1. Introduction to the process of seamless steel pipes
The seamlessness of the steel pipe is mainly done by tension reducing, which is a continuous rolling process of hollow base metal without mandrels. On the premise of ensuring the welding quality of the mother pipe, the welded pipe tension reduction process is to heat the welded pipe as a whole to more than 950 degrees Celsius, and then roll it into a variety of finished pipes with outer diameter and wall thickness by the tension reducing machine (the tension reducing machine has a total of 24 passes), the hot-rolled steel pipe produced by this process is essentially different from the ordinary high-frequency welded pipe, and the metallographic structure and mechanical properties of the weld and the parent body can be completely consistent after heating the furnace In addition, Through multi-pass tension reducer rolling and automatic control, the dimensional accuracy of the steel pipe (especially the roundness and wall thickness accuracy of the pipe body) is better than that of similar seamless pipes. With the development of society, the situation of domestic hot-rolled welded pipes gradually replacing seamless pipes has been formed.
2. Introduction to LENZE servo 93EK drive:
It belongs to the electronic cam type drive, the cam type servo drive has a built-in electronic cam generator, and 8 cam curves can be freely programmed at the same time. Compared with the traditional mechanical cam system, it is easier to realize the curve modification of complex contours and the rapid update of the process, and effectively overcome the shortcomings of the mechanical cam system that are easy to wear, long transformation cycle and high cost, as well as its requirements for centralized high-power drive.
1. The cam curve can be switched online, and there is no time lag
2. Built-in functions such as zero finding and deviation correction
3. Built-in extension/compression and bias in x/y direction
4. Use GDC's built-in curve editing tools to easily edit various curves
5. It can be used as a virtual host computer
3. System composition
Due to the large load inertia of this system, two sets of servo drag (as shown in Figure 1) are adopted, and the communication between the two sets of servos and the main frequency motor and the host computer is PROFIBUS-DP communication. The main frequency is sent by an ITD TTL 4096 encoder to provide the 93EK main motor with a frequency signal for the workpiece travel. Communication between the two servo controllers is carried out using CAN, which is standard with the LENZE system.
3. System programming
1. The cutting process of the flying saw
The cutter is a saw blade controlled by a 3000rpm/min asynchronous motor, installed on the crank, controlled by the crank through two 93EK, the cutter realizes a cut every 360 ° rotation, completes a cutting cycle, the process requires that in the process of cutting, the speed of the sawing should be consistent with the linear speed of the cut workpiece, in order to ensure the smooth cutting, otherwise the cut workpiece can not be qualified, or cause damage to the saw blade. Since the cutter is a rotary motion and the workpiece is a linear motion, in the process of cutting, it is a process of variable speed to ensure that the linear speed of the cutter and the workpiece is completely consistent (as shown in Figure 2). Since the cutter is a rotary motion and the workpiece is a linear motion, in the process of cutting, it is a process of variable speed to ensure that the linear speed of the cutter and the workpiece is completely consistent (as shown in Figure 2).
2. Programming through GDC software
GDC function blocks applied to the controller: MCTRL, HOMING, CDATA, DFIN, REFC, RFGPH2, etc.
When the 93EK is set to torque control, MCTRL-N-SET is used as the upper limit port of the speed limit, and the MCTRL-N2-LIM terminal constitutes the upper and lower limit ports of the speed, such as (Fig. 4), when the MCTRL-N/M-SWT set 1 is active, select the torque control mode flow. The slave MCTRL-M-ADD is given by the MCTRL-M-SET2 of the master through CAN-IN2.W3. The speed limit value of the slave is given to the slave by the master MCTRL-N-SET2 through CAN-IN2.W2, and then the absolute value is multiplied by a certain proportional coefficient as the upper and lower limit value to MCTRL-N-SET and MCTRL-N2-LIM, as the upper and lower limit of the speed (as shown in Figure 5), to prevent the motor from losing control due to the sudden change of torque, and the range value of the limit used in this case is ±120%
4. Manual adjustment function
There is no built-in manual adjustment function in 93EK, and the manual function is an indispensable function in the process of equipment debugging and maintenance, so the system uses the "RFGPH2" function block (as shown in Figure 6) to realize the manual function.
5. Zero-finding function
According to the process setting, the cutting entry point should be about 140°, according to the calculation, the origin point is facing the position of the cutting center, so the zero point switch should be installed at a position of 180° from the cutting center, if there is a small deviation, it can be adjusted by the REFC-Homing function block (Figure 7).
IV. Conclusion:
1. The load moment of inertia is large, and the motor power provided on the market at present can not be easily achieved with one, therefore, the system applies two motors to control the same load, which solves the problem caused by the motor power can not meet the requirements.
2. Through the CAN bus, the master-slave synchronization is realized, so that the speed and torque output of the slave are consistent with the host.
3. The manual function is added, which brings great convenience to the customer's debugging and maintenance, and also gives full play to the powerful programmable function of the LENZE EVS93EK servo.
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