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4.3.6.13 Modular
Click button to enter the following interface:
in this interface, you can call the module
New module: Click the \"new module\" button → new module name →save →teach the import program in the current module →save.
Delete module: Drop down the module menu, select the module name and click
\"delete module\".
Module insertion method: Pull down the menu of \"call module\" and select
the module to be called → pull down the menu of \"return
label\" and select the return type (Note: If you select the
label type, please define the label first and insert it into
the program in advance) → select the position to be
inserted. Next, click \"insert\".
4.3.6.14 Visual instruction
Click the button to enter the visual instruction page
Select a data source, check photographing, select an output pointaccording to the situation, and set its action time, output times andinterval time, indicating how many seconds to take pictures after anoutput point has output, and how long to take pictures after the interval.Take pictures several times in total, insert it into the main program,andthen enter the visual instruction page. Check waiting for visual datatoset the limit time, Indicates how long to wait for an alarm after thecamera is unsuccessful and there is no data feedback. For example,ifyou
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want to output Y15 to take pictures for 2S, output Y15 every 3S totakepictures. After taking pictures for three times, if you wait for 2Sanddonot take pictures successfully, the alarm will be given. The parametersettings are as follows:
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4.3.6.15 Workmanship
Click the button to enter the following interface:
*Note: Please refer to \"5.2.1 product setting\" for process type modification.4.3.6.16 Data Instruction
Click the button to enter the following page, including
five functions: control command, origin command, immediate number, address
data and
location data.
Control command function:
Start: When the program runs to the current line, execute the start button,which is generally used for subroutine 8.
Stop: Press the stop button when the program runs to the current line; (*Note:
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Insert one for single cycle and two for pause)
Clear the alarm and continue: When the program runs to the current line, executethe stop + start button, which is generally used forsubroutine 8.
Origin command: The program executes to the current line and sets the currentposition of the selected axis as the origin.
Immediate function:
Destination address:
Start bit: 0
Data length: 32
Base address: 1
Precision: 0
Immediate data:
1: Manual gear
2: Automatic gear
3: Stop gear
2560: Start button
2561: stop button
2562: origin key
2563: reset button
2566: clear alarm and continue
2567: run the next command after clearing the alarm
2568: pause instruction
2569: clear alarm and pause
*Note: It is recommended to add a 0.1s delay between two adjacent immediateinstructions to prevent the program from executing too fast and thestateis not switched over.
Address data: Generally used for the operation of address data.
Use case: If the data of address 801 is written into address 800, the programistaught as follows (the same is true for other operations)
Position data: Write the world coordinate value / joint coordinate value of the current
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axis into the target address (Note: multiply the data by 1000)
Use case: If the X axis joint coordinate value is 18.230, use this
command to write the X axis coordinate value into address 800,
and the final written value is 18230; The program is taught as
follows (the same is true for other operations)
4.3.6.17 Set Origin
Select the programmable key [0]: origin, and click to enter thefollowing editing interface:
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Function of origin command: The sequence and speed of axis returning toorigincan be set in this interface.
There are two ways to return to the origin. Users can choose according totheir own organization:
1.Short origin (automatically set the origin plus switch short origin).Whenreturning to the origin, as soon as it touches the origin iron plate, theorigin switch is on, which is the origin position. The setting process ofsetting the origin for the first time or modifying the method of returningtothe origin:
Press the \"origin\" key and then press the \"start\" key, and the manipulatorwillreturn to the origin in sequence according to the set sequence. When theoriginof each axis is found, the system will give an alarm and pop up a selectionbox,asking \"the origin has changed, need to reset the origin position?\" If youneedto reset, click the \"reset origin\" option. If you don't want to reset theorigin, click the \"stop\" option.
2.Long origin (automatically set the origin plus switch).When returning totheorigin, once it touches the origin iron sheet, continue to walk the wholeorigin iron sheet, and the end of the origin iron sheet is the origin position.The setting process of setting the origin for the first time or modifyingthemethod of returning to the origin:
Press the \"origin\" key and then press the \"start\" key, and the
manipulator will return to the origin in sequence according to the set
sequence. When the origin of each axis is found, the system will give
an alarm and pop up a selection box, asking \"the origin has changed,
need to reset the origin position?\" If you need to reset, click the
\"reset origin\" option. If you don't want to reset the origin, click
the \"stop\" option.
*Note: Please refer to \"5.3.6 origin setting\" for origin signal, direction
and other settings.
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press CAN command page：
4.3.6.18 CAN command
Click the
*Note: This function needs to be in CAN network communication mode to be available.4.3.6.19 AND OR ORDER
Click the button to enter the following interface:
The command function is mainly used in the case of waiting for more than onesignal.If the command is selected as with, it is to wait for more than one signal at the sametimeand alarm as long as one of the signals is not available; if the command is selectedasor,it is to wait for more than one signal as long as more than one of them is available.
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4.3.6.20 Extend
Click the button to enter the following interface:
4.3.6.20.1 Path Reference Address
The path reference address function mainly refers to the path by
referring to the address. To use this function, you need to use the data
instruction function at the same time. First define the address and assign
a value to the address.
Reference address: 800-890 addresses can be referenced.
Reference type: Three path types can be referenced: straight line 3D, pose straightline and free path.
Straight line 3D: Only use the XYZ axis to go straight line. If the reference addressis 800, the content in the 800 address is assigned to the X axisbydefault,The content in 801 address is assigned to the Y axis, andthecontent in 802 address is assigned to the Z axis.
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Pose straight line: Use the six axes of XYZUVW to walk the pose straight
line. If the reference address is 800, the content in
the 800 address is assigned to the X axis, the content
in the 801 address is assigned to the Y axis, the
content in the 802 address is assigned to the Z axis,
the content in the 803 address is assigned to the U
axis, the content in the 804 address is assigned to the
V axis, and the content in the 805 address is assigned
to the w axis by default.
Free path: Use the six axes of XYZUVW to walk a free path. If the reference
address is 800, the content in 800 address is assigned to X
axis, the content in 801 address is assigned to Y axis, the
content in 802 address is assigned to Z axis, the content in
803 address is assigned to u axis, the content in 804 address
is assigned to V axis, and the content in 805 address is
assigned to w axis by default.
4.3.6.20.2 Point Storage
The point storage function is mainly to store and remember the current
position point. Even if the manipulator suddenly presses the stop key to pause
and then start the operation, it can still remember the current position point
and continue to operate normally.
Storage type: Mainly including world coordinates XYZ, world coordinates
XYZUVW, joint coordinates and reference points, where world
coordinates XYZ indicates that only the world coordinates of
XYZ axis are stored; World coordinates XYZUVW represents the
world coordinates of the stored XYZUVW; Joint coordinates
represent the joint coordinates of XYZUVW stored; The
reference point represents the coordinates where the
reference point is stored.
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Storage address: 800-890 addresses can be stored.
Action selection: There are two types: storing current coordinates and
storing current coordinates plus offset coordinates. The
storage of current coordinates is only the storage of
current coordinates, while the storage of current
coordinates plus offset coordinates can set the offset
position of each axis in addition to the storage of
current coordinates.
4.3.6.20.3 Single Axis Reciprocating
Check √ single axis reciprocating option, and the rear axle can perform singleaxis reciprocating motion.
Axis selection: Drop down the triangular arrow to select the reciprocating axis.
Start position: Manually move the axis to the start point position, and then
click the \"set in\" button to set the position of the current
axis into the position editing box, or manually edit the
start point position.
End position: Manually move the axis to the end position, and then click the
\"set\" button to set the position of the current axis into the
position editing box, or manually edit the end position.
Speed: Set the speed at which the shaft reciprocates.
Times: Set the number of times the shaft reciprocates.
Delay: Set the delay time when the shaft moves back and forth.
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4.3.6.20.4 Analog Control
Channel: The system provides 6 channels for users.
Analog quantity: It can be set as an integer of 1-6
Delay: Set the delay time before the analog command.
4.3.6.20.5 Delta Path
Starting point height (LH): Set the height of starting point height. Refer to the
schematic diagram of the interface.
Mid point height (MH): Set the height of the highest point. Refer to the schematicdiagram of the interface.
End point height (RH): Set the height of the end point. Refer to the schematic diagramofthe interface.
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Set end point: Move the manipulator to set the end point in the manual state, andclickthe \"set in\" button to set the current coordinate into the positionediting box.
4.3.6.20.6 Safety Zone
Enter the following interface to set the safety zone. The safety zone needs tobetaught in the subroutine, otherwise it cannot be detected in real time.
4.3.6.20.7 Single Axis Stack
Enter the following interface to set the single axis stack.
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Step 1: √ Select single axis stacking and select the axis for stacking.Step 2: Edit the starting point position. There are two ways to edit thestarting point coordinate position.
Method 1: Manually move the axis to the starting point position, and then clickthe \"set\" button to set the current coordinate value into the startingpoint position editing box, or manually edit the input coordinate value.Method 2: √ After selecting a reference point, the screen will
become as shown in the figure below, and the option of
starting point will become that a reference point can be
selected as the starting point.
Step 3: Set stack space, there are two ways to set stack space.
Method 1: Directly edit the value in the space edit box.
Method 2: Use address variables to set space.
Enter the address variable in the address spacing
(801, this value is not the actual spacing).
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Step 4: Set the number of stack counts.
Step 5: Set the stacking speed.
Step 6: Select a counter. You can select yourself or customize one in the counter.
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4.3.6.20.8 Coordinate System Conversion
Coordinate system ID: The entered ID number is related to the ID number of
the new coordinate system in the bench calibration. If
a new coordinate system is used, the coordinate system
ID number must be inserted at the front of the
programming.
4.3.6.20.9 Sinusoidal Motion
As the name suggests, the axis motion moves in the form of a sine wave.1.Select a plane: XY, XZ, or YZ plane,
2.Select start point: You can directly set or enter the position, or use the referencepoint.
3.End method:
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① Parallel: When the sinusoidal motion is not a multiple of half a cycle,the manipulator will stop directly above or below the end point. ② Advance: When the sine of motion is not a multiple of half a cycle, the
manipulator will stop at half a cycle before the end point. ③ Delay: When the sine of motion is not a multiple of half a cycle, the manipulatorwill stop at half a cycle after the end point. ④ Period length: The length of a sinusoidal period. ⑤ Amplitude: The maximum height of the sine. ⑥ Speed: The speed when walking automatically. ⑦ Delay: Set the delay time of sinusoidal motion.
4.3.6.20.10 Silo Control
It is necessary to set the bin definition in the IO setting, and then controltherise, fall or stop of the bin here.
4.3.6.20.11 Switch Tool
Enter the following interface to switch and set tools.
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4.3.6.20.12 Gesture Switch
Enter the following interface to gesture switching settings.
4.3.6.20.13 Rotary Grab
Enter the following interface to set the rotary grab.
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4.3.6.20.14 Safety Torque
Enter the following interface to set the safe torque. When it is notwithin the safe torque range, alarm and disconnect the enable switch.
4.3.6.20.15 Shaft Acceleration and Deceleration Setting
Enter the following interface to set the acceleration and decelerationtimeof the shaft.
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4.3.6.20.16 Path Acceleration and Deceleration Setting
Enter the following interface to set the acceleration and decelerationof the path.
4.3.6.20.17 Single Axis Follow Start
Enter the following interface to set the single axis follow start function.The single axis follow function allows one axis to follow another axis inaforward or reverse direction.
For example, to teach the Z axis to follow the X axis to move forward
from 0mm to 100mm, set the parameters of single axis follow start as shown
in the above figure and click insert into the main program. The teaching
action is as follows:
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4.3.6.20.18 Single Axis Follow Stop
Enter the following interface to set the single axis follow stop
function. The single axis follow stop function is used to stop one axis
from following another axis for forward or reverse movement.
4.3.6.20.19 Enable Setting
Enter the following interface to set the enable. The enable setting functioncan be used to turn on or off the servo enable of the shaft.
When the program runs to \"set servo enable: X off; Y on;\" action, the
servo enable of X axis is off, and the servo enable of Y axis is on. Later,
when it runs to X axis action, it will alarm that the servo is not enabled.
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4.3.6.20.20 Stop Action Setting
As shown in the figure, it is necessary to insert two instructions of
start signal detection and stop signal detection. When the action
instruction between start detection and stop detection is executed, once
the detection signal conditions are met, all the action instructions skip
and directly execute the next one.
*Note: The stop action instruction cannot be nested, and the start and
end +must be used at the same time.
4.3.5.20.21 Physical Velocity
After inserting and using the physical speed, the axis
action instruction will run according to the physical speed *
global speed. If you check ignore global speed, the axis
action instruction will run directly according to the
physical speed, and the global speed cannot affect the
instruction using the physical speed.
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*Note: If the physical speed is too large and exceeds the
maximum speed of the motor, it will run at the
maximum speed of the motor. For the modification of
the maximum speed, please refer to \"5.3.2 motor
parameters\".
4.3.6.20.22 Single Axis Alternate Stacking
Enter the following interface to set the single axis alternate stack function,which is used in scenes with inconsistent heights of odd and even layers.
4.3.6.20 .23 Single Axis Follow
Enter the follow interface to set the single axis follow function. After startingthe follow, the two axis
will move at the same linear speed until the following is completed.
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4.3.6.20.24 Target Follow
Enter the follow interface to set the target follow function. Please refer to\"visual follow description\" for details.
4.3.6.20.25 485 Online
Enter the following interface to set the 485 online function. Select the 485function in the communication configuration: online, and set the follow settings.
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4.3.6.20.26 Safety Torque Detection
Enter the following interface to set the safe torque detection function, detectthecurrent torque value of the selected shaft, and select the next command after theconditions are met.
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Example: If the X axis torque is greater than 3 between the start and end oftheprogram, the alarm number is 9000; The procedure is shown in the figure below:
4.3.6.20.27 Control Shaft Torque
Enter the following interface to set the torque function of
the control shaft and set the torque value of the selected shaft,
unit:%. When the program runs to the current line, the torque
percentage of the selected shaft is greater than the set torque
percentage, and the machine structure is stuck. If the maximum
torque is exceeded, an overload alarm will be given.
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Example: If the rated torque of 400W motor is 1.27n/m, the current
torque value of x axis is greater than or equal to 0.127n/m,
and the structure is stuck; The procedure is shown in the
figure below:
4.3.6.20.28 Tips for Point IO
Enter the following interface to set the point-to-point IO prompt function,andoutput the corresponding signal after the selected axis reaches the set target value.
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Example: After the machine reaches the set coordinates (Note:
the precision can be set), the output signal is generally used
to output the signal without stopping the current action during
automatic operation; The procedure is shown in the figure below:
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Chapter 5 Stop State
Turn the third gear knob to the stop gear to display the standby page,
click \"parameter setting\" to enter the setting page, and click \"diagnostic
information\" in the lower right corner to enter the diagnostic information
page.
5.1 Diagnostic Information
Under \"stop status\", click \"diagnostic information\" in the lower right cornertodisplay the following page. The page contents include: Manual control version number, host versionnumber,model, number of axes used, SII configuration, 485 port,CANport, host network port, servo parameters andotherinformation.
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5.2 Product Setting
5.2.1 Product Settings
On the product setting page, you can set the use status of the
subroutine. If you choose not to use it, the corresponding subroutine will
not run in the automatic state.
At present, the \"process type\" lathe system only supports the chip
taking process. After selection, it can be used in the \"process\" command
in the \"action menu\". Please refer to \"4.3.6.15 process\".
5.2.2 Valve Setting
On this page, you can create new single head valve, holding double head
valve and non holding double head valve, modify valve parameter settings
and reset valve definitions. As shown in the figure.
New: Click the new button, select single head valve, non holding double
head valve or holding double head valve in the pop-up page, and select the
corresponding output input point. Click OK to complete the creation. It
will take effect after restarting.
Confirm modification: After modifying the input IO direction, automatic
detection and timeout time, click OK to make the modification effective,
otherwise it will not take effect.
Reset IO valve definitions: All valve definitions can be deleted.
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5.2.3 IO Setting
Click the button to enter the interface shown below, where youcanset IO.
1.The mode state function is mainly used to automatically control the on-offstateof the signal after switching to a certain mode.
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First click the new button and check the newly built, and then select
the corresponding status in \"when mode is switched to\", such as manual,
automatic, automatic transfer to stop, etc. Then select IO output or mvalue output in \"output\", and then select the corresponding point in
\"output point\".
*Note: You can create multiple and only click save can it take effect.
You can remove them when not in use or click delete later(you also need
to click save).
2.The IO status function is mainly used to automatically turn on and
off another output signal by controlling the on-off status of one input
and output signal under some modes.
Click the new button, check the newly built, and then click \"in mode\"
to select the corresponding status, such as: manual mode, stop mode,
automatic mode, etc. Then select the input or output point on or off to
make an output point on or off.
3.The alarm operation function is mainly used to control the on-off state
of an output signal when the alarm signal meets certain conditions.
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4.The bin definition function is used to define the bin.
5.The edge signal function is mainly used to check whether there is a
rising edge or falling edge signal in some modes, that is, the edge
signal can not be detected only in automatic operation, but also in
non automatic state.
First click the new button and check the newly built, and then click
\"in mode\" to select the corresponding status, such as manual mode, stop
mode, automatic mode, etc. Then select the input type and input point.
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Specific applications are as follows:
(1)Teach the movement of X axis and the movement of Y axis only when thereisX10rising edge signal. The procedure is as follows:
(2)Turn to the stop status, enter the IO setting page, check the
edge signal, create a new edge signal check, click the \"in mode\"
button, select Manual, stop, automatic mode and automatic operation,
and then click the OK button. Then select the input signal X10 and
click the Save button.
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(3)When a X10 rising edge signal is given in the manual state or stop
state or automatic state or automatic operation, it is directly
switched to the automatic running mode. After the X axis moves, the
Y axis also moves.
6.Pulse signal
On this page, set the specified IO as pulse output. When the signal
output is on in the program, the signal will be on and off according to
the cycle until the signal output is off.
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5.2.4 Keys and Indicators
Click the button to enter the interface shown below, where youcanset IO.
LED 1-5 status function is the same as IO setting. The LED light on the
manual controller is controlled by selecting the corresponding input,
output and m value.
In the function binding of keys F1-F5, the on-off state of IO point
and m value is controlled through the use of keys F1-F5 in a certain mode.
If the F1 function binding is checked, click the \"mode selection\" button to
select the manual mode and stop mode, and then click OK, and then select the
m value. The status is on, and the m point is M10. Click the Save button to
switch to the manual state or stop state, and press the F1 button to output
M10.
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When \"state reversal\" is selected, press F1 to M10 output, and press
M10 again to disconnect the output. When \"pulse\" is selected, press F1 to
output M10, release F1 to disconnect M10. When \"on\" is selected, press F1
to output M10 all the time without disconnection. Press F1 when \"off\" is
selected, and M10 will be disconnected all the time. 5.2.5 Multiplex IO
The multiplexed IO page can use the second function of input or output
IO, and can control the start, stop, axis action and other functions of the
system through external IO. It can also switch the module number and
execute the programmable key program. The specific functions are consistent
with the key operation of the manual controller.
X10 is used as external emergency stop: When checked, X10 signal is disconnected as
emergency stop, and connected as emergency stoprelease.
X34 multiplexing: X axis positive: In the manual state, when the corresponding IO ison,Xaxis positive starts, and when IO is off, X axisstopsmoving.
X35 multiplexing: Y axis negative: In the manual state, Y axis negative starts when thecorresponding IO is on, and Y axis stops when IOisoff.X36 multiplexing: Y axis positive: In the manual state, Y axis positive starts when thecorresponding IO is on, and Y axis stops when IOisoff.X37 multiplexing: Z axis negative: In the manual state, when the corresponding IO ison,Zaxis negative starts, and when IO is off, Z axis stopsmoving.
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X40 multiplexing: Z axis positive: In the manual state, when the corresponding IO ison,Zaxis positive starts, and when IO is off, Z axisstopsmoving.
X41 multiplexing: U-axis negative: In the manual state, when the corresponding IOison,the U axis negative starts, and when the IO is off,theU axis stops moving.
X42 multiplexing: U-axis positive: In the manual state, when the corresponding IO ison,the U axis is starting, and when the IO is off, theUaxis stops moving.
X20 multiplexing: V axis negative: In the manual state, when the corresponding IO ison,the V axis negative starts, and when the IO is off,theV axis stops moving.
X21 multiplexing: V axis positive: In the manual state, when the corresponding IO ison,Vaxis positive starts, and when IO is off, V axisstopsmoving.
X22 multiplexing: W axis negative: In the manual state, when the corresponding IO ison,Waxis negative starts, and when IO is off, W axis stopsmoving.
X23 multiplexing: W axis positive: In the manual state, when the corresponding IO ison,Waxis positive starts, and when IO is off, W axis stopsmoving.
X31 multiplexing: external enable switch: When the external enable switch is
used, the enable switch of the
manual controller is invalid, and
the motor enable state is subject to
the external enable signal.
X32 multiplexing: enter the origin mode: When checked, when X32 signal is
input, the system will enter the
origin mode. The current mode must be
in stop mode to enter the origin mode,
which is equivalent to the origin key.
X33 multiplexing: enter automatic mode: When checked, when x33 signal is input,
the system will enter automatic mode,
which is equivalent to turning the
third gear knob to automatic gear.
X43 multiplexing: enter stop mode: When checked, when x43 signal is input, the
system will enter stop mode, which is
equivalent to turning the third gear knob
to stop gear.
X44 multiplexing: enter manual mode: When checked, when x44 signal is input,
the system will enter manual mode, which
is equivalent to turning the third gear
knob to manual gear.
X45 multiplexing: enter reset mode: When checked, when x45 signal is input,
the system will enter reset mode. The
front mode must be in stop mode or manual
mode to enter reset mode, which is
equivalent to reset button.
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X46 multiplexing: Start: When checked, the X46 signal is equivalent to the
start button.
X47 multiplexing: pause: When checked, when x47 signal is on, the current
program will be suspended in automatic operation
mode.
Y10 is used as normal output: If checked, it is normal output; if unchecked, it is theautomatic operation indicator light and the green light.Y11 is used as normal output: If checked, it is normal output; if unchecked, it is thestopstatus indicator light and yellow light.
Y12 is used as normal output: If checked, it is normal output; if unchecked, it is alarmstatus indicator light and red light.
Y13 is used as normal output: If it is checked, it is normal output and if it
is not checked, it is alarm buzzer. The number
of buzzer calls can be set in the operation
parameters. Please refer to \"5.3.1 operation
parameters\".
Y14 as the origin status indicator: When checked, if the current system has no
origin, it will be off, and if there is an
origin, it will be on.
Signal control module number: Select the signal point and module number, and
click new. When the corresponding signal is on,
it will switch to the corresponding module
number.
Signal control programmable key: Select the signal point and programmable key,
and click new. When the corresponding signal
is on, the corresponding will be executed
programmable key program, the signal will stop
running when it is disconnected
5.3 Structure Setting
5.3.1 Operating parameters
you can set system speed, tolerance, alarm sound, etc.on the operation parameterpage.Tolerance (pulse): The maximum difference between the servo command pulse and
the feedback pulse is allowed. If it exceeds the tolerance
setting range, the axis deviation will be too large. It is
necessary to check whether the mechanism, servo wiring and
servo parameters are correct.
Number of alarm sounds (Times): The number of alarm times of the buzzer after
alarm, ranging from 0 to 255. When 255 is set,
it will ring until the alarm is eliminated.
Manual speed level: The higher the manual speed level is, the faster the
manual axis key moves.
Delay start time of subroutine 8 (s): Delay start time of subroutine 8 after
system startup.
Edge signal filtering level (20ms / P): Reasonably setting the edge signal
filtering level can effectively
prevent repeated reception or failure
to receive edge signals.
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Disable enable safety switch: Restart after checking, and you can enable it
without pressing the enable switch.
Power on speed: Check use power on speed
Automatic speed: Switch to the default speed in automatic state
Only single cycle during operation: Only single cycle is carried out in the
automatic state, and the operation is
completed once
Allow absolute value to find the origin: When the encoder is an absolute
value, do not check it. Press the
origin key without response. After
checking it, you can execute the
original point program of the
programmable key.
First mold speed: The first operation speed under automatic state.
Safety door: The safety door signal can be set. When the safety door is opened,
it will give an alarm. When it is closed, it can clearly give an
alarm and continue or stop. When there are multiple safety doors,
it can be taught manually in subroutine 8.
Ignore the signal detection alarm when the safety door is closed: When the
signal detection alarm is checked, the signal will not be
detected when the safety door is closed no. alarm until the
end of detection.
Independent control of manual shaft speed: When checked, the manual speed can
be set for each shaft, and the corresponding shaft movement
will automatically switch the corresponding speed, which is
applicable to the case of large difference in deceleration
ratio of each shaft.
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5.3.2 Motor Parameter
Encoder type: increment, step, absolute value, grating ruler, rotary encoder.
Motor mapping: fill in the servo ID and correspond the logical axis to the physical axis.Shaft type: there are three types of shaft: rotation, straight line and rotation reset.Pulses per revolution: set the number of pulses per revolution of the servo motor.
Distance per revolution: set the running distance of each servo shaft motor per revolution.Click the forward rotation of the motor to measure the actualrunning distance of the corresponding shaft, which is the runningdistance of the motor of the shaft rotating for one circle.
Positive limit: the maximum distance the axis moves.
Negative limit: the minimum distance the axis moves.
Positive limit point: this item can define the positive limit point of X axisbyitself. It is normally closed by default. If checked, it is set as normallyopen.
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Negative limit point: this item can define the negative limit point of X axis by itself.Itis normally closed by default. If checked, it is set as long openpoint.Origin speed: sets the speed when returning to the origin.
Acceleration time: set the acceleration time of servo motor.
Deceleration time: set the deceleration time of servo motor.
Maximum speed: set the maximum running speed of the servo motor.
S Acceleration 1: the first segment changes to \"acceleration segment\". For details, pleaserefer to \"5.3.3 structural parameters\".
S Acceleration 2: the third segment changes to \"acceleration segment\". For details, pleaserefer to \"5.3.3 structural parameters\".
S Deceleration 1: Section 5 becomes \"deceleration section\". Please refer to \"5.3.3
structural parameters\" for details.
S Deceleration 2: Section 7 becomes \"deceleration section\". For details, please referto\"5.3.3 structural parameters\".
Origin error pulses: the number of error pulses allowed when returning to the origin.Motor test:Number of pulses per test: the number of pulses sent each time during motortest.Test speed: set the speed of the motor for forward and reverse rotation test.
Send pulse: the number of pulses sent each time.
Received pulse: the number of pulses received each time.
Z pulse: single turn position of motor.
Motor direction: the motor direction is divided into forward rotation and reverse rotation.Motor forward rotation: carry out the motor forward rotation test. The test shows 10000andthe feedback shows 10000, indicating that the test is successfulandthe shaft is normal.
Motor reverse: carry out motor reverse test. The test shows - 10000 and feedback shows-10000, indicating that the test is successful and the shaft is normal.Clear test: clear the motor forward and reverse rotation test data.
Encoder value: current encoder value.
Set as origin: move a single axis to the origin, and then set the point as the origin.Set all as the origin: move all axes to the origin, and then set all points as the origin.Origin position: the encoder multi turn value or single turn value of the current originposition of the system.
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5.3.3 Structure Parameters
The structural parameters page can set the motion parameters of the manipulatorduring interpolation action,
including acceleration and deceleration curve, acceleration and decelerationtimeand maximum speed of the path,
which can be distinguished from the acceleration and deceleration time in themotorparameters.
S acceleration: The acceleration during interpolation. The larger the number,thefaster the acceleration and the shorter the acceleration distanceS deceleration: When performing interpolation movement, the greater the number,thefaster the deceleration and the shorter the deceleration distanceS maximum speed: The maximum linear speed of the machine when performing
interpolation movement
Number of axis: You can set the number of axes used by the current system, rangingfrom 0 to 8
Number of IO boards: The number of system IO boards can be set. Each IO boardhas32 input and 32 output IO boards,with a maximum of 5 IOboardsand at least one. Except for the first IO board, other expansionIO boards are controlled by communication through 485 port.Machine type: kSttLathe-6p lathe model 6-axis
Relative motion parameters: Generally used for the safety limit of
double arm collision. Select two relative axes, set
the zero point interval, safety distance and check
the distance. After the detection is enabled, the
double arm distance is less than or equal to the
safety distance, and the alarm will be given if the
signal detection is enabled. The safety signal can
be selected if the signal is on, and the alarm will
be given if the reverse direction is checked, To
use this function, you need to check use and click
OK to modify.
Zero point interval: The distance between two axis after zero point
reset.
Distance detection enable safe distance: The safe distance between two
axis. If the distance between two axis is less than or
equal to this safe distance, an alarm will be given
immediately.
Signal detection enable - safety signal: Alarm immediately when there
is safety signal input. If reverse is checked, it will
alarm when there is no safety signal input.
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The specific usage is as follows:
Assume that the distance between X1 and X2 is 800mm after the originisreset, it is unsafe when the distance between X1 and X2 is 100mm. Inorder to ensure that X1 and X2 do not collide, set the relative axis1asx1, the relative axis 2 as X2, and the zero point interval as 800.Checkthe distance detection enable and set the safe
distance as 100. When the X1 axis moves to 400mm, the X2 axis can onlymove to 295mm at most (800-400-100 = 300, but for safety reasons, whenx2moves to 300 with a difference of about 5mm). If the signal detectionenable is checked and the safety signal is set to 1, no matter howfaraway X1 X2 is, as long as there is a safety signal X10 will call alarmimmediately.
