銆愭憳瑕併€戞湰鏂囦富瑕佷粙绱逛簡鑷�(t谩i)閬�(d谩)绺界窔鍨嬮亱(y霉n)鍕�(d貌ng)鎺у埗鍣�10MC鐨勭壒榛�(di菐n)锛屽苟浠嬬垂浜嗚嚭(t谩i)閬�(d谩)閲濆皪(du矛)楂橀€熺篂绶氭(j墨)鎻愪緵鐨勮В姹烘柟妗�?锛熷仼鈧瀷閬�(y霉n)鍕�(d貌ng)鎺у埗鍣�10MC閬╁悎鍦ㄧ篂绶氭(j墨)涓婃噳(y墨ng)鐢紝瀹冧笉浣嗚兘婊胯冻楂橀€熸暩(sh霉)鎿�(j霉)铏曠悊鐨勮姹�锛岃€屼笖鏈夊緢楂樼殑闊挎噳(y墨ng)閫熷害銆�
銆怉bstract銆慣his article mainly introduces the characteristics of Delta’s bus Topology motion controller 10MC, and introduced Detla’s solution for high speed winding machine,it not only can satisfy the requirement of high speed data processing,also has high response speed.
銆愰棞(gu膩n)閸靛瓧銆戠篂绶氭(j墨)锛涢浕瀛愬嚫杓�
銆怟eywords銆憌inding machine; Electronic CAM

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      鑷�(t谩i)閬�(d谩)鐩墠鐢熺敘(ch菐n)鐨勭附绶氬瀷閬�(y霉n)鍕�(d貌ng)鎺у埗鍣�10MC灏卞緢閬╁悎鍦ㄧ篂绶氭(j墨)涓婃噳(y墨ng)鐢紝瀹冧笉浣嗚兘婊胯冻楂橀€熸暩(sh霉)鎿�(j霉)铏曠悊鐨勮姹�锛岃€屼笖鏈夊緢楂樼殑闊挎噳(y墨ng)閫熷害锛屽叾涓昏鐗归粸(di菐n)濡備笅锛�
鍏�(n猫i)寤洪珮閫熺附绶氾紙CANOPEN锛�锛屽彲鎺у埗楂橀仈(d谩)16瀵�(sh铆)杌革紱
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浣跨敤绨″柈锛屽姛鑳藉畬鏁�锛屾柟渚挎噳(y墨ng)鐢ㄧ殑杌熶欢鐣岄潰锛�
鎻愪緵妯�(bi膩o)婧�(zh菙n)鐨勭附绶氶浕绾滐紝涓柗闆婚樆绛�锛岄厤绶氱啊鍠紝鍗虫彃鍗崇敤锛岀劇闇€鐢ㄦ埗鑷繁鍔犲伐銆�
1  绻炵窔姗�(j墨)鑷�(t谩i)閬�(d谩)鏂规
1.1绯荤当(t菕ng)鏋舵(g貌u)
 

1.2瀵�(sh铆)鐗╃収浠ュ強鐢�(ch菐n)鍝佺収鐗�

1.3绻炵窔鍔熻兘瀵�(sh铆)鐝�(xi脿n)
      鍦ㄧ篂绶氬姛鑳界殑瀵�(sh铆)鐝�(xi脿n)涓�锛岄鍏堣鑳芥簴(zh菙n)纰虹殑瑷�(j矛)绠楀嚭姣忎竴灞ら渶瑕佺篂绶氱殑鍦堟暩(sh霉)锛屼笉鍚岀殑楠ㄦ灦锛屽皪(du矛)鎳�(y墨ng)鐨勭篂绶氬湀鏁�(sh霉)涔熶笉鍚�锛涘叾娆¤淇濊瓑鍦ㄧ篂绶氱殑閬庣▼涓畵姗�(j墨)鍣ㄨ兘鏆仠锛岄噸鍟熶箣鍚庡湪鍘熶締鐨勫熀绀�(ch菙)涓婄辜绾�(x霉)閬�(y霉n)琛�锛涙渶鍚�锛岃淇濊瓑绻炲嚭渚嗙殑绶氬湀鐨勭編瑙€鎬т互鍙婄窔鍦堣〃闈㈢殑骞虫暣搴︺€�
      鍦ㄩ€欏€�(g猫)绯荤当(t菕ng)鐣�(d膩ng)涓�锛岀篂绶氬姛鑳芥槸閫氶亷10MC寮�(qi谩ng)澶х殑闆诲瓙鍑歌吉渚嗗(sh铆)鐝�(xi脿n)鐨勶紝鐐轰繚璀夌篂绶氱殑绮惧害浠ュ強绌�(w臎n)瀹氭€�锛岄€氶亷10MC鍏�(n猫i)寤鸿櫅杌哥殑鍔熻兘锛岃畵鍏╁€�(g猫)绻炵窔杌镐緷鐓у嚫杓〃鐨勯棞(gu膩n)绯�锛岃窡闅ㄨ櫅涓昏桓鍕�(d貌ng)浣�锛岄€欐ǎ鑳藉湪寰堝ぇ绋嬪害涓婇檷浣庣郴绲�(t菕ng)瑾ゅ樊銆�
      鍋囪ō(sh猫)锛氶鏋堕暦搴︾偤L銆佹紗鍖呯窔绶氬緫鐐篟銆佹瘡灞ょ篂绶氬湀鏁�(sh霉)鐐篘锛屽墖N=L/R銆�
      鍑歌吉鏇茬窔濡傚湒4鍜屽湒5鎵€绀�銆�
 

鏍规摎(j霉)浠ヤ笂鍑歌吉琛ㄧ殑闂�(gu膩n)绯�锛屽湪10MC闆诲瓙鍑歌吉闂�(gu膩n)绯绘寚浠わ紙MC_CanIn锛変腑濉叆宸茬稉(j墨ng)瑷�(j矛)绠楀ソ鐨勪富杌告斁澶у€嶇巼锛圡asterScaling锛夊拰寰炶桓鏀惧ぇ鍊嶇巼锛圫laveScaling锛�,鍙互杓曟澗瀵�(sh铆)鐝�(xi脿n)绻炵窔鍔熻兘锛岀浉鎳�(y墨ng)MC閬�(y霉n)鍕�(d貌ng)绋嬪簭濡備笅鍦栥€�

绻炵窔閬庣▼涓殑鏆仠浠ュ強閲嶅暉锛屽彲浠ラ€氶亷绲曞皪(du矛)浣嶇Щ鎸囦护锛圡C_MoveAbsolute锛�,鍋滄鎸囦护锛圡C_Stop锛変互鍙婁娇鑳芥寚浠わ紙MC_Power锛変締杓曟澗瀵�(sh铆)鐝�(xi脿n)锛岀浉鎳�(y墨ng)MC閬�(y霉n)鍕�(d貌ng)绋嬪簭濡備笅鍦栨墍绀猴細

鏆仠鏅�(sh铆)锛屼娇鐢∕C_Stop,浣垮缓绔嬬殑铏涗富杌稿仠姝㈤亱(y霉n)琛�锛岄偅涔堣窡瀹冨缓绔嬩簡鍑歌吉闂�(gu膩n)绯荤殑鍏╁€�(g猫)绻炵窔鐨勫緸杌镐篃灏囧仠姝㈤亱(y霉n)琛�銆�
      鍟熷嫊(d貌ng)鏅�(sh铆)锛屼娇鐢∕C_Power浣胯兘浼烘湇椹�(q奴)鍕�(d貌ng)鍣紝鐒跺悗鍐嶇敤瀹冪殑瀹屾垚鏈幓浣胯兘绲曞皪(du矛)浣嶇Щ鎸囦护锛岄偅涔堜己鏈嶆渻(hu矛)寰炴毇鍋滅殑浣嶇疆闁嬪锛岄噸鏂拌窇瀹屾湭瀹屾垚鐨勮窛闆€€�
1.4绾忚叧鍔熻兘鐨勫(sh铆)鐝�(xi脿n)
      鍦ㄧ篂绶氶枊濮嬫檪(sh铆)鍜岀篂绶氱祼(ji茅)鏉熷悗锛岃鎶婃紗鍖呯窔绾忕篂鍦ㄧ浉鎳�(y墨ng)楠ㄦ灦鐨凱in鑵充笂锛岄偅涔堝氨闇€瑕侀€�(j矛n)琛岀簭鑵崇殑鍕�(d貌ng)浣�锛屾鍔熻兘涔熸槸閫氶亷闆诲瓙鍑歌吉渚嗗(sh铆)鐝�(xi脿n)锛岄鍏堝缓绔嬩竴鍊�(g猫)铏涜桓锛岃畵閫欏€�(g猫)铏涜桓浣滅偤涓昏桓锛屼互X,Y,Z涓夊€�(g猫)瀵�(sh铆)杌镐綔鐐哄緸杌�锛屽緸杌歌垏涓昏桓涔嬮枔閫氶亷鍑歌吉琛ㄥ缓绔嬬浉鎳�(y墨ng)闂�(gu膩n)绯�锛屼富杌搁亱(y霉n)鍕�(d貌ng)鏅�(sh铆)锛屽緸杌歌窡闅ㄤ富杌稿仛鐩搁棞(gu膩n)鍕�(d貌ng)浣溿€�
      绾忚叧鐨勬ā寮忓垎鐐哄叐绋�锛屼竴绋槸浠杌哥偤绾忕篂杌�锛屼互X,Y杌镐綔鐐哄钩闈㈣桓閫�(j矛n)琛岀簭鑵�锛涗竴绋槸浠杌镐綔鐐虹簭绻炶桓锛屼互Y,Z杌镐綔鐐哄钩闈㈣桓閫�(j矛n)琛岀簭鑵�锛岀簭鑵崇殑妗嗗湒濡傚湒9鎵€绀恒€�

鐣�(d膩ng)浠杌镐綔鐐虹簭绻炶桓锛屼互X銆乊杌镐綔鐐哄钩闈㈣桓鏅�(sh铆)锛屽悇鍊�(g猫)杌哥浉灏�(du矛)鎳�(y墨ng)鐨勫嚫杓洸绶氬鍦�10銆佸湒11浠ュ強鍦�12鎵€绀恒€�

鐣�(d膩ng)浠杌镐綔鐐虹簭绻炶桓锛屼互Y銆乑杌镐綔鐐哄钩闈㈣桓鏅�(sh铆)锛屽悇鍊�(g猫)杌哥浉灏�(du矛)鎳�(y墨ng)鐨勫嚫杓洸绶氬涓嬪湒鎵€绀�銆�

绾忚叧鍕�(d貌ng)浣滃皪(du矛)鎳�(y墨ng)鐨凪C绋嬪簭濡備笅鎵€绀猴細
      铏涜桓寤虹珛涔嬪悗锛岃畵鍏堕€�(j矛n)琛岀禃灏�(du矛)浣嶇Щ锛屽悇寰炶桓鏈�(hu矛)璺熼毃閫欏€�(g猫)铏涜桓閫�(j矛n)琛岄亱(y霉n)鍕�(d貌ng)銆�

鍦ㄨ櫅杌稿缓绔嬪畬鎴愪箣鍚庯紝闁嬪閫�(j矛n)琛岀簭鑵虫檪(sh铆)锛屽悇寰炶桓瑕佸拰铏涜桓寤虹珛鍑歌吉闂�(gu膩n)绯�锛岄€欓儴鍒嗙殑鍩�(zh铆)琛屽氨鏄€氶亷鍦�17涓殑绋嬪簭渚嗗畬鎴�銆�

鍦�17 寰炶桓鍜岃櫅杌稿缓绔嬪嚫杓棞(gu膩n)绯诲煼(zh铆)琛岀▼搴�

绾忚叧鐨勭浜岀ó鏂瑰紡鍦ㄧ▼搴忎笂鐨勫(sh铆)鐝�(xi脿n)锛岃垏涓婇潰鐨勭▼搴忛浼�锛屽彧鏄皣杌歌櫉(h脿o)绋嶅仛淇敼锛岄€欓噷灏变笉鍐嶉噸寰�(f霉)瑾槑浜�銆�
2 绺界祼(ji茅)
      鍦ㄧ篂绶氭(j墨)琛屾キ(y猫)閲岄潰锛岄噰鐢ㄧ殑Solution涓昏鏄互YASKAWA锛孧ITSUBISHI绛夊粻瀹剁殑鐐轰富锛岀浉淇″湪浠ュ悗鐨勭櫦(f膩)灞曚腑锛岃嚭(t谩i)閬�(d谩)鐨凷olution鍦ㄩ€欏€�(g猫)琛屾キ(y猫)閲岄潰涔熸渻(hu矛)鏈夊叾涓€鐗囧唬闂婄殑澶╃┖銆