Control system
The robot control system is the brain of the robot and is the main element that determines the function and function of the robot. The control system is to retract the command signal to the drive system and the implementation mechanism according to the input program, and control it. The main task of industrial robot control technology is to control the range of activity, posture and trajectory, and the time of action of industrial robots in the workspace. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation tips and easy use.
The controller system is the center of the robot, and the relevant foreign companies are closely closed to China's experiments. Over the years, with the development of microelectronic technology, the function of microprocessors has become higher and higher, and the price has become cheaper and cheaper, and now there have been 32-bit microprocessors of 1-2 US dollars on the market. Cost-effective microprocessors bring new development opportunities for robot controllers, making it possible to develop low-cost, high-function robot controllers. In order to make the system have sufficient computing and storage capabilities, the robot controller is now composed of strong ARM series, DSP series, POWERPC series, Intel series and other chips.
Because the function and function of the existing general-purpose chip can not fully meet the requirements of some robot systems in terms of price, function, integration and interface, etc., this has given rise to the demand for SoC (Systemon Chip) skills of robot systems, and the integration of specific processors and required interfaces can simplify the design of system peripheral circuits, reduce system size, and reduce low cost. For example, Actel integrates NEOS or ARM7 processor cores into its FPGA products to form a complete SoC system. In terms of robot technology controllers, its research mainly converges in United States and Japan, and there are mature finished products, such as United States DELTATAU Co., Ltd., Japan Pengli Co., Ltd., etc. Its motion controller is based on DSP technology and adopts an open PC-based architecture.
Perception system
It is a combination of an internal sensor module and an external sensor module that acquires meaningful information about the state of the internal and external environment.
Internal sensors: Sensors used to detect the state of the robot itself (such as the angle between arms), mostly sensors that detect position and angle. Specifically: position sensor, position sensor, angle sensor, etc.
External sensor: A sensor used to detect the environment (e.g., detecting an object, the distance from an object) and the condition (e.g., detecting whether a grasped object has slipped). Specifically, there are distance sensors, vision sensors, force sensors, etc.
The use of intelligent sensing systems improves the standard of mobility, practicality and intelligence of robots, and human perception systems are robotic dexterous to external world information, however, for some licensed information, sensors are more effective than human systems.
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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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Yaskawa Robotics – How does the Robot Perception System work?
The robot perception system transforms various internal state information and environmental information of the robot from signals to data and information that can be understood and applied by the robot itself or between robots, in addition to the need to perceive mechanical quantities related to its own working state, such as displacement, velocity, acceleration, force and force.
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Yaskawa escorts new energy with ultra-fine technology to create a 95kw motor
When it comes to electric motors, many people feel that they are more ambiguous, in fact, with the beginning of the entire automobile industry to the new energy technology level, this year in China will produce an annual output of two million new energy vehicles of a great business scale, but although the current policy and development trend of the natural environment ...
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Yaskawa servo motor - ten common faults and troubleshooting methods of servo motors
1. Motor encoder alarm
1. The cause of the failure
(1) Wrong wiring;
(2) electromagnetic interference;
(3) Encoder hardware damage caused by mechanical vibration;
(4) Pollution caused by the on-site environment;
2. Troubleshooting
(1) Check the wiring and eliminate the error ...
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Yaskawa Robotics School Origin Steps
1. Yaskawa robot teach pendant key switch to manual Teach mode - main menu - system information - security mode
2. Management mode - password - 999999999
3. Robot - Origin location
4. Open the door of the robot control cabinet and there is a mechanical prototype with 6 axes of the robot on the side.
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Yaskawa servo drive debugging method
Some methods when debugging Yaskawa servo drives
In the Yaskawa servo system under low rigidity (1-4) load, the inertia ratio is very important, from the perspective of the synchronous belt structure, the stiffness is about 1-2 (or even less than 1), at this time, the inertia ratio can not be automatically tuned, it must be ...
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Yaskawa inverter – the future of high-voltage inverters
1. High-voltage inverter will develop in the direction of high power, miniaturization and lightweight.
2. The high-voltage inverter will develop in the direction of direct device high voltage and multiple superposition (device series and unit series).
3. New power semiconductors with higher voltage and higher current ...
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Yaskawa MOTOMAN servo drive fault repair case summary (3-4)
3. When the oscilloscope checks the current monitoring output of the driver, it is found that it is all noise and cannot be read;
Cause of failure: The current monitoring output is not isolated from