Servo alarm close all enablers: When a servo motor alarm is checked, all motor
enablers will be disconnected. Please set it reasonably.
S-curve acceleration:
1.Variable acceleration section: The acceleration increases from 0 to the maximum
acceleration according to the set acceleration, and thespeed increases according to the acceleration.
2.Uniform acceleration section: The acceleration keeps the maximum acceleration unchanged,and the speed increases according to the maximum
acceleration.
3.Variable acceleration section: The acceleration decreases from the maximum accelerationto 0 according to the set acceleration, and the speedincreases according to the acceleration.
4.Constant speed section: The acceleration is 0, and the speed remains the same as the
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target speed.
5.Variable deceleration section: The acceleration increases from 0 to the maximum
acceleration according to the set acceleration, and thespeed decreases according to the acceleration.
6.Uniform deceleration section: The acceleration keeps the maximum acceleration unchanged,and the speed decreases according to the maximum
acceleration.
7.Variable deceleration section: The acceleration decreases from the maximum accelerationto 0 according to the set acceleration, and the speeddecreases according to the acceleration.S accelerationanddeceleration settings correspond to the above linesegments respectively, as shown below:
S acceleration 1: Paragraph 1 \"variable acceleration\".
S acceleration 2: Paragraph 3 \"variable acceleration\".
S deceleration 1: Section 5 \"variable deceleration section\".
S deceleration 2: Section 7 \"variable deceleration section\". 5.3.4 Communication Configuration
5.3.4.1 Rs 485 Setting
The host has two 485 ports, which can be set separately. You can
choose to use encoder, analog module, mod bus, online, etc. In addition to
the normal function, 485 port 1 is configured as an extended IO
communication port when using the extended IO board and cannot be changed.
Please refer to \"5.3.3 structure parameters\" for the settings of the
extended IO board.For the selection of analog module and encoder, please
contact the sales personnel of Huacheng company.
Figure 1 (drive control)
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Figure 2 (single board)
The purpose of the single board is divided into three types: servo, analog module andMODBUS slave.
1 Servo: When absolute value servo is used, it communicates withservo driver through 485.
2 Analog module: It can communicate with Huacheng analog moduleandsupport analog input and output.
3 Modbus Slave: For the use of Modbus slave, please refer to HuachengMODBUS slave protocol.
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5.3.4.2 CNA Setting
The host has a CAN bus port, and the optional functions include
encoder, analog module, servo torque, on-line, can network communication,
etc.After the ID and baud rate are configured correctly, it needs to be
powered off and restarted to modify the configuration.
5.3.4.3 Host Network Setting
The host network can be set on the host network setting page, and the
communication mode can be set as server or client. Please refer to the TCP
remote communication protocol of Huacheng control system for specific
functions.
*Note: The board has no host network setting function.
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5.3.5 Security Zone Parameter
Click to enter the following interface:
Type I:
At most 6 safety zones can be set in this interface.
Note: red area indicates non safe area.Operation flow:
1.Set regional safety signal points.
2.Check the area to use.
3.Select and set the position of the limit point on each axis.
You can edit the position directly, or move the axis to set
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the target point in the manual state, and then set the
position in the stop state.
4. After setting the limit points of all axes, check the use box andclickthe \"OK to modify\" button.
Type II:
When the manipulator enters the area composed of A, B, C and D, the turntable
in this area cannot rotate. Setting method:
1. Set the axis represented by Axis1 and Axis 2 (drop-down
triangular arrow) for selection.
2. Set the position of points A, B, C and D, you can directly enter the
coordinate position, or manually move the axis to the target point, and
then click the \"set\" button to set the current coordinate value into the
edit box.
3. Finally, click the \"use\" button to complete the setting.
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Type III:
When reverse is not checked, it means that the axis can be moved only
when there is a safety signal. On the contrary, if reverse is checked, it
means that the axis can be moved when there is no safety signal.Operation
flow:
1.Set safety signal point:
2.Select whether to reverse:
3.Select the axis you want to limit:
