In general, when we talk about robot servo system, we refer to a precision servo system used for multi-axis motion control. A multi-axis motion control system is composed of a high-level motion controller and a low-level servo drive, and the motion controller acts as the decoding of motion control commands, the relative motion of each position control axis to each other, the acceleration and deceleration profile control, etc., and its main effect is to reduce the error of the overall system motion control. The servo drive acts as the position control of the servo motor, and its main effect is to reduce the following error of the servo axis.
The servo system of the robot is composed of three parts: servo motor, servo drive, and instruction organization, the servo motor is the execution organization, which is relied on to complete the movement, the servo driver is the power supply of the servo motor, and the instruction organization is to send pulses or give speed for the normal operation of the cooperative servo drive.
The robot places higher demands on the servo motor than the other two parts. The first requirement is that the servo motor has a fast response. The time from obtaining the command signal to completing the required working state of the motor should be short. The shorter the time of echoing the command signal, the higher the sensitivity of the electric servo system, and the better the fast response function, which is generally clarified by the size of the electromechanical moment constant of the servo motor. Secondly, the starting torque-to-moment inertia ratio of the servo motor is larger. In the case of driving load, the starting torque of the servo motor of the robot is required to be large and the moment of inertia is small. Finally, the servo motor should have the continuity and linearity of the control characteristics, and the speed of the motor can be changed continuously with the change of the control signal, and sometimes the speed needs to be proportional or approximately proportional to the control signal.
Of course, for the size of the cobot, the servo motor must be small in size, small in mass, and short in axial dimensions. It can also withstand harsh operating conditions, can carry out very frequent forward and reverse and acceleration and deceleration operations, and can accept several times overload in a short period of time.
Servo drive is the execution organization that can use the torque and force generated by various motors to directly or indirectly drive the robot body to obtain various movements of the robot, and has the advantages of high torque moment of inertia, no brushes and commutation sparks, etc., and is widely used in robots.
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DENSO installs safety fences
About the robot body, please mark the axis name and the direction of movement of each axis in an eye-catching azimuth. The symbol should be consistent with the direction of the practical action. If the symbol is not signed, or if the symbol is in the wrong direction, it may cause personal injury or property damage due to misoperation.
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1. Whether the emergency stop button is screwed up.
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1. Maintenance spare parts
1. Lubricating grease
2. Maintenance spare parts
Memory backup battery, encoder backup battery, fuse
2. Ontology maintenance
Routine check-ups
1. The body is clean
According to the site ...
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