Application Case. Application: Delta s AC Servo System on Robot Arms for CNC Machine Tools. Issued by Solution Center Date March 2013 Pages 5

Transcription

1 Case Application: Delta s AC Servo System on Robot Arms for CNC Machine Tools Issued by Solution Center Date March 2013 Pages 5 Applicable to Delta s AC Servo Drives and Motors Key words Servo System, Servo Motor, Robot Arm [Introduction] Delta officially launched its new three-axis intelligent servo system, the ASDA-M Series for multi-axis motion control applications, last November. The ASDA-M is an innovative servo system that has successfully integrated control, motion and drive into one servo system. The ASDA-M includes three of Delta s ASDA-A2 servo drives in one frame and features the built-in functions of a small programmable logic controller (PLC) to provide three-axis motion control. With the aid of Delta s high speed DMCNET communication, the ASDA-M can further collocate with Delta s Human Machine interface & Controller (HMC) and Delta s servo motors for a highly integrated and cost effective solution for various applications and different customized requirements. This new 3-in-1 system offers the best distributed system and an ideal solution for multi-axis Cartesian robot arm applications that fulfill the needs of CNC machine tool industries. [System Configuration] Figure 1: Distributed Motion Control System ASDA-M serves as a Master - 1 -

2 [Equipment Functions] Path Planning: When the motion path of a multi-axis Cartesian robot arm needs to be changed, users can input the desired motion path into the HMC or change the motion path via a manual pulse generator (MPG) for jogging the axes. The value set in the software determines the scaling of pulses sent to the axis being controlled by spinning the MPG. If the application allows zero return to be executed after switching the power off and on, it indicates that an incremental encoder system will be enough to meet its application requirements. If not, it indicates that an absolute encoder system is necessary. Users should first select the proper encoder system for their applications. Interpolation Function: When the interpolation function is used, the movement of synchronous multiple axes can be regarded as one single axis motion. The interpolation function will harmonize the movement of two axes of a multi-axis Cartesian robot arm and will position both axes simultaneously. For example, when using the interpolation function on the X-axis and Z-axis (see Figure 2 below), the Y-axis only needs to check that either the X-axis or Z-axis has completed its positioning, and then the Y-axis can conduct the picking and placing operation. There is no need to examine the movement of each axis on a multi-axis Cartesian robot arm. In addition, the ASDA-M also provides a three-axis linear interpolation function to offer shortest path planning. In Figure 2 below, a three-axis linear interpolation function can easily help a Cartesian robot arm execute a picking action at A and complete a placing action at B. Figure 2: Moving Range of Robot Arm and 3-Axis Linear Interpolation - 2 -

3 The ASDA-M also provides a two-axis arc interpolation function. Users can also use this arc interpolation function for special applications such as keeping away from some certain areas during operation (see Figure 3 below). Figure 3: Using Interpolation Function to Keep Away from Certain Areas [Delta Products and Features] HMC (Human Machine interface & Controller): The HMC Series provides an 8-inch standard type HMC and a 7-inch handheld HMC (see Figure 4 below) for users to select. To offer an integrated platform for different communication protocols and devices, the HMC provides all the existing functions of Delta s human machine interfaces, as well as additional built-in PLC functions for sequence control. It integrates HMC screen editing and PLC programming functions into one HMC unit to provide a direct and rapid design environment which simplifies the design time and reduces cost. It also supports quick PLC ladder monitoring which allows the PLC ladder programs and registers to be monitored and changed in real time. Various kinds of communication protocols are available. The HMC supports Ethernet for whole factory automation, the most commonly used RS-485, the high-speed RS-422, general remote I/O, and Delta s DMCNET motion control network for a wide range of applications in a variety of communications environments. Figure 4: Handheld Type HMC Side View and Front View - 3 -

4 Figure 5: Functions of Delta s New HMC ASDA-M Servo System: The ASDA-M innovatively integrates 3 servo drives in one unit with synchronous three-axis motion and a built-in programmable logic controller function. Complicated wiring for a logic controller is eliminated, and materials cost is saved. The ASDA-M features multi-axis synchronous interpolation functions such as 3-axis helical interpolation, 3-axis linear interpolation and 2-axis linear / arc interpolation. More advanced functions such as advanced gantry control, contour analysis, and built-in G-code interpreter are equipped as standard. The signals and feedback errors of servo commands and signals are easily detected. The motion path made by CAD-CAM computing can also be executed directly in the ASDA-M servo system. There is no time delay in data transmission and exchange while executing synchronous multi-axis motion. The ASDA-M follows in the footsteps of Delta s successful ASDA Series servo systems. It also offers high resolution encoders, high frequency response, built-in electronic cam (E-Cam), auto notch filter, vibration suppression and more strong motion control functions. To enable the servo system to integrate with other automation devices more efficiently, the ASDA-M also supports DMCNET and CANopen communication protocols. The ASDA-M is perfect for applications in high-end synchronous control facilities as well as for enhancing motion control performance with better stability for parallel movement

5 Figure 6: Functions of Delta s New ASDA-M [Conclusion] The successful application of Delta s servo system with multi-axis Cartesian robot arms is a good demonstration that Delta can provide complete industrial automation products and total solutions for the CNC machine tool industries. For more information on Delta s industrial automation products, visit our website at: