooj ntawv → sau rau tam sim no yuav tsum tau sim ntawm "outputCurrent" (tus nqi no yog analog, uas yog tam sim no outputted rau welder DA1, yuav tsum tau kuaj los ntawm 0V mus txog rau lub welder tam sim no saib xyuas vaj huam sib luag nplooj hloov, nrog rau cov kev hloov pauv hauv qhov nqi no raws li qhov tsawg kawg nkaus; yuav tsum tau sim los ntawm qhov tsawg kawg nkaus kom txog rau thaum lub welder tam sim no saib xyuas vaj huam sib luag nplooj ntawv tsis hloov, nrog rau qhov kev ntsuam xyuas qhov siab tshaj plaws hloov nyob rau hauv no tus nqi raws li qhov siab tshaj plaws) → nias "Test Tam sim no" yog li ntawd cov analog module pib tso tawm cov khoom siv tam sim no rau welder ("Test Current" siv tau los ntawm kev nias ntev, thiab rov pib dua tom qab tso tawm) → Sau qhov siab tshaj plaws 7.800V thiab yam tsawg kawg nkaus 0.050V tau txais los ntawm kev ntsuam xyuas feem ntawm qhov nkhaus siab tshaj plaws thiab qis tshaj nkhaus taw tes ntawm "outputVoltage" nyob rau sab laug sab laug, thiab sau cov nqi tam sim no ntawm lub vaj huam sib luag welder sib raug rau qhov outputted analogy voltage ntawm "Cim tam sim no" → DA2 voltage analog matching tiav.
Nco tseg: Tom qab kev sib tw tiav, thov kuaj qhov preset "Tam sim no tiag", thiab tshuaj xyuas seb tus nqi tso tawm ntawm lub vaj huam sib luag puas ua tau raws li qhov yuav tsum tau siv.
3.2.3 Vuam txheej txheem - lub ntsiab lus ntawm vuam tsis
Cov analogue tau pom hauv daim duab hauv qab no
Txhais lus piav qhia:
① Para ntaub ntawv tus lej: Siv los khaws cov vuam tsis sib txawv ntawm ntau yam khoom sib txawv, nrog rau ntau yam ntawm 0~9
② Vuam tam sim no: Siv los teeb tsa cov zis tam sim no ntawm lub vuam
③ Vuam voltage: Siv los teeb tsa cov zis hluav taws xob ntawm lub vuam
④ Arc tam sim no: Siv thaum lub arc tsis puv, me dua tus nqi thaum vuam
⑤ Arc Voltage: Siv thaum lub arc tsis puv, me dua tus nqi thaum vuam
⑥ Anti-stick hlau tam sim no: Tsuas yog siv thaum twg cov vuam hlau daig ntawm qhov chaw tua hluav taws; Feem ntau, tus nqi tam sim no yog 0, thaum tus nqi hluav taws xob siab dua me ntsis ntawm tus nqi thaum vuam
⑦ Anti-stick hlau Voltage: Tsuas yog siv thaum twg cov vuam hlau daig ntawm qhov chaw tua hluav taws; Feem ntau, tus nqi voltage yog me ntsis siab dua tus nqi thaum lub sij hawm vuam
⑧ Anti-stick hlau Sijhawm: Siv los teeb tsa lub sijhawm tuav ntawm cov hlau nplaum tiv thaiv hluav taws xob / tam sim no
⑨ Lub sijhawm Arc: Siv los teeb tsa lub sijhawm tuav ntawm arc voltage / tam sim no (yog tias tus nqi no tau teeb tsa loj dhau lawm, nws yuav ua rau ntog ntawm qhov kawg ntawm qhov sib koom ua ke; yog tias tus nqi no tau teeb tsa me me, nws yuav ua rau lub qhov cratering ntawm lub welding. kawg ntawm qhov sib koom ua ke; yog li ntawd, tus nqi no yuav tsum tau teeb tsa raws li qhov xwm txheej tiag.)
⑩ Nqe lus piav qhia: Tus neeg siv tuaj yeem teeb tsa lub npe kev cai rau tus lej cov ntaub ntawv tam sim no
⑪ Arcing tam sim no: Siv los teeb tsa arcing tam sim no rau vuam
⑫ Arcing voltage: Siv los teeb tsa qhov hluav taws xob arcing rau vuam
⑬ Lub Sijhawm Arcing: Siv los teeb tsa lub sijhawm tuav ntawm arcing voltage / tam sim no (yog tias tus nqi no tau teeb tsa ntau dhau lawm, nws yuav ua rau ntog ntawm lub hauv paus chiv keeb ntawm qhov sib koom ua ke.
⑭ Restart Speed: Siv los teeb tsa qhov kev khiav ceev thaum rov pib dua
⑮ Restart Distance: Qhov kev ncua deb ntawm txoj kev rov qab los tom qab tus neeg hlau khiav mus rau qhov chaw vuam arc cuam tshuam
⑯ spare3 (feem pua ntawm ntau tus nqi): nrog rau ntau yam ntawm 1-100
⑰ khi ceev: enabled yog ticked (tom qab enabled, vuam ceev=welding hais kom ceev x feem pua ntawm ntau tus nqi) * Ob tug zais tsis tau ntxiv tso tawm rau cov kev sib txuas lus welder
3.2.4 Vuam txheej txheem - lub ntsiab lus ntawm vuam viav vias tsis
Z-shaped thiab ncig arc-shaped viav vias txhais lus piav qhia:
① Vuam viav vias cov ntaub ntawv tus lej: Siv los khaws cov khoom siv vuam ntawm ntau yam khoom sib txawv, nrog rau ntau yam ntawm 0 ~ 9
② Cov Lus Qhia: Tus neeg siv tuaj yeem teeb tsa lub npe kev cai rau tus lej cov ntaub ntawv tam sim no
③ Vuam viav vias hom: Txhawb Z-puab thiab ncig arc-zoo li vuam viav vias hom
④ Viav zaus (Hz): Tus naj npawb ntawm viav vias ib ob
⑤ Viav amplitude (mm): Qhov deb ntawm lub viav vias unilateral
⑥ Lub sij hawm nyob sab laug (s): Lub sij hawm nyob twj ywm thaum viav vias mus rau lub ncov ntawm sab laug
⑦ Lub sij hawm nyob zoo (s): Lub sij hawm nyob twj ywm thaum viav vias mus rau lub ncov ntawm sab xis
⑧ acceleration thiab deceleration lub sij hawm (s): Siv los npaj lub sij hawm ntawm acceleration thiab deceleration nyob rau hauv lub viav vias kev taw qhia, nrog rau lub hom phiaj ntawm kev txo cov co thaum khiav viav vias, qhov loj qhov ruaj khov, qhov me dua qhov tshee.
⑨ Arc radium (mm): Siv los teeb lub vojvoog nrug ntawm arc viav vias
Sinusoidal viav vias txhais lus piav qhia:
① Vuam viav vias cov ntaub ntawv tus lej: Siv los khaws cov khoom siv vuam ntawm ntau yam khoom sib txawv, nrog rau ntau yam ntawm 0 ~ 9
② Cov Lus Qhia: Tus neeg siv tuaj yeem teeb tsa lub npe kev cai rau tus lej cov ntaub ntawv tam sim no
③ Vuam viav vias hom: Txhawb Z-puab thiab ncig arc-zoo li vuam viav vias hom
④ Viav zaus (Hz): Tus naj npawb ntawm viav vias ib ob
⑤ Viav amplitude (mm): Qhov deb ntawm lub viav vias unilateral
⑥ Lub sij hawm nyob sab laug (s): Lub sij hawm nyob twj ywm thaum viav vias mus rau lub ncov ntawm sab laug
⑦ Lub sij hawm nyob zoo (s): Lub sij hawm nyob twj ywm thaum viav vias mus rau lub ncov ntawm sab xis
⑧ viav vias pib dir: rau pem hauv ntej thiab thim rov qab (yog tias teem rau pem hauv ntej, thawj zaug nce ntawm qhov pib taw tes thiab tom qab ntawd nqes mus rau lub sijhawm viav vias; yog teem rau thim rov qab, tsuas yog qhov rov qab)
⑨ Kab rov tav deflection lub kaum sab xis: nrog cov txheej txheem ntawm 180 ~ -180 (tom qab teeb tsa, txoj kev sib hloov yog offset nyob rau hauv kab rov tav deflection lub kaum sab xis los ntawm qhov chaw viav vias qub)
⑩ Vertical deflection lub kaum sab xis: nrog cov txheej txheem ntawm 180 ~ -180 (tom qab teeb tsa, txoj kev sib hloov yog offset nyob rau hauv lub kaum sab xis deflection los ntawm qhov qub viav vias khiav qhov chaw)
3.2.5 Vuam txheej txheem - lub ntsiab lus ntawm vuam ntses tsis
Txhais lus piav qhia:
① Vuam ntses cov ntaub ntawv tus lej: Siv los khaws ntau qhov kev sib txuas ntawm cov ntses, nrog rau ntau yam ntawm 0~9
② Saib: Lub npe rau tus naj npawb ntawm cov ntaub ntawv tam sim no
③ Vuam Ntses hom: Txhawb lub sijhawm thiab nyob deb hom
④ Vuam lub sij hawm (ms): Vuam ncua sij hawm Remark: Thaum xaiv "Nyob deb" raws li Vuam Ntses hom, thov teem coj mus rau "welding nrug", uas yuav tsum tau khiav deb rau executing vuam.
