Application of Omron PLC in manipulator control

Along with the social production progress and the people with PLC manipulator Application Omron the PLC manipulator Application Omron accelerating pace of life, people also continuously put forward new requirements to the production efficiency. Because of microelectronics technology and the rapid development of computing hardware and software technology and the continuous improvement of the modern control theory, the manipulator technology rapid development, including pneumatic manipulator system due to its media source is simple and does not pollute the environment, components, low cost, convenient maintenance and system characteristics of safe and reliable, has penetrated into all areas of the industrial sector, occupies an important position in the industry to develop. Pneumatic manipulator have accused of manipulator, this paper tells of the XY axis screw group, the rotary mechanism, such as rotating base of mechanical parts. Main function is to complete mechanical parts handling work, should be placed in a variety of different production line or logistics line, make the parts and convenient handling, transport of goods more.

1       Four axis linkage simple structure and movement process of the manipulator

The movement control method is: (1) driven by servo motor rotating Angle of 360 � pneumatic manipulator (photoelectric sensor to determine the initial 0 points); (2) by the stepper motor drive screw component mobile manipulator along the X, Y axis (X, Y axis limit switch). (3) rotates 360 � rotary mechanism can drive the manipulator

And lead screw to rotate (its electric drag by dc motor, photoelectric encoder, close to switch, etc). (4) rotating pedestal main support the above three parts; (5) the copies of the pneumatic manipulator and controlled by the air pressure (pneumatic manipulator grip, deflated when the manipulator to loosen).

Its working process is: when the goods arrived, manipulator system began to action; Stepper motor control downward movement, at the same time, one step motor control the transverse began to move forward; Servo motor driven manipulator reaches just fetching goods bearing rotation, and then inflated, manipulator clamp goods.

Stepper motor driver vertical rise, and the other a stepper motor driver transverse began to walk forward; Rotary dc motor rotation manipulator the whole movement, to receive goods; Stepper motor driving down the vertical axis, again after reach the designated position, air valve is deflated, manipulator to loosen the goods; The system return to action next time.

2         control device selection

To achieve the purpose of precise control, according to the market situation, the various key components selection is as follows:

1.     The stepping motor and its drive

Manipulator vertical axis (Y) and the horizontal axis (the X-axis) chosen is four-way motor technology co., LTD., Beijing 42 byg250c two-phase hybrid stepping motor, step away from the Angle of 0.9 1.8 � � /, current 1.5 A. M1 is the horizontal axis motor, drive the manipulator body stretch, shrink; M2 is the vertical axis motor, drive the manipulator body up and down. Chooses the stepper motor drives are SH - 20403 type, the drive is 10 ~ 40 v dc supply, H bridge bipolar constant current drive, eight largest 3 a output current optional, 64 largest segment of the seven kinds of segmentation model is optional, the input signal photoelectric isolation, standard single pulse interface, offline keep function, half closed chassis can adapt to bad working environment, provide energy-saving automatic half of the current way. Drive within the switching power supply design, ensure the driver can adapt to a wide voltage range, the user can choose according to their situation between 10 ~ 40 VDC. Generally higher rated supply voltage to improve high-speed torque of the motor, but increases the loss and temperature rise of the drive. This drive maximum output current value for the 3 A/phase (peak), six dial the code switch on the drive panel of 5, 6, 7, 8 can be combined from three kinds of state, corresponding to the eight kinds of output current, from 0.9 A to 3 A to match the different motor use. This drive can provide whole step, improve the half step, 4, 8, 16 segment, segment segment 32 subdivision and 64 subdivision seven kinds of operating mode, using the drive panel of six dial the code switch 1, 2, 3, three different state can be combined from.

2.     The servo motor and drive

Rotation movement of the manipulator with panasonic servo motor series A small inertia MSMA5AZA1G, its rated output 50 w, 100/200 v Shared, for incremental rotary encoder specifications (pulse number 2500 p/r, resolution 10000 p/r, lead wire line 11); There is oil seal, no brake, axis adopt keyway connect. The machine adopts the unique algorithm, panasonic to improve speed frequency response by 2 times, up to 500 hz; Super adjust fixed time shortened to previous V panasonic servo motor products series of a quarter. Has resonance suppression function, control function, the whole closed loop control function, can make up for the insufficient rigidity of the machinery, so as to realize the high-speed positioning, also can through the external high precision grating ruler, a full closed loop control, further improve the system accuracy. With a conventional automatic gain adjustment and real-time automatic gain, two kinds of automatic gain control mode is equipped with RS - 485, RS - 232 - c communication port, the upper controller can control up to 16 shaft at the same time. Servo motor drive for A series of MSDA5A3A1A, applicable to small inertia of the motor.

3.     The dc motor

Can wiggle 360 � rotary mechanism of brushless dc motor drive, the system chosen is Beijing and the company's production of 57 bl1010h1 brushless dc motor, its wide range of speed and torque at low speed, smooth operation, low noise, high efficiency. Brushless dc motor drive using Beijing and drive the company produces the BL - 0408, its use 24 ~ 48 v dc power supply, a start-stop and steering control, over-current, over-voltage and locked-rotor protection, and a fault alarm output, external analog speed and braking characteristics of quick stop.

4.     The rotary encoder

In can swing on the rotary mechanism of � 360, equipped with OMRON company E6A2 incremental rotary encoder, the encoder will signal to the PLC, accurate positioning rotary mechanism.

5.     PLC selection

According to the requirements of the system design, chooses OMRON CPM2A minicomputers produced by our company. CPM2A within a compact unit has a variety of performance, including the sync pulse, pulse output and analog control, interrupt input set and clock function, etc. CPM2A CPU unit is an independent unit, can handle a wide range of mechanical control application problems, so it is within the equipment is used as the control unit is installed inside the ideal product. Complete communications functions ensures and personal computer, the other OMRON PC and OMRON programmable terminal communications. These communication ability to make simple 4-axis linkage manipulator can easily merged into the field of industrial control system.

Simple four axis linkage manipulator every action and status of controlled by PLC, not only can satisfy the manipulator manual, semi-automatic and automatic operation mode for a lot of testing point, button, switch, position but also through the PLC industrial components and computer LAN interface components, realize network communication and network control. Make simple 4-axis linkage manipulator can be easily embedded into industrial production line.