鏈枃鏃ㄥ湪浠嬬垂EP3E浼烘湇椹�(q奴)鍕曞櫒鍦⊿CARA姗熷櫒浜轰笂鐨勬噳(y墨ng)鐢�锛屽悓鏅傜偤瀹㈡埗鎻愪緵涓€濂楀畬鏁寸殑鍩轰簬PowerLink绺界窔鐨勬鍣ㄤ汉闆绘帶绯荤当(t菕ng)瑙ｆ焙鏂规銆�

1 姒傝堪

杩戝勾渚�锛屼腑鍦嬬殑宸ユキ(y猫)姗熷櫒浜虹殑鏂拌閲忚垏淇濇湁閲忛兘鍛堢従(xi脿n)蹇€熺殑澧為暦锛岀洰鍓嶇附楂斾繚鏈夐噺澶х磩鐐�10w鑷�锛岃€屼笖鎿�(j霉)瑾�(di脿o)鐮旀妲�(g貌u)闋�(y霉)娓紝鏈締姗熷櫒浜哄競鍫存瘡骞撮倓鏈冪辜绾�(x霉)浠�25%鐨勫閫熺櫦(f膩)灞�銆�

SCARA姗熷櫒浜烘槸妗岄潰鍨嬬殑4闂�(gu膩n)绡€(ji茅)姗熷櫒浜虹殑姗熷瀷锛屽唬娉涙噳(y墨ng)鐢ㄤ簬閲戝爆鍔犲伐琛屾キ(y猫)鐨勪笂涓嬫枡锛岄浕瀛愮敘(ch菐n)鍝佽妤�(y猫)鐨勯粸鑶�锛屾秱鑶犺垏鎼亱锛岀幓鐠冭妤�(y猫)鐨勬惉閬嬭垏绲勮銆傞洊鐒跺湅鍏�(n猫i)姗熷櫒浜鸿檿浜庡揩閫熺殑鐧�(f膩)灞曚腑锛屼絾鍦嬪収(n猫i)鐨凷CARA姗熷櫒浜哄ぇ澶氶兘鏄噰鐢ㄨ剤娌栨柟寮忔帶鍒�锛屼竴鍊嬮亱鍕曟帶鍒跺柈鍏冨彧鍙互瀹屾垚鍠€婼CARA姗熷櫒浜虹殑鎺у埗锛岀劇娉曞畬鎴怱CARA姗熷櫒浜哄悇杌哥殑鐙€鎱�(t脿i)鐩�(ji膩n)瑕栬垏鎺у埗銆�

EP3E浼烘湇椹�(q奴)鍕曞櫒鏄婕㈤倎淇￠浕姘ｆ妧琛�(sh霉)鏈夐檺鍏徃鏈€鏂版帹鍑虹殑鍦嬪収(n猫i)棣栨鍩轰簬PowerLink绺界窔鐨勪己鏈嶉﹨(q奴)鍕曞櫒锛屽彲浠ュ鎺ュ柈鍦堟垨鑰呭鍦堢禃灏嶅紡绶ㄧ⒓鍣�锛屽鏅傜附绶氭姈鍕曞湪绶氬悓姝ヨ(di脿o)鏁寸瓑鍓�(chu脿ng)鏂版妧琛�(sh霉)锛岀偤瀹㈡埗鎻愪緵鏇村姞楂樻€ц兘锛屾洿鍔犻潏娲�锛屾洿鍔犲畨鍏ㄧ殑浼烘湇绯荤当(t菕ng)銆�

Ep3e浼烘湇椹�(q奴)鍕曞櫒寰炵敘(ch菐n)鍝佸昂瀵�锛岄€ｇ窔鏂瑰紡渚嗚闈炲父閬╁悎澶氭鍣ㄤ汉鐨勫伐妤�(y猫)鐝�(xi脿n)鍫寸敓鐢�(ch菐n)锛屽叾PowerLink绺界窔涓€缍�(w菐ng)鍒板簳鐨勯€ｆ帴鏂瑰紡锛屾帴绶氭柟寮忔洿鍔犳柟渚�锛屽彲浠ョ偤瀹㈡埗鐨凷CARA姗熷櫒浜虹殑鑷嫊鍖栨祦姘寸窔鎻愪緵鏇村鐨勪究鍒�锛屽彲浠ョ偤瀹㈡埗鎻愪緵鏇村姞鏈夋€у児姣旂殑鏂规銆�

2  SCARA姗熷櫒浜烘帶鍒�

鏈闋呯洰鎵€浣跨敤鐨勬槸SCARA姗熷櫒浜烘槸鍦嬬敘(ch菐n)鐨勬渶鏂拌ō(sh猫)鍌�锛屽叿鏈夌祼(ji茅)妲�(g貌u)绶婃箠锛岀敓鐢�(ch菐n)鏁堢巼楂橈紝绮惧害楂�锛岄亷杓夎兘鍔涘挤绛夌壒榛炪€傝┎闋呯洰鐢ㄤ簬鑷嫊榛炶啝鐢熺敘(ch菐n)绶�锛岄仼鐢ㄤ簬榛炶啝宸ヨ棟锛屾縺鍏夊垏鍓�锛岀剨閷瓑鍫村悎銆傝┎鐢�(ch菐n)鍝佽鍦�1锛�

鍦�1  SCARA姗熷櫒浜鸿В姹烘柟妗堢殑鐓х墖

3 绯荤当(t菕ng)瑷�(sh猫)瑷�

3.1 瀹㈡埗闇€姹�

瀹㈡埗瑕佹眰SCARA姗熷櫒浜哄叿鍌欒純楂樼殑鍔犲伐閫熷害锛屼互鍙婏紝闈炲父楂樼殑鑷嫊鍖�锛岃兘澶犺嚜鍕曞畬鎴愮敘(ch菐n)绶氱殑涓婃枡锛屼笅鏂欑瓑鍔熻兘锛屽悓鏅傝姹傞潪甯搁珮鐨勭┅(w臎n)瀹氭€�銆傛澶�锛屽鎴惰姹傝兘澶�?q奴)宕焤鐨勯€氶亷閬�(yu菐n)绋嬭í鍟忎締鏌ョ湅姗熷櫒浜虹殑宸ヤ綔鐙€鎱�(t脿i)銆�      

3.2 绯荤当(t菕ng)瑷�(sh猫)瑷堟柟妗�

閫氶亷灏嶅鎴堕渶姹傜殑娣卞叆鍒嗘瀽锛屾垜鍊�?y艒u)姒浕绮糘(sh猫)瑷堜簡“B&R鐨刋20鎺у埗鍣�+EP3E浼烘湇椹�(q奴)鍕曞櫒”鐨勯浕鎺цВ姹烘柟妗�锛屽鍦�2鎵€绀恒€�

鍦�2  SCARA姗熷櫒浜洪浕姘ｆ柟妗堝湒

閫欏绯荤当(t菕ng)鐨勫劒(y艒u)鍕㈠湪浜庯細

(1) 铻嶅悎MC锛孋NC锛宺obotics鐨刋20閬嬪嫊鎺у埗绯荤当(t菕ng)

鍩轰簬X20鐨勯亱鍕曟帶鍒惰В姹烘柟妗堟槸鍒╃敤閫氱敤閬嬪嫊鎺у埗鎶€琛�(sh霉)瑷�(sh猫)瑷堝钩鑷猴紝閫氶亷PowerLink绺界窔鎶€琛�(sh霉)灏囨鍣ㄤ汉銆丆NC銆佸杌搁亱鍕曞拰鍠桓瀹氫綅绲勬垚涓€鍊嬬郴绲�(t菕ng)?锛熸ⅱ瑭纯F(xi脿n)寰�(f霉)闆滅殑璺緫淇℃伅鎳�(y墨ng)鐢ㄥ埌姗熷簥鍜岀敓鐢�(ch菐n)姗熸涓�锛岄倓鍙互瀵︾従(xi脿n)澶氳桓闂�(gu膩n)绡€(ji茅)鐨勬鍣ㄤ汉鎺у埗锛岄€茶寰�(f霉)闆滅殑3D鍦朇NC鍔犲伐銆傚€熷姪瀵︽檪鎿嶄綔绯荤当(t菕ng)锛岄亱鍕曟帶鍒跺惊鐠�(hu谩n)鏅傞枔鍙仈400μs锛孋NC銆丳LC銆両/O鍜岄﹨(q奴)鍕曞櫒鍙嚦寰绱氶珮绮惧害鍚屾锛屽悓涓€铏曠悊鍣ㄨ檿鐞嗛亱鍕曟帶鍒跺拰閭忚集鎺у埗锛孋NC鍜孭LC鍚屾閬嬭浠诲嫏(w霉)銆�

X20鐨勮粺浠惰粺浠舵鏋跺鍦�3鎵€绀�锛屾墍鏀寔鐨凜NC鎶€琛�(sh霉)鍖呮嫭锛�

1.鏀寔妯�(bi膩o)婧�(zh菙n)DIN66025鐨勬(bi膩o)婧�(zh菙n)瑾炶█锛屾敮鎸佸鎴惰嚜瀹氱京瑙ｉ噵瑾炶█锛�

2.姣忓€嬬郴绲�(t菕ng)鎿佹湁8鍊婥NC閫氶亾锛屾瘡鍊婥NC閫氶亾鎻掕鏈€澶�15鍊嬭桓鍙冭垏锛屾瘡鍊婥NC閫氶亾闈炴彃瑁滀笉闄愬埗杌告暩(sh霉)锛�

3.鍚勮矾寰戞鍏锋湁“绋嬪簭娈甸爯(y霉)璁€”鍔熻兘锛屽劒(y艒u)鍖栭亱鍕曡粚璺★紝鍙互瀵︽檪鏇存敼閫熷害鍊嶇巼锛�

4.鑷嫊鍒囩窔鍒€鍏峰悜?q奴)?锛屽唬娉涙噳(y墨ng)鐢ㄤ簬鐨潻鍒囧壊锛岀幓鐠冨垏鍓茬瓑琛屾キ(y猫)锛�

5.娌胯吉寤婂弽鍚戦亱鍕�锛屽唬娉涙噳(y墨ng)鐢ㄤ簬婵€鍏夊垏鍓�锛屾按鍒囧壊绛夎妤�(y猫)锛�

6.浜屽崄浣欑ó澶氳桓閬嬪嫊杞�(zhu菐n)鎻�锛屾敮鎸佸鎴惰嚜瀹氱京鍧愭(bi膩o)璁婃彌锛�

7.鍠悜鍜岄洐鍚戣灪璺濊宸鍎熷拰鍙嶅悜闁撻殭瑁滃劅锛屾敮鎸佺洿瑙掑潗妯�(bi膩o)绯荤殑杌稿亸绉昏鍎�锛�

8.鎵€鏈夋妧琛�(sh霉)鍔熻兘锛氶姂銆佺（銆佸垏鍓�銆佺剨鎺�銆佹惉閬�銆佸寘瑁濄€佹湪宸�銆佺磪鏈ㄣ€佺煶鏉�銆佸ぇ鐞嗙煶銆佺幓鐠冨垏鍓茬瓑琛屾キ(y猫)锛�

(2) EP3E楂樻€ц兘浼烘湇椹�(q奴)鍕曞櫒

EP3E鏄湅鍏�(n猫i)棣栧閫氶亷EPSG绲勭箶鐨勪竴鑷存€ф脯瑭︾殑鐢�(ch菐n)鍝侊紝鍥犳鍙互寰堝ソ鐨勮垏X20鎺у埗鍣ㄩ€茶閰嶅悎锛涘悓鏅�锛孍P3E鍏�(n猫i)缃殑闆绘祦鐠�(hu谩n)锛岄€熷害鐠�(hu谩n)锛屼互鍙婁綅缃挵(hu谩n)鐨勬帶鍒跺懆鏈熷垎鍒ョ偤50us,100us,100us锛屽彲浠ユ敮鎸�17bit鐨勫柈鍦堣垏澶氬湀绶ㄧ⒓鍣�锛屾垨鑰�锛�20bit鐨勫柈鍦堣垏澶氬湀绶ㄧ⒓鍣�锛屾敮鎸佸鏅備互澶恫(w菐ng)绺界窔鐨勬姈鍕曞悓姝ヨ(di脿o)鏁存妧琛�(sh霉)锛屽彲浠ュ厖鍒嗘豢瓒矼C锛孋NC锛宺obotics灏嶄簬鍕曟厠(t脿i)闊挎噳(y墨ng)鍜屽悓姝ユ€х殑瑕佹眰銆�

3.3  绯荤当(t菕ng)杌熶欢妗嗘灦

鍦�4 绯荤当(t菕ng)杌熶欢妗嗘灦

绯荤当(t菕ng)杌熶欢鐢盋onfiguration銆丼ystem銆丆nc浠ュ強Axes绛夋ā濉婄祫鎴愶紝Configuration妯″璨�(f霉)璨�(z茅)鏁村€嬬郴绲�(t菕ng)鐨勯厤缃伐浣�锛孲ystem璨�(f霉)璨�(z茅)绯荤当(t菕ng)鐙€鎱�(t脿i)姗�锛孋nc鍜孉xes鍒嗗垾璨�(f霉)璨�(z茅)鎻掕閫氶亾鐙€鎱�(t脿i)姗熷拰杌哥媭鎱�(t脿i)姗�銆傜偤瀵︾従(xi脿n)瀹屾暣鐨勬鍣ㄤ汉杌熶欢鍔熻兘锛岀郴绲�(t菕ng)杌熶欢閭勫寘鎷鍧愭(bi膩o)璁婃彌銆佷己鏈嶉€氳▕鍙婁汉姗熺晫闈㈤€氳▕绛夊姛鑳�銆�

4 绯荤当(t菕ng)鎬ц兘娓│

鍦ㄥ闅涙脯瑭﹂亷绋嬩腑锛岀郴绲�(t菕ng)鐢ㄤ簡寰堢煭鐨勬檪闁撳氨瑾�(di脿o)瑭︽垚鍔熴€�

鍦�5 SCARA姗熷櫒浜哄悇杌稿伐浣滈浕姗熼浕娴佺殑trace鏁�(sh霉)鎿�(j霉)

5 绲�(ji茅)鏉熻獮

姝︽饥閭佷俊闆绘埃鑷村姏浜庣偤鍦嬪収(n猫i)鑷嫊鍖栬ō(sh猫)鍌欏粻鍟嗘彁渚汸owerLink绺界窔浼烘湇椹�(q奴)鍕曞櫒锛屽湪鎬ц兘鑸囧姛鑳戒笂鑳藉婊胯冻MC锛孋NC锛宺obotics鍚勫€嬭妤�(y猫)灏嶄己鏈嶇郴绲�(t菕ng)鐨勮姹�锛屽悓鏅�锛屽児鏍间笂涔熸矑鏈夊湅澶栦己鏈嶉﹨(q奴)鍕曞櫒閭ｄ箞楂樻槀锛屽緸鑰屽鐝�(xi脿n)鍦嬬敘(ch菐n)SCARA姗熷櫒浜虹殑PowerLink绺界窔鍖栵紝闄嶄綆鍦嬬敘(ch菐n)姗熷櫒浜虹殑绺介珨鎴愭湰锛屾彁楂樺湅鐢�(ch菐n)姗熷櫒浜虹殑绔剁埈鍔�銆