⑤ Welding Space (mm): Siv los teeb qhov chaw vuam
3.3 Digital welder chaw piav qhia
Robot Communication Configs yog raws li nram no:
Megmeet Artsen series digital welder kev sib txuas lus configs yog raws li nram no:
Lus Cim: Rau cov ncauj lus kom ntxaws thiab lub ntsiab lus, thov mus saib cov lus qhia tshwj xeeb ntawm Megmeet.
Tom qab cov kev ntsuas saum toj no tau teeb tsa, tus neeg hlau tuaj yeem tsim kev sib txuas lus nrog tus welder.
Rau kev teeb tsa "Welding Params" hauv "WeldingProcess", thov mus saib 3.2.3 WeldingProcess - Vuam Params Lub ntsiab lus. Tom qab teeb tsa, lawv tuaj yeem siv tau. "(Preset) Hom tam sim no" thiab welder "Unitary/Different" ntxiv rau "Vuam Params", raws li hauv qab no:
① (Preset) Hom tam sim no: Tom qab xaiv tam sim no _Hom, tus neeg hlau yuav ncaj qha xa cov ntaub ntawv tam sim no mus rau lub vuam. Preset tam sim no hom yog feem ntau xaiv los ntawm lub neej ntawd.
② Unitary/Different: Unitary/Different hom yog xaiv rau kev hloov tam sim no/voltage hom ntawm preset welder. Kev piav qhia hom kev piav qhia: Thaum lub sijhawm hloov pauv, tsuas yog yuav tsum tau hloov kho tam sim no, thiab qhov hluav taws xob yuav tau txais kev sib raug zoo nrog lub vuam sib txawv hom lus piav qhia: Thaum lub sijhawm hloov kho, vuam tam sim no / qhov hluav taws xob raug kho nyias.
③ spare1 (xaim pub ceev): Qhov ntsuas no tau tseg thiab tsis ua haujlwm ib ntus.
3.4 Action menu - Vuam txheej txheem hais kom ua lub ntsiab lus
Txhais lus piav qhia:
① Txheej txheem (kev txiav txim): Qhov kev xaiv tau yog qhov kev txiav txim siab, vuam viav vias thiab vuam ntses. Thov xaiv raws li hom vuam xav tau.
② Vuam ceev (mm / s): Siv los teeb tsa txoj kev ceev ntawm qhov pib vuam thiab qhov kawg ntawm vuam, ua qhov ceev ceev uas qhov ntsuas no raug tua thaum khiav. Nws tsis cuam tshuam los ntawm tus lej xov tooj thoob ntiaj teb ceev, thiab cov kev pab cuam hais kom ua kab feem pua kev hloov kho ceev.
③ Cov ntaub ntawv xov tooj tam sim no: Tso cov ntawv annotation nyob rau hauv tus lej txheej txheem cov ntaub ntawv.
④ fileNumber: Cov ntaub ntawv xaiv tus lej raws li cov txheej txheem kev txiav txim
⑤ Pib vuam - nres vuam: Vuam hom nyob rau hauv cov txheej txheem hais kom ua, hloov kuj raws li cov txheej txheem hais kom hloov, nrog rau nruab nrab ib feem ntawm qhov pib vuam thiab nres vuam raws li qhov chaw rau kev ua welding logic.
⑥ Shortcut bar qhov rais - vuam sim khiav xaiv: yog zuam, vuam enabled yog zoo; Yog tias tsis zuam, welding enabled yog siv tsis tau
⑦ Shortcut bar qhov rai - pib dua arc tawg taw tes: Tom qab lub restart muaj nuj nqi yog enabled, nws yuav khaws ib tug taw tes thaum arc tawg nyob rau hauv vuam thiab tig ntsuab; Tom qab phau ntawv nias, txoj haujlwm tuaj yeem raug tshem tawm, nthuav dav hauv Restart Function Instruction.
⑧ Shortcut bar qhov rai - Phau Ntawv Xov Tooj Pub - Los ntawm txhais tes retraction - Los ntawm txhais tes Gas: Nruam xaim noj thiab retracting los ntawm ntev nias ntawm phau ntawv xov tooj pub thiab phau ntawv retraction, inching hlau pub los ntawm inching Phau Ntawv Wire Feed thiab phau ntawv retraction; Los ntawm txhais tes Gas yog tshwm sim los ntawm nias, thiab raug kaw los ntawm kev tso tawm
⑨ Vuam sim khiav lub xeev icon: daj rau vuam sim khiav tsis zuam thiab vuam siv tau, xiav rau vuam sim khiav zuam thiab vuam tsis zoo.
