The main functions of the industrial robot controller
The controller mainly solves the forward kinematics and inverse kinematics of the robot to help the robot complete the trajectory planning. The controller of the industrial robot is composed of controller hardware and controller software, of which the software part of the controller is equivalent to the "heart" of the robot. Although there is a certain gap between the manufacturing of robots in China and the level of trajectory, China's controller products have matured and are the smallest components in robot products and foreign products.
In recent years, the development of China's domestic industrial robots has become faster and faster, which is a very good opportunity for the manufacture of domestic industrial robots, especially in the field of motion control. The more axes of industrial robots, the higher the requirements for the controller, the more the number of servo motors, and the age of the servo motors required by high-precision industrial robots is also a lot.
As one of the core components of industrial robots, the controller is the brain of industrial robots, so it plays a decisive role in the performance of robots. The industrial robot controller mainly controls the movement position, attitude and trajectory of the robot in the working space, the operation sequence and the time of action. For different types of robots, such as legged walking robots and articulated industrial robots, the comprehensive method of the control system is quite different, and the design scheme of the controller is also different.
The controller belongs to the core components of the upstream production of industrial robots, and other core components include reducers and servo systems. Core components account for 72% of the cost of industrial robots, of which control systems account for 12%.
The industrial robot controller consists of several parts
The controller of the robot is equivalent to the human brain, and the controller of the industrial robot mainly includes two parts: the first is the control cabinet, which contains a plurality of PLC control modules for controlling the movement of the robot's six or N-axis. The second is the teach pendant, which is a connector for man-machine control, which can be used to program and send control commands to the control cabinet to command the robot movement.
Regarding the issue of industrial robot controllers, this article focuses on the main functions of industrial robot controllers, as well as its components. It can be seen that the industrial robot controller is the equipment that controls the work of the robot, the controller is the core component of the industrial robot, and the brain of the industrial robot plays a decisive role in the performance of the robot.
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Yaskawa Robotics - Classification and introduction of industrial robot drive systems
1. Hydraulic drive system
Because hydraulic technology is a relatively mature technology. It has the characteristics of large power, large force (or moment) to inertia ratio, fast response and high response, and easy to realize direct drive. It is suitable for working in large load-bearing capacity, large inertia and solder-mask environments.
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The operation steps of the Yaskawa robot
1. Turn on the power switch and compressed air switch of Yaskawa robot.
2. Turn on the main power switch on the Yaskawa robot control cabinet. After the robot completes the self-test, press the servo power button to turn on the servo power supply of the motor. Press the teach-in button (TEACH) on the control cabinet to make the machine ...
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Advantages of Yaskawa servo motors
1. The highest amplifier responsiveness in the industry, with a speed and frequency response of 1.6kHz
Second, the greatly enhanced vibration control function.
3. The maximum speed is increased to 6000 rpm
Fourth, the temperature rise is reduced, the efficiency is improved, and the peak torque is increased to 350%
Fifth, the first day ...
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Yaskawa Electric – inspection work before motor operation
(1) Check and remove the dust and debris on the motor;
(2) Check whether the voltage, frequency and power supply voltage and frequency on the nameplate of the motor are consistent with the actual situation, and whether the connection method is correct.
(3) Use the insulation resistance meter to measure the phase and phase and phase of the motor winding.
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Yaskawa servo drive parameters
PN000 function selection N.0010 (setting value) 0th position: set the direction of rotation of the motor; Set "1" to change the rotation of the motor in reverse. 1st position: Set the control mode to: "1" position control mode.
PN200 Command Pulse Input Mode Function Selection N.0101 (Set Value) "1" Positive ...
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Yaskawa automatic line production operation steps
Before starting the machine, you need to check the following items.
Machine tools:
Confirm that when the four machine tools are empty, the signal sent by the two first-sequence machine tools is the first piece loading signal M28, and the signal sent by the two second-sequence machine tools is the first piece loading signal M28.
Robots start with ...
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Yaskawa Robotics - the main technology of the robot control system
(1) Open modular control system architecture: using distributed CPU computer structure, divided into robot controller (RC), motion controller (MC), optoelectronic isolation I/O control board, sensor processing board and programming teaching box, etc. The Robot Controller (RC) and the programmed teaching pendant are connected via a string...
