TDM4.1-030-300-W1/S102隨著工業(yè)生產(chǎn)線自動(dòng)化程度的提高，并日趨向柔性化發(fā)展。工業(yè)機(jī)械手臂被越來越多的應(yīng)用在涂漆、包裝、焊接、裝配等生產(chǎn)環(huán)節(jié)，來代替人工完成惡劣環(huán)境下的勞動(dòng)。本案介紹了利用中達(dá)電通六軸數(shù)控系統(tǒng)的六軸聯(lián)動(dòng)和教導(dǎo)模式下自動(dòng)生成NC程序等系統(tǒng)功能，配合臺(tái)達(dá)ASDA系列交流伺服強(qiáng)健控制和內(nèi)置的位置指令寄存器功能，來實(shí)現(xiàn)對(duì)六軸機(jī)械手臂的控制系統(tǒng)和自動(dòng)生產(chǎn)線的技術(shù)改造。 一、技術(shù)要求和難點(diǎn)分析 客戶采購該六軸機(jī)械手臂TDM4.1-030-300-W1/S102，用于變壓器生產(chǎn)流水線的點(diǎn)膠、浸漆和烘干工序。原型機(jī)為日本制造，因控制系統(tǒng)損壞無法修復(fù)，故提出改造要求，并且需要控制系統(tǒng)和伺服滿足如下條件： 1.伺服運(yùn)動(dòng)軸 在機(jī)械上，六軸機(jī)械手臂結(jié)構(gòu)上設(shè)計(jì)為6自由度空間坐標(biāo)系。其中X、A、B、C軸采用伺服電機(jī)驅(qū)動(dòng)1:10的齒輪箱間接傳動(dòng)，做近似360度圓周運(yùn)動(dòng)，Y和Z軸采用伺服電機(jī)驅(qū)動(dòng)螺距10mm的滾珠絲杠，再連接力臂做近似120度圓周運(yùn)動(dòng)。這六個(gè)伺服軸要求能夠聯(lián)動(dòng)。 客戶要求在原有六軸機(jī)械手臂的基礎(chǔ)上，再增加一個(gè)伺服軸D通過絲杠用來拖動(dòng)機(jī)械手臂前后運(yùn)動(dòng)，使其能自由移動(dòng)到生產(chǎn)線的任何地方，但不要求聯(lián)動(dòng)控制。 客戶還要求控制系統(tǒng)能夠控制七個(gè)軸，并且至少六軸聯(lián)動(dòng)，伺服軸運(yùn)動(dòng)速度可調(diào)。 此外，對(duì)于伺服控制系統(tǒng)，因?yàn)闄C(jī)械手臂在機(jī)械設(shè)計(jì)上采用6自由度空間坐標(biāo)系，而區(qū)別于普通的直角坐標(biāo)機(jī)械手臂機(jī)械。因而在運(yùn)動(dòng)過程中，機(jī)械負(fù)載的慣量會(huì)因?yàn)闄C(jī)械力臂的不同而發(fā)生較大范圍的變化，這就要求伺服系統(tǒng)具有優(yōu)異穩(wěn)定性、響應(yīng)性和對(duì)負(fù)載變化自適應(yīng)能力。 2.精度要求 機(jī)TDM4.1-030-300-W1/S102械回零精度：+/-1度。 重復(fù)定位精度：+/-1度。 定位精度：2mm。 要求控制系統(tǒng)和伺服系統(tǒng)能夠具有檢測反饋，來保證機(jī)械運(yùn)TDM4.1-030-300-W1/S102動(dòng)精度。 3.NC加工程序處理 因?yàn)椴捎?自由度空間坐標(biāo)系，無法采用手動(dòng)編程和軟件編程。因而需要控制系統(tǒng)具有示教功能或者學(xué)習(xí)功能，能夠根據(jù)采集的數(shù)據(jù)自動(dòng)生成NC加工程序，并能對(duì)自動(dòng)生成的NC程序進(jìn)行編輯和存儲(chǔ)。 4.輔助功能 TDM4.1-030-300-W1/S102 在輔助功能上，要求控制系統(tǒng)能夠通過NC指令來控制多個(gè)氣動(dòng)電磁閥動(dòng)作來實(shí)現(xiàn)機(jī)械機(jī)能，并能根據(jù)需要添加檢測開關(guān)。
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TDM4.1-030-300-W1/S102
TDM1.2-100-300-W1-000/S102
TDM1.2-050-300-W1-000/S102
TDM1.2-030-300-W1-000/S102
TDM1.2-100-300-W1-000/S100
TDM3.3-030-300-W1
TDM1.3-030-300-W1-000
TDM1.3-050-300-W1-000
TDM1.3-100-300-W1-000
TDM7.1-015-300-W0/S102
TDM4.3-020-300-W0
TDM4.3-030-300-W1
TDM1.2-050-300-W1-000/S107
TDM1.3-030-300-W1-000/S102
TDM1.3-100-300-W1-000/S102
TDM1.3-100-300-W1-000/S100
TDM1.3-030-300-W1-000/S105
TDM1.3-050-300-W1-000/S105
TDM1.3-100-300-W1-000/S105
TDM7.1-030-300-W1/S102
TDM1.4-050-300-W1-000
TDM1.4-100-300-W1-000
TDM1.2-050-300-W1-000/S100
TDM1.2-030-300-W1-000/S107
TDM1.2-050-300-W1-000/S108
TFM3.1-050-300-W1-220
TFM3.1-050-300-W1-220
TFM3.1-050-300-W1-1
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YASKAWA CACR-SR30BZ1SSY367 NNC-20CAW
YASKAWA CIMR-P5M43P7
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Yaskawa CACR-01-SU23GC SGM-01A3SU21
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Yaskawa CDBR-2022B Braking Unit Brake CDBR2022B
YASKAWA ELECTRIC DR1-A3BC USPP DR1A3BC
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YASKAWA SGMPH-02A1A41 AC Servo Motor 200W
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Yaskawa Servo Motor SGMGH-44DCA6H
YASKAWA VARISPEED CIMR-V7CU40P7 CIMRV7CU40P7
YASKAWA CIMR-P5U4011
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YASKAWA JANCD-HA03 PCB BOARD
Yaskawa SGDH-50DE 3363C _JUSP-NS300
YASKAWA CIMR-22CS
Yaskawa Electric Servopack Servo Drive Model SGDB-15ADG
Yaskawa 100W Servo Drive SGD-01AP
YASKAWA CACR-SR15SZ1SDY214
YASKAWA 230 V 3 PHASE VS MINI DRIVE CIMR-XCBA21P542
YASKAWA ELECTRIC JANCD-MM13B REV. B
Yaskawa JUSP-NS100
0190-06319 YASKAWA
JANCD-FC242 Yaskawa
Yaskawa Thermal Overload Relay, RHP-15/7.5, USED, WARRANTY
YASKAWA TDB-P75LB2/TDB-P75LB
Yaskawa 100W Servo Drive SGDP-01AP
YASKAWA SGMP-02A3G22,HD CP-20A-11-J202B-SP
YASKAWA DRIVEPACK SERVO UNIT SGDC-50DSA
Yaskawa Motor USASEM-15AC10B USASEM15AC10B
Yaskawa JGSM-06 Position Controller
YASKAWA ELECTRIC DP9420007 NSPP DP9420007
YASKAWA YPCT31094-1
YASKAWA ELECTRIC SERVOPACK MODEL SGDA-08AS 200-230VAC
SGM-04U3B4L Yaskawa AC Servo Motor SIGMA I 200VAC 2.6A
Yaskawa JANCD-SP01, DF8100269, sed, WARRANTY
Yaskawa SGDS-08A15A
YASKAWA CIMR-V7AM43P7
YASKAWA CIMR-P7U4015
YASKAWA CIMR-J7AM40P2 J7 DRIVE CIMRJ7AM40P2
JANCD-FC224 Yaskawa
YASKAWA SGM-08A2FJ34 FUJI SAM1300
YASKAWA AC Drive CIMR-V7CU21P54
USASEM-10HS13 Yaskawa
YASKAWA CIMA-J7AA20P4 0.4kW CIMRJ7AA20P4
YASKAWA 100W AC Servo Drive SGDS-01A01A
Yaskawa RKH-35/8B Thermal Relay, 8A, USED, WARRANTY
Yaskawa CIMR-37A
Yaskawa Electric SGDF-A1CS
YASKAWA R01SA
YASKAWA SGDA-08AP SERVOPACK 230V 750W 4.4A 1PH
Yaskawa GPD506/P5 CIMR-P5M4037
Yaskawa JANCD-MM20 REV B PC Board
Yaskawa Memocon-SC JAMSC-IF64 b module card
YASKAWA SGDV-5R5A11A SERVO PACK WORKING
YASKAWA SG-DB-15ADG SERVO PACK
YASKAWA Inverter CIMR-J7AA21P5
Yaskawa 120CPS11300
Yaskawa CDMR-MR-5.5K
YASKAWA CIMR-F7U42P21F
Yaskawa CIMR-E7U4011
Yaskawa SERVOPACK CACR-UIR020202FD CACR-UIR 020202FD P00 D00
Yaskawa SGM-A5L3B2L
Yaskawa USAGED-09A22K
YASKAWA UGTMEM-06LSF21
YASKAWA SII AMPLF.MATING CONN,MAIN AC PWR30W TO 400W
YASKAWA USASGM-15-HGA1 SERVO MOTOR USASGM15HGA1
Yaskawa 87350-23001 PLC Module 8735023001
Yaskawa SGDS-01A01A & SGMPS-01ACA21
YASKAWA B2914 Bestact
Yaskawa Electric Servopack SGDM-02ADA SGMAH-02AAA41
Yaskawa JAMSC-B1074-1 B1074-1V
Yaskawa 87350-12111-S206 PLC Module 8735012111
Yaskawa 87350-24004-S011 PLC Module 8735024004
Yaskawa CIMR-XCAA20P2 0.2kW CIMR-XCA A20P2
Yaskawa Drive Servopack CPCR-MR-162 CPCRMR162 MR162
YASKAWA SGDH-20AE
YASKAWA SG0B-1AADG
YASKAWA CACR-SR05B21SSY367
YASKAWA UUX000441
Yaskawa INDEXER UNIT JUSP-NS600
SGMP-15AWYR12 YASKAWA
YASKAWA JANCD-MM20 REV.B DF8202136
Yaskawa CACR-SR-10SB1AF
Yaskawa Encoder MOTOMAN # 479508-2
YASKAWA CACR-SR15BC1KSY392
YASKAWA DF8100494
YASKAWA ELECTRIC SERVOPACK JUSP-ACP07AA
YASKAWA UGCMEM-08MC45 UGCMEM-08-MC45
YASKAWA SGM-02U3B4CL 0.637NM SERVO MOTOR
YASKAWA SERVO DRIVE SGDM-A5ADA 50W
YASKAWA MAGNETEK PC CIRCUIT BAORD JANCD-MB20
YASKAWA CIMR-G5C4011 VARISPEED DRIVE 616G5 CIMRG5C4011
Yaskawa JANCD-GFG01 PCB Board
YASKAWA SERVOPACK SGDS-08A12A
Yaskawa JANCV-MBB01 CNC PCB Board
Yaskawa JANCD-HA02 PC Board
Yaskawa VFD 1hp 460v CIMR-V7AU40P4
YASKAWA SGDS-08A12A
Yaskawa Electric Servopack SGD-01AN Servo Drive NIB SGD01AN
Yaskawa JANCD-MIO04
YASKAWA JEPMC-AN2910
YASKAWA JANCD-MI004 DF92012214
YASKAWA SGM-02U3B2L
YASKAWA JASPD-DS005B CPCC-PP160A POSITIONPACK-160A
Yaskawa SGDV-2R8A01A 002000 Servopack FreeShip
YASKAWA ELECTRIC 73600-A0151PC COMPONENTS
Yaskawa AC servomotor USAREM-02YR21
YASKAWA SERVO DRIVE SGD-01BP CNC/ROUTER
YASKAWA Servopack CACR-PR15
Yaskawa UGMMEM-13AA1S RPM 3000 (2731)
Yaskawa Thermal Overload Relay, RH-18/0.8MP, USED, WARRANTY
Yaskawa Thermal Overload Relay, RH-18/0.1MP, USED, WARRANTY
Yaskawa Thermal Overload Relay, RH-18/0.37P, USED, WARRANTY
Yaskawa CIMR-G7U4018 AC Drive 480V - NIB! CIMRG7U4018
YASKAWA CIMR-JU4A0001BAA DRIVE CIMRJU4A0001BAA
Yaskawa Board JANCD-FC200-1 JANCDFC2001
YASKAWA ABSO CARD JANCD-MFC03-2
Yaskawa 15W AC Servo Drive SGD-A2CPY14 SGD-A2CP
YASKAWA SERVOPACK SGDS-08A75A 750W
YASKAWA YPCT11071-1A YPCT110711A ETC610021-S5016
Yaskawa JANCD-I002, WARRANTY
YASKAWA USASEM-50FJ12 AC SERVO MOTOR 3000RPM
YASKAWA ELECTRIC JRMSI-MB21 USPP JRMSIMB21
Yaskawa Minertia J02SC2 909971-2
Yaskawa 87820-03200 PLC Module 8782003200
Yaskawa Servopack CPCR-02-TF1A
YASKAWA ELECTRIC JANCD-CP07C USPP JANCDCP07C
YASKAWA SERVOPACK SGDS-15A12A
Yaskawa SGMDH-32A2A-YR13
Yaskawa servo motor USAGED-09A22K
YASKAWA JARCR-XFL02B
YASKAWA USAREM-03CFJ51 AC SERVO MOTOR 3000RPM
Yaskawa 100W Servo Drive SGDS-01A12A
Yaskawa AC Servo motor USASEM-05A32 462W
yaskawa servomotor sgms-506ab
Yaskawa 200W AC Servo Motor SGME-02AF12B
