The gripping-storage DELTA and SCARA robots (planar articulated robots with one vertical linear axis, two rotary axes, push-arm linkage for the horizontal plane, and an additional rotation axis for the wrist are often added in practice) robots will be presented as highlights at the Hannover Messe. From the robot to the conveyor belt, the entire system is fully automated and uses Lenze technology. A key component of the overall automation system is the new L-force controller 3200 C, which serves as a hardware platform for motion and sequence control, as well as coordinate transformations for both robots.
The demonstration box in the picture above illustrates the consistency, diversity and openness of the Lenze product range, which allows users to have a wide range of applications, including material handling and robotics functions, all from the same automation product. The advantage of this is that the number of interfaces and vendors can be reduced to a minimum. At the same time, the level of integration is greatly improved, which brings the advantages of significantly reducing the number of devices and reducing the engineering workload. For device manufacturers, this means shorter time-to-market and lower costs.
In the middle of the demonstration box are two parallel belts, one Delta and one Scara at each end. First, the unscreened material is fed in by the input conveyor belt, which is then quickly and accurately picked up by the Delta robot according to a pre-set pattern, and then placed at the desired location on the outgoing conveyor to form a storage square. The Scara robot then screens the materials stored in the array.
In addition, the L-force controller 3200 C also functions as a central controller, and the I/O1000 system from Lenze is also involved in this application. The I/O system can be attached directly to the controller via a common and fast scaffold bus. The controller handles the motion control of two robots with a total of six axes – both with multi-axis servo frequency converters from the Servo 9400 series and integrated safety functions – via EtherCAT. Lenze MCS servo motors provide the high dynamics and precision required for robots to perform their actions, combined with an absolute encoder on the Delta robot and a resolver on the Scara robot. Two 8400 HighLine frequency inverters are also connected to the controller via EtherCAT for the asynchronous motors that convey the belt. All drive elements in the demo box are designed with the same DC bus, which means that only one power supply unit or one brake chopper is required.
Lenze technology also includes visualization modules; There are two visualization devices in the system (Control Station CS5050DVI and Control Station CS5700 with Ethernet interface) that can also be operated by them. The use of the visualization device also demonstrates the comprehensive operating and monitoring capabilities of the Lenze solution. The CPC 5100 is connected via Ethernet to the visualization module and the control module, and functions similarly to the panic button platform used for camera prediction in visualization and part detection. The visualization application uses VisiWinNET® software and an integrated development environment.
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