4 Lwm qhov chaw 4.1 Six-point calibration
Txhawm rau ua kom cov neeg hlau ua kom raug kev sib cuam tshuam, sib cuam tshuam thiab lwm yam kev cuam tshuam, nws yuav tsum nkag mus rau cov ntaub ntawv loj ntawm lub cuab yeej kom raug thiab txheeb xyuas qhov chaw tswj xyuas. 6-cov cuab yeej taw tes txoj kev sib koom tes yog tsim los ntawm kev teeb tsa rau 6 pawg ntawm cov ntaub ntawv sib txawv ntawm cov neeg hlau thiab (lub kaw lus) cia li suav tus lej xov tooj tswj txoj haujlwm. Cov kev khiav hauj lwm tshwj xeeb yog raws li hauv qab no: (1) Ntawm tus qauv qhia phau ntawv hom nplooj ntawv, xaiv "Tools Calibra" → nyem "newBtn", xaiv "Tool Type Sel" Six Point, sau "toolName", thiab nyem "OK". Tom qab ntawd, tus lej tshiab cov cuab yeej dawb raug tsim tiav.
(6) * [Ua ntej lub log taw tes ua haujlwm, nws yog ib qho tsim nyog yuav tsum tau txiav txim siab 1 lub ntsiab lus tswj, uas yog lub ntsiab lus ntse, ntawm cov cuab yeej kawg tam sim no ntawm tus neeg hlau, thiab npaj lub calibration lever nrog ib tug ntse taw tes, uas yog stably. muab tso rau pem hauv ntej ntawm tus neeg hlau. Tus neeg hlau kawg vuam phom yog coj los ua piv txwv li hauv qab no]
(7) Tom qab ncav cuag cov ntsiab lus ib los ntawm ib qho hauv hom kev txiav txim kom raug, nyem lub pob "Log Point" txhawm rau teev cov haujlwm ntawm cov ntsiab lus P0, P1, P2 thiab cov ntsiab lus tuav A, B, C . Cov kev xav tau rau P0, P1, P2: Lawv yog peb lub ntsiab lus nrog qhov sib txawv ntawm qhov kawg ntawm lub cuab yeej, uas nws qhov kawg tswj cov ntsiab lus tau ua raws li cov lus qhia calibration lever raws li tib lub ntsiab lus, thiab lub kaum sab xis sib txawv ntawm txhua qhov taw tes yog li 30 degree lossis ntau dua. Qhov yuav tsum tau muaj rau pose tuav cov ntsiab lus A, B, C: Pose tuav taw tes A yog qhov taw qhia ntsug ntawm lub cuab yeej hauv Z kev taw qhia ntawm lub cuab yeej; pose tuav taw tes B yog nkag rau hauv X ntxiv kev taw qhia ntawm lub cuab tam tom qab qee qhov kev ncua deb ntawm X ntxiv kev taw qhia tom qab aligning qhov taw tes siv; pose tuav taw tes C yog nkag rau hauv lub ntiaj teb kev koom tes Y ntxiv rau kev taw qhia tom qab qee qhov kev ncua deb ntawm Y ntxiv rau kev taw qhia tom qab ua kom cov ntsiab lus siv. Cov saum toj no yog cov yuav tsum tau rau 6 lub ntsiab lus log. Daim duab yog raws li nram no:
(8) Nyem "suav|F2" khawm hauv qab no → nyem "confirmBtn|F3" → rau-point cuab yeej calibration tiav
4.2 Nees nkaum-peb-point cuab yeej calibration
Nees nkaum-peb-point cuab yeej calibration tuaj yeem siv los xam qhov chaw nruab nrab ntawm qhov kawg cuab yeej ntawm txhua yam duab thiab tso saib calibration raug thiab ntev lub cuab yeej, muaj kev ua haujlwm ntawm kev kho nws tus kheej xoom txoj hauj lwm los txhim kho qhov tseeb thiab TCP raug.
Kev khiav haujlwm tshwj xeeb yog raws li hauv qab no:
(4) * [Ua ntej lub log taw tes ua haujlwm, nws yog ib qho tsim nyog yuav tsum tau txiav txim siab 1 tswj taw tes, uas yog lub ntsiab lus ntse, ntawm cov cuab yeej kawg tam sim no ntawm tus neeg hlau, thiab npaj lub calibration lever nrog lub ntse taw tes, uas yog stably. muab tso rau pem hauv ntej ntawm tus neeg hlau. Tus neeg hlau kawg vuam phom yog coj los ua piv txwv li hauv qab no]
(5) Tsim ib tug tshiab dawb dawb module tooj yam tsis muaj kev pab cuam. → Tsim 23 cov ntsiab lus sib koom tshiab nrog "txoj kev dawb".
(6) Cov ntsiab lus xav tau: Thawj 20 cov ntsiab lus (P0-P19) hauv qhov kev pab cuam tus lej yog 20 txoj haujlwm (P0-P19) ntawm tib lub ntsiab lus siv tab sis nrog txoj haujlwm sib txawv thiab ua haujlwm thaum qhov kawg tswj taw tes taw qhia ntawm tus neeg hlau vuam phom tam sim no yog ua raws li cov calibration lever tip. Peb lub ntsiab lus kawg P20, P21, P22 yog cov ntsiab lus tuav A, B, C (3 ntsiab lus) ntawm vuam tun perpendicular mus rau calibration lever tip. P20 hais txog tias rab phom vuam yog perpendicular rau lub calibration lever tip, thiab P21 hais txog tias rab phom vuam yog perpendicular rau X ntxiv rau kev taw qhia tom qab calibration lever tip. P22 hais txog tias rab phom vuam yog txuas rau Y ntxiv rau kev taw qhia tom qab lub calibration qib
Daim duab yog raws li nram no:
[Tsim ib tus lej tshiab dawb paug yam tsis muaj kev pab cuam]
* 23 lub ntsiab lus txoj haujlwm tau nkag rau hauv tus lej module hauv daim ntawv hais kom ua "txoj kev dawb"
* Nees nkaum-peb-taw tes daim duab yog raws li nram no:
(1) Nyob rau ntawm tus qauv qhia phau ntawv hom nplooj ntawv, xaiv "Tools Calibra" → nyem "newBtn", xaiv "Tool Type Sel" rau TwentyThree Point hauv lub thawv pop-up, nkag mus rau "toolName", thiab nyem "OK". Tom qab ntawd, tus lej tshiab cov cuab yeej dawb raug tsim tiav
Nqe lus piav qhia: Tom qab ua tiav ntawm kev tsim 23 cov ntsiab lus tshiab cov cuab yeej tus lej, lub kaw lus yuav cia li xa cov khoom thauj tam sim no tus lej xov tooj qhov kev pab cuam taw tes rau qhov taw tes rau ntawm nplooj ntawv "tool calibration"
(3) Tom qab importing 23 cov ntsiab lus ntawm sab laug, ua cov haujlwm hauv qab no: nyem "count|F2" → nyem "confirmBtn" → (tus ID nkag mus tsim cov kws tshaj lij txoj cai tso tawm) nyem "Keeb kwm kho dua tshiab" → nyem "OK". Kev hloov kho keeb kwm tiav lawm, thiab lub kaw lus cia li import tus lej xoom lej. Kev kho xoom me ntsis tiav lawm, thiab nees nkaum-peb-kauj ruam lub cuab yeej calibration tiav lawm (yog tias Ncua tseg yog nias, tsis muaj dab tsi yuav sau rau hauv; qhov xoom me ntsis tam sim no yuav tsis hloov; cov kauj ruam no yog tso tseg) → nees nkaum-peb-taw tes calibration tiav lawm.
Lus Cim: ① Tom qab nias "count|F2", cov duab hauv qab no yuav tshwm sim; tom qab nias "OK", cov kauj ruam no tiav.
② Tom qab txhaj "confirmBtn", cov duab hauv qab no yuav tshwm sim; tom qab nias "OK", cov kauj ruam no tiav.
③ Tom qab txhaj "Keeb Kwm Revise", cov duab hauv qab no yuav tshwm sim; tom qab txhaj "OK", pib sau cov lej suav tsis suav hauv tus maub los; ces cov kauj ruam no tiav lawm. Yog tias "Cancel" yog nyem, tsis muaj dab tsi yuav sau rau hauv; tam sim no xoom ntsis yuav tsis hloov; cov kauj ruam no raug tso tseg.
4.3 Ntxiv axis sib koom tes rooj calibration
Txhais lus piav qhia:
① Kev sib koom ua ke axis: teeb tsa kev sib koom ua ke axis tsis nyob hauv 1 thiab 2. (1 sawv cev rau qhov txuas ntxiv - 7 axis, thiab 2 sawv cev rau qhov txuas txuas ntxiv - 8 axis; xaiv cov axis xav tau thiab teeb tsa cov kev txwv)
② Pab Sel: Tig / Txhais. (Thov xaiv qhov teeb tsa raws li hom kev txav tiag tiag ntawm 7th axis thiab 8th axis. xaiv lub axis xav tau teeb tsa thiab teeb tsa qhov tsis muaj)
③ teeb P1-P3: Khiav mus rau P1, P2, P3, thiab teev cov haujlwm ib los ntawm ib qho.
④ confirmBtn|F3: Tom qab txhaj paub meejBtn|F3, txhua qhov chaw hloov kho tau zoo
⑤ Hauv phau ntawv txhais lus, qhib "synergetic{0}}" nrog keypad: yog zuam, Axis7 phau ntawv kev sib koom ua ke (Aid 7 Sim En) qhib; Yog tias tsis tau khij, Axis7 phau ntawv kev sib koom ua haujlwm raug kaw
⑥ Nyob rau hauv phau ntawv hom, qhib "synergetic{0}}" nrog keypad: yog zuam, Axis8 phau ntawv synergy (Aid 8 Sim En) yog qhib; Yog tias tsis tau khij, Axis8 phau ntawv kev sib koom ua haujlwm raug kaw
⑦ Hauv qhov kev pab cuam tus lej module, cov kab hais kom ua "synergetic-1": yog khij, tom qab khiav mus rau kab no, Axis7 kev sib koom ua haujlwm zoo; Yog tias tsis kos, Axis7 kev sib koom ua ke tsis muaj txiaj ntsig
⑧ Hauv qhov kev pab cuam tus lej module, cov kab hais kom ua "synergetic-2": yog khij, tom qab khiav mus rau kab no, Axis8 kev sib koom ua haujlwm zoo; Yog tias tsis zuam, Axis8 kev sib koom ua haujlwm tsis zoo Piv txwv li, 7th axis yog dov-dhau lub rooj axis, thiab 8th axis yog kev sib hloov axis (qhov kev sib hloov axis ntsia ntawm 7th axis). Cov kauj ruam tshwj xeeb thiab kev teeb tsa yog raws li hauv qab no:
(1) Paub meej tias txhua qhov axis zoo coj thiab txo qhov piv ntawm tus positioner yog teem kom raug
(2) Ua kev sib koom tes axis calibration
Nyob rau ntawm tus qauv qhia phau ntawv hom nplooj ntawv, xaiv "Kev sib koom tes axis calibration" → nias "Collaboration axis" thiab xaiv "1" vim hais tias tus ID ntawm Axis7 sib raug rau 1 → nyem "Aid Sel" thiab xaiv "Tsib" → thawj rov qab ob-axis positioner mus rau xoom lub xeev, nrhiav ib tug siv taw tes rau J7 axis, thiab teem lub txoj hauj lwm ntawm P1, P2, P3 raws li qhov yuav tsum tau taw tes taw tes uas (P1, P2, P3) txhua qhov sib txawv ntawm lub kaum sab xis yog siab dua 30 degree (Ceeb toom: Thaum teeb tsa cov ntsiab lus P1, P2 thiab P3, lub pose yuav tsum zoo ib yam, thiab Axis8 yuav tsum tsis txhob txav) → nyem "confirmBtn|F3" → kev sib koom tes axis "1" calibration tiav
Txuas ntxiv mus calibrate kev sib koom tes axis → nias "Kev sib koom tes axis" thiab xaiv "2" vim hais tias tus ID ntawm Axis8 sib raug rau 2 → nyem "Aid Sel" thiab xaiv "Tsov" → thawj zaug rov qab ob-axis positioner rau xoom lub xeev, nrhiav ib tug siv taw tes rau ntawm J8 axis, thiab teeb tsa txoj haujlwm ntawm P1, P2, P3 raws li qhov xav tau ntawm qhov xav tau tias (P1, P2, P3) txhua qhov sib txawv ntawm lub kaum sab xis yog siab dua 30 degree (Ceeb toom: Thaum teeb tsa cov ntsiab lus P1, P2 thiab P3, lub pose yuav tsum zoo ib yam, thiab Axis7 yuav tsum tsis txhob txav) → nias "confirmBtn|F3" → kev koom tes axis "2" calibration tiav
4.4 Nkaum khawm ntsig txog lub luag haujlwm thiab kev teeb tsa
Txhais lus piav qhia:
① Nkaum khawm: Tom qab txhaj, 4 lub cim me me uas pom hauv thaj chaw sab laug yuav muab zais, thiab tsuas yog Nkaum khawm nkaus xwb; Tom qab rov nyem dua, 4 lub cim me me yuav tshwm sim.
② Workbench thiab tool status window: Tom qab txhaj, ncaj qha xaiv lub cuab yeej thiab workbench. * Lus Cim: Qhov rai no qhia txog lub sijhawm ntawm lub sijhawm ua haujlwm thiab cov cuab yeej; tus neeg hlau txav raws li kev sib koom ua ke nrog rau cov cuab yeej thaum ua haujlwm ntawm phau ntawv txav. Txhais lus piav qhia:
③ Nrhiav qhov rai: Tom qab qhib raws li qhia hauv daim duab saum toj no, nkag mus rau lub qhov rais no kom paub txog kev tshawb nrhiav thiab hloov pauv. Kev siv cov kauj ruam ntawm kev tshawb fawb muaj nuj nqi yog: Sau nyob rau sab xis saum toj kawg nkaus → xaiv qhov kev tshawb nrhiav ntau yam → nyem "search" → tiav. (Tom qab kev tshawb fawb tiav lawm, saib cov ntsiab lus. Xaiv ib kab thiab nias kom dhia mus rau kab tam sim no. Yog tias tsis tau tshem tawm, cov ntsiab lus yuav tsis ploj thaum tshawb nrhiav)
Kev siv cov kauj ruam ntawm kev hloov pauv yog: manually xaiv qhov kev tshawb nrhiav ntau yam → xaiv qhov hloov pauv (ntau lossis ib kab tuaj yeem teeb tsa) → xaiv cov ntsiab lus hloov pauv (tam sim no tsuas yog txhawb nqa qeeb, qib smoothing, ceev, vuam ceev thiab lwm yam tsis muaj nyob hauv program command) → teem caij hloov tsis tau → nyem "Hloov" → tiav
* Lus Cim: Tom qab qhib lub qhov rais tshawb nrhiav, nkag mus ncaj qha rau tus lej txheej txheem hauv qab txoj cai, nyem rau dhia mus rau txoj haujlwm hais kom nkag mus rau tus lej xov tooj hauv qhov program, ua tiav cov nyhuv dhia nrawm.
5 Extended Axis7 & Axis8 ntxiv rau Robot QC-R6
5.1 Xaiv Axis7 & Axis8 modules ntxiv
5.1.1 Servo module xaiv piav qhia
(1) Tam sim no, tag nrho lub zog ntawm kev tsav tsheb thiab tswj kev sib xyaw ua ke yog tsim los ua 7.5KW, thiab lub zog siab tshaj plaws ntawm ib qho module yog 1.8KW ntxiv rau 400W thiab hauv qab no.
(2) HUACHENG DB9 kev sib xyaw ua ke tsuas yog txhawb nqa qhov siab tshaj plaws ntawm 6 axes (tsav thiab tswj kev sib xyaw ua ke tsim ua ntej Lub Kaum Hli 2019). Yog tias koj xav tau kev txhawb nqa J7-J8 lossis hloov kho lub rooj tsav xwm rectifier, thov xa lub hwj chim board module rov qab mus rau cov chaw tsim khoom rau kev hloov kho. Hauv qab no yog lub cev duab ntawm lub hwj chim board module.
Rectifier tswj board tswj input
5.1.2 Servo module qauv xaiv
Xaiv qhov tsim nyog ntxiv axis modules raws li lub zog xav tau
5.2 Nruab servo module
(1) Cov neeg hlau rov qab mus rau qhov tsis muaj qhov taw tes Kom tsis txhob poob ntawm lub hauv paus chiv keeb ntawm tus neeg hlau, tus neeg hlau yuav tsum rov qab mus rau qhov chaw ua ntej tshem tawm cov module.
(2) Txav mus rau IO module Txiav tawm lub hwj chim, tshem tawm cov ntsia hlau uas kho IO module, thiab txav IO module ib qho kev ncua deb ntawm lub zog xaim.
(3) Nruab Axis7 & Axis8 modules
Nruab Axis7 & Axis8 modules kom zoo raws li pom hauv daim duab Axis fais fab hlau
Axis fais fab hlauAxis encoder Axis encoderAxis encoder Axis
module
(4) Txuas module txuas cov xov hlau thiab nruab cov kiv cua txias
Txuas cov xov hlau ntawm cov modules nyob rau hauv ib ntus (EtherCAT kev sib txuas lus xaim sib txuas tsis tuaj yeem yuam kev), txav ob tus kiv cua qub mus rau sab xis, thiab ntxiv kiv cua hauv qab DC 24 0.24A ntawm sab laug. (DC ntxiv, DC-voltage yog siab dua 300V. Yog tias yuav tsum tau tshem tawm thiab hloov pauv, nws yuav tsum tau tos li 5 feeb tom qab lub hwj chim raug txiav tawm thiab lub module raug tso tawm tag nrho)
111111 Raws li tau pom hauv daim duab, ntxig lub module txuas cov xov hlau hauv ib ntus, thiab xyuas kom meej tias cov kab sib txuas ntawm cov xov hlau yog qhov tseeb Ntxuam interfaceInternal kev sib txuas lus
5.3 Axis7 & Axis8 lub cev muaj zog txuas
(2) Weld Axis7 & Axis8 fais fab xaim thiab encoder xov hlau kom raug raws li lub ntsiab lus
(2) Kev teeb tsa thiab kev sib txuas ntawm Axis7 & Axis8 nres relays
(3) Plug / txuas Axis7 thiab Axis8 lub zog xaim thiab xaim encoder kom raug
5.4 Robot system teem rau Axis8
(1) Teem "Axis Num"
Kev tso cai nkag mus → Chaw → Cov khoom lag luam → khoom siv tes ua → teeb tsa "Axis Num" rau 8 → fais fab tuag thiab rov pib tsav tsheb thiab tswj lub thawv hluav taws xob sib xyaw, thiab rov pib ua haujlwm kom zoo
5.5 Teeb lub cev muaj zog
5.5.1
Axis 7
lub cev muaj zog
5.5.2 Axis8 lub cev muaj zog parameter teeb tsa
5.6 Match map ntawm txhua axis
5.6.1 ResetSII
Tom qab teeb tsa lub cev tsis 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" (tsuas yog txhawb nqa version 7.8.0.5 los yog siab dua; ib qho version qis dua 7.8.0.5 yuav tsum tau rov pib dua SII los ntawm kev hloov tshiab pob) → rov pib lub tsav thiab tswj lub thawv hluav taws xob sib xyaw.
Rau SII hloov tshiab pob, thov hu rau peb lub tuam txhab. Hloov tshiab pob: HCRobotHostRX{{0}}LX_ES2ASIIV2.0.tar.bfe Rov pib lub thawv hluav taws xob, thiab nyem "Txog" (cov lus kuaj mob)
5.6.2 Teeb lub cev muaj zog daim ntawv qhia
(1) Ib ntu ntawm Axes 1 ~ 8 (tshwj tsis yog tias tus qauv tshwj xeeb yuav tsum hloov cov kab ke ntawm axes).
(2) Daim ntawv qhia chaw nyob (qhov chaw nyob daim ntawv qhia tau kho thaum qhov sib txuas ntawm EtherCAT cov xov hlau sib txuas tsis hloov pauv)
(3) Daim ntawv qhia chaw nyob sib xws rau txhua qhov axis yog sau rau hauv tus qauv qhia (J1:0; J2:2; J3:4; J4:5; J5:3; J6:1; J7:6; J8: 7). Raws li pom hauv daim duab hauv qab no, Axis7 daim ntawv qhia yog 6
(4) Tom qab qhov sib lawv liag ntawm axes raug hloov, daim duab qhia chaw sib raug rau txhua axis kuj yuav tsum tau hloov. Piv txwv li, 0805 ntxiv nrog ob lub 1.8KW ntxiv axes; ib qho module tsuas yog txhawb nqa qhov siab tshaj plaws ntawm 1.8KW ntxiv rau 0.4KW, yog li J3 0.4kW thiab J4 0.2kW tuaj yeem sib txuas ntxiv rau Axis7 & Axis8 modules ntxiv, raws li pom hauv daim duab.
5.7 Teem servo parameters
(1) Tshawb xyuas seb lub cev muaj zog thiab servo version ntawm J1-J8 motors puas yog
(2) Teem Axis7 & Axis8 servo tsis
Cov nram qab no yog cov npe ntawm servo tsis muaj rau 0805 nrog ntxiv 1.8KW Axis7 & Axis8 (Rau kev siv xwb. Kev txo qis, nce thiab lwm yam tsis tas yuav tsum tau kho raws li qhov tseeb ntawm qhov chaw).
5.8 Restart test
Thov kaw lub hwj chim thiab rov pib dua tus neeg hlau rau qhov kev sim hauv qab no
(1) Tsiv txhua axis manually thiab tshuaj xyuas cov kev taw qhia ntawm txhua lub cev muaj zog
(2) Tshawb xyuas seb qhov kev txo qis ntawm txhua qhov ntxiv axis raug teeb tsa kom raug
(3) Teem lub hauv paus chiv keeb ntawm txhua axis ntxiv
(4) Debug lub acceleration thiab deceleration lub sij hawm ntawm txhua axis ntxiv
(5) Debug lub servo nce ntawm txhua axis ntxiv
6 Kev qhia pwm kev pab cuam
6.1 Welding process instruction mold program
6.1.1 Vuam txheej txheem - cov lus qhia yooj yim qhia pwm kev pab cuam
6.1.2 Vuam txheej txheem -welding viav vias hais kom ua kev qhia pwm kev pab cuam
6.1.3 Vuam txheej txheem -welding ntses hais kom ua kev qhia pwm
