描述

DSQC377B 基于網(wǎng)絡(luò)的傳送帶跟蹤模塊

配置說(shuō)明

?安裝DSQC377A（B）模塊
?安裝編碼器
?安裝觸發(fā)開(kāi)關(guān)
?安裝機(jī)器人校準(zhǔn)探針
?安裝輸送線上的校準(zhǔn)針
?連接編碼器線纜到DSQC377A（B）模塊
?連接觸發(fā)開(kāi)關(guān)線纜到DSQC377A（B）模塊

DSQC377B
ü選擇輸送鏈跟蹤時(shí)，須配置編碼器的連接模塊。
ü該模塊把工件的位置反饋給機(jī)器人。
ü該模塊通過(guò)CAN bus（控制區(qū)域總線）連接。

?安裝要求：?保證輸送鏈每運(yùn)行1米時(shí)，編碼器輸出的脈沖數(shù)量在1250-2500之間，控制器同時(shí)采集A相，B相上升沿和下降沿個(gè)數(shù)，一個(gè)周期內(nèi)采集4個(gè)信號(hào)，控制器采集的計(jì)算信號(hào)在5000-10000之間。少于5000即會(huì)影響到機(jī)器人跟蹤精度，多于10000也不會(huì)提升機(jī)器人跟蹤精度，輸送鏈運(yùn)行*低速度為4mm/s,*高速度為2000mm/s。

電壓
10-30V
電流
50-100mA
相位
AB相，相位差90度
類型
增量型
輸出
PNP

輸送線CNV1-BaseFrame校準(zhǔn)

?打開(kāi)程序，單步運(yùn)行一下指令
?ActUnit CNV1;
?WaitWObj wobjcnv1;
?啟動(dòng)輸送線到觸發(fā)開(kāi)關(guān)，機(jī)器人上顯示位置超過(guò)0，停止輸送線。
?打開(kāi)校準(zhǔn)－CNV1－Base Frame－四點(diǎn)
?A：移動(dòng)機(jī)器人探針到輸送線校準(zhǔn)針，修改**點(diǎn)位置，
?運(yùn)行輸送線一段距離并停止，重復(fù)步驟A，到四點(diǎn)修改完成
?確定，并查看校準(zhǔn)誤差，如誤差過(guò)大則重新定義

ü運(yùn)轉(zhuǎn)輸送鏈,確認(rèn)輸送線運(yùn)轉(zhuǎn)時(shí)機(jī)器人顯示的位置為正方向,否則交換編碼器A/B相;
ü在輸送線上找一參照點(diǎn),并在固定邊做標(biāo)記一,記錄機(jī)器人上顯示的位置數(shù)據(jù)一;
ü運(yùn)行輸送線一段距離后停止,重復(fù)步驟2,得到標(biāo)記二,記錄位置數(shù)據(jù)2。
?工件在超出*小和*大距離的區(qū)域時(shí)，會(huì)自動(dòng)斷開(kāi)連接。
-工件在輸送線上被跟蹤的有效距離。

輸送鏈跟蹤編程的總結(jié)

?定義輸送鏈坐標(biāo)系–WorkObject–Change “UFMEC” and “UFPROG”
?進(jìn)行編程：–ActUnit? CNV1–WaitWobj? wobjcnv1–Program the coordinated? movements/robtargets–DropWobj? wobjcnv1
?Remember to change to the correct work object before programming therobtargets.在定義機(jī)器人位置點(diǎn)前總是檢查并更改到正確的工件坐標(biāo)系。
?Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject.結(jié)束同步跟蹤運(yùn)動(dòng)，斷開(kāi)輸送鏈上連接的工件前，改用“Fine”點(diǎn)和使用固定工件坐標(biāo)系。

DSQC377B 基于網(wǎng)絡(luò)的傳送帶跟蹤模塊

Configuration description

? Install the DSQC377A (B) module
? Install encoder
? Install trigger switches
? Install robotic calibration probes
? Install the calibration needle on the conveyor line
? Connect encoder cable to DSQC377A (B) module
? Connect the trigger switch cable to the DSQC377A (B) module

DSQC377B
u When selecting conveyor chain tracking, the encoder’s connection module must be configured.
The module feedbacks the position of the workpiece to the robot.
u The module is connected via CAN bus (Control Area Bus).