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A robot village opened to commemorate the 100th anniversary of Yaskawa Electric
Japan's Yaskawa Electric famously created the first all-electric industrial robot, Motoman, in 1977, headquartered in the city of Kita-Kyushu, since its establishment in 1915, has gone from being called "Yaskawa Electric Japan as an automobile manufacturer", "Yaskawa Electric Automation Company of Japan" to "...
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The solution of Yaskawa servo drive alarm A.F10, A.F50, A.920
A.F10: Power line is out of phase (the low voltage state of one phase of R, S, and T phases lasts for more than 1 second in the state of the main circuit power supply ON)
Cause:
Poor wiring of three-phase wires
The three-phase power supply is unbalanced
Single-phase AC power input is not set (Pn00E ...
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Yaskawa Servo Motor – The difference between a servo motor and a stepper motor
1. Different control methods
Stepper motor: The rotation angle is controlled by controlling the number of pulses, and one pulse corresponds to one step angle.
Servo motor: The angle of rotation is controlled by controlling the length of the pulse time.
2. The workflow is different
Stepper Motor: Stepper ...
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Yaskawa servo drive maintenance alarm C90, AC9 fault handling method
1. Analysis of the causes of Yaskawa servo alarm C90 (AC9):
1. The encoder cable is broken or the encoder plug is made in poor process (there are also wiring errors in the alarm of the new machine);
2. The servo drive itself is faulty;
3. Environmental interference, caused by poor connection: ...
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Yaskawa Electric's development areas
Drive control
Yaskawa Electric's Drive Control Division has achieved a leading position in the industry by integrating and commercializing various innovations and the world's latest technologies into inverters. These technologies have penetrated into various fields as world standards, and the quality, performance, ...
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Yaskawa servo drive failure causes and maintenance treatment
Yaskawa MOTOMAN servo drive fault repair:
1. The motor runs faster in one direction than in the other;
(1) Cause of failure: The phase of the brushless motor is wrong.
Solution: Detect or detect the correct phase.
(2) Cause of failure: In the absence of ...
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How to adjust the multi-stage speed of Yaskawa V1000 inverter?
Yaskawa Inverter A1000 User Guide 1. Description of the operator: (1). Keyboard description:
【ESC】Function:
1. Return to the previous screen;
2. Shift the bit that needs to be changed when setting the parameter number to the left;
3. If you press and hold it, you can ...
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Summary of common faults and solutions of Yaskawa robots and accessories (1-8)
01. The robot switch often jumps or can't close?
Cause:
1. Aging of switches;
2. The switch selection is wrong;
3. The pump is stuck or the motor is short-circuited;
4. The line is aging, short circuit, the line is too small or the phase is missing.
Solution: Convert the control ...
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How to use the inverter and adjust the parameters
First, the use of the inverter:
(1) First connect the power supply, link the inverter with the motor, and ensure that the working voltage of the inverter and the power of the motor meet the requirements.
(2) Set the parameters of the inverter, adjust the speed and load of the motor to ensure the normal operation of the motor.
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Parameter setting steps of Yaskawa H1000 inverter
1. No-load power-on test of inverter
1. Ground the grounding terminal of the inverter.
2. Connect the power input terminal of the inverter to the power supply through the leakage protection switch.
3. Check whether the factory display of the inverter display window is normal, if it is incorrect, it should be reset, otherwise ...
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Advantages of Yaskawa inverter A1000
Excellent motor drive function
Advanced motor drive skills
All motors can be controlled – whether they are driving induction motors or synchronous motors (IPM motors/SPM motors) – with high utility current vectoring.
Inverters for induction and synchronous motors ...
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Yaskawa inverter wiring attention
Attention to the wiring of the inverter
1. The inverter itself has strong electromagnetic interference, which will interfere with the work of some equipment, so we can add a cable sleeve to the output cable of the inverter.
2. The control line in the inverter or control cabinet is at least 100mm away from the power cable, etc.
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Yaskawa arc welding robot reported that the voltage detection line was abnormal
1. First turn off the power - and pull down the power switch.
2. Secondly, use a pen to check the voltage feedback line of the cable behind the base of the robot to see if it is connected or loose.
3. Finally, confirm the abnormality for maintenance. Other error alarm codes can also be used according to the abnormal message under the welder...
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