1. The underlying controller
As the center of the control system, the selection of the underlying controller is very important to the whole system, and its performance directly affects the reliability of the control system, the speed of data processing, and the real-time nature of data collection. The operating environment of mobile robots is harsh, there are many interference sources, and the real-time and reliable requirements of the motion controller are high, so it is very important to choose a stable and reliable motion controller, which not only meets the requirements of the system, but also has outstanding scalability and compatibility.
In order to complete the useful control of the robot to the external equipment, the underlying controller provides the corresponding underlying control functions of the device, and these control functions can directly access the hardware registers of the robot to control the operation of the robot, and these control functions can make the device driver no longer depend on the specific hardware, so that the useful control of the robot can be completed by calling the control function interface.
2. Electrical system
After the hardware of the wheeled omnidirectional mobile robot control system is selected, the electrical system is designed according to the hardware composition of the mobile robot. The electrical system of the mobile robot mainly consists of three parts: the main circuit, the servo drive system circuit and the PLC control system circuit.
The main circuit of the mobile robot control system is controlled by PLC and relay. That is, the relay is composed of two parts: a coil and an auxiliary contact. When the coil is energized, its corresponding normally open contact is closed and the normally closed contact is disconnected.
3. I/O equipment section
The I/O equipment section includes the I/O refresh cycle (typically 4ms) and the size of the I/O data image area, and the engineering equipment module of the soft PLC programming system is visualized to get used to the different needs of different robot applications for I/O equipment. The first thing is that the robot uses other signals as the end actuator I/O, and the end actuator I/O is linked to the connector at the end of the robot arm to ensure its function.
4. PLC program
IN THE UNDERLYING CONTROLLER, THE PTO MOTION CONTROL COMMAND OF THE PROGRAMMING SOFTWARE STEP 7 PROFESSIONAL V12 IS USED TO CONTROL FOUR STEERING SERVO MOTORS BY USING THE POSITION CONTROL MODE, SO AS TO CONTROL THE STEERING ANGLE OF FOUR WHEELS; In addition, the extended analog output module is used to output the voltage value and control 4 Lunyi motors to drive the robot to move. In addition to the hardware factor, the quality of the program directly determines the high performance of the program. Therefore, the writing of the program is one of the most important links in the whole design.
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KUKA robot KUKA servo drive and motor maintenance
The first thing you need to know is what kind of fault the robot presents, whether there is a fault code or what fault the teach pendant prompts. If the teach pendant directly displays the fault text or fault code, we can determine which parts are showing the problem through these, and then ...
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Frequently Asked Questions about KUKA Robots
1. The boot coordinate system is invalid
The world coordinate system is based on the gun head, in this coordinate system, all the actions of the robot are in accordance with the gun head as the vertex to complete the movement, the XYZ direction does not change the direction of the gun, if the robot moves in the world coordinate system, the gun head also changes ...
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KUKA robots use subroutine technology for work factors
1. Why do KUKA robots use subroutine skills to work?
In programming, subroutines are primarily used to achieve repeated use of the same task part, so as to prevent duplication of program code. In addition, the selection of subroutines can also save storage space. Another ...
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KUKA robot collision recognition settings
If a robot collides with an object, the robot control system will increase the axis torque in order to overcome the resistance. This can cause damage to robots, tools, or other components. Bump recognition will reduce the risk of such damage. The bump recognition system monitors the shaft torque. If the ...
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Calibration of industrial robots and positioners – KUKA robots
Manipulator positioners are generally divided into compound positioners, single-axis positioners, double-axis positioners and three-axis positioners according to the number of components of the drive motor. Before and during the welding operation of the robotic arm, the positioner loads and locates the welded workpiece by clamping the stuff.
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Causes of overheating of KUKA robot servo motor bearings
Causes and repair methods of overheating of KUKA robot servo motor bearings
Causes of overheating of servo motor bearings:
1. The cooperation between the inner and outer rings of the bearing is too tight;
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KUKA robot Win10 installation wv compatible method
One. Outline:
With win10 system, after installing WoV4.0.X or WoV5.0.x, WoV will stop working when the bus configuration is turned over:
When I was ready to connect to the bus online, I found that there was no network card adapter to choose from:
And there is an error message in the information window:
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Robot welding speed – KUKA robots
1. Robot welding can improve the output power
The six-axis welding robot has a short response time and fast action. The welding speed is 50-160cm/min, which is much higher than that of manual welding (40-60cm/min). The bot does not abort during operation. As long as external hydroelectric conditions are ensured, ...
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Inspection and repair of KUKA robots in hazardous environments
The vast majority of robots in operation now consist of six joints with a simple "output" for interacting with the workpiece. Applications range from pick-and-place operations, to moving cameras and other viewing devices, to performing precision assembly tasks that touch collaborative parts. This is certainly far ...
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Software options for real-time movement of KUKA robots
KUKA Robot RSI:
KUKA. Robot Sensor Interface
Function:
The data and signals from external sensors are effectively combined with the robot control system, and then the robot's movement is corrected and guided.
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KUKA Robotics & Oktoberfest - Typical Bavaria
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Structural features of industrial robots - KUKA robots
1. Programming
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KUKA bot syntax
Quiz of the KUKA robot
1. Check the syntax of the KUKA robot program:
---> the menu key File--->7CheckProgram
2. Programming Window (Test):
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KUKA robot teach pendant panel
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The role of RDC in the KUKA robotic arm
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（4） ...
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Classification of vision systems for mobile robots – KUKA robots
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The payload setting method for the KUKA robot
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Introduction to the logic functions of the KUKA robot program
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Failure of the servo motor of the KUKA welding robot
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(1) Have you ...
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