? Ensure that the number of pulses output by the encoder is between 1250-2500 when the conveyor chain runs 1 meter, the controller simultaneously collects the number of A phase, B phase rising edge and falling edge, collects 4 signals in one cycle, and the calculation signal collected by the controller is between 5000-10000. Less than 5000 will affect the tracking accuracy of the robot, more than 10000 will not improve the tracking accuracy of the robot, the conveyor chain running at the lowest speed of 4mm/s, the highest speed of 2000mm/s.

voltage
10-30V
Electric current
50-100mA
phase
Phase AB, 90 degrees out of phase
type
Incremental type
exportation
PNP

Transmission line CNV1-BaseFrame calibration

? Open the program and step through the instructions
?ActUnit CNV1;
?WaitWObj wobjcnv1;
? Start the conveyor line to the trigger switch, the position displayed on the robot exceeds 0, stop the conveyor line.
? Open Calibration -CNV1-Base Frame- four points
?A: Move the robot probe to the conveyor line calibration needle, modify the ** point position,
? Run the conveyor line for A distance and stop, repeat step A until four o ‘clock the modification is complete
? Identify and review calibration errors and redefine if they are too large

u Run the conveyor chain, and confirm that the position displayed by the robot when the conveyor line is running is in the positive direction, otherwise exchange the encoder A/B phase;
u Find a reference point on the conveyor line, mark the fixed edge 1, and record the position data displayed on the robot 1;
u Stop after running the conveyor line for a distance and repeat step 2 to obtain mark 2 and record position data 2.
? The workpiece is automatically disconnected when it exceeds the minimum and maximum distance area.
– Effective distance at which the workpiece is tracked along the conveyor line.

Summary of conveyor chain tracking programming

Define the conveyor chain coordinate system -WorkObject – Change “UFMEC” and “UFPROG”
? Programming: – ActUnit CNV1 – WaitWobj wobjcnv1 – Program the coordinated movements/robtargets – DropWobj wobjcnv1
?Remember to change to the correct work object before programming therobtargets. Always check and change to the correct workpiece coordinate system before defining the robot position point.
?Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject. Switch to the “Fine” point and use a fixed workpiece coordinate system before ending synchronous tracking motion and disconnecting the workpiece connected on the conveyor chain.

 

IC693ALG222 GE 16路模擬電壓輸入模塊	力士樂(lè)同步伺服電機(jī)
330101-00-50-10-02-05 Bently Nevada 3300 XL 8mm近距離探頭	IC754VS106STD GE人機(jī)界面(HMI)設(shè)備
330130-085-00-05 Bently Nevada 3300 XL標(biāo)準(zhǔn)加長(zhǎng)電纜	IC694MDL340 GE 120 VAC, 0.5安培輸出模塊
Bently Nevada 5/8 mm Proximitor傳感器	2094-BC02-M02-M艾倫布拉德利Kinetix 6200組件
330903-01-25-05-01-CN Bently Nevada 5/ 8mm Proximitor傳感器	Allen-Bradley Kinetix 6500運(yùn)動(dòng)控制系統(tǒng)
IC697CGR772 GE雙總線熱備CPU控制模塊	2198-H015-ERS艾倫-布拉德利Kinetix 5500伺服驅(qū)動(dòng)器
150-F480NBDB艾倫-布拉德利固態(tài)控制器	2198-H040-ERS艾倫布拉德利Kinetix 5500伺服驅(qū)動(dòng)器
330104-6-14-50-02-00 Bently Nevada 3300 XL標(biāo)準(zhǔn)加長(zhǎng)電纜	艾倫-布拉德利Kinetix 5500以太網(wǎng)I/P伺服驅(qū)動(dòng)器
330103 -0-6-50-02-00 Bently Nevada 3300 XL標(biāo)準(zhǔn)加長(zhǎng)電纜	1794-IRT8 Allen-Bradley Flex I/O組合模塊
力士樂(lè)HCS緊湊型轉(zhuǎn)換器/驅(qū)動(dòng)器控制器	5069- l310ers2 Allen-Bradley SIL 2型CompactLogix 5069控制器
力士樂(lè)同步伺服電機(jī)	1734-IB8S艾倫-布拉德利點(diǎn)I/O守衛(wèi)I/O安全模塊

 

公司介紹：
成都陽(yáng)光不斷創(chuàng)新致力于提升停產(chǎn)的自動(dòng)化零件供應(yīng)水平，無(wú)論客戶身處何地，無(wú)論所需配件多么稀有，我們總能將客戶與所需產(chǎn)品緊密連接 ，成都陽(yáng)光零部件覆蓋廣泛。
急切需要自動(dòng)化或控制零件？ 全新、Used和已停產(chǎn)的自動(dòng)化機(jī)械零件的全球供應(yīng)商。
客戶支持快速響應(yīng)
合作伙伴網(wǎng)絡(luò)橫跨各個(gè)大洲
全球合作伙伴網(wǎng)絡(luò)




Company Introduction:
Chengdu Sunshine Xihe Co., Ltd. specializes in one-stop procurement consulting for imported industrial spare parts, offering original equipment and professional discontinued parts services. We are committed to providing efficient and reliable automation solutions for our customers. Customer support fast responseThe network of partners spans all continentsGlobal partner networkAlways achieve more delivery, be it parts, service or speed



始終實(shí)現(xiàn)更多的交付，無(wú)論是零件、服務(wù)還是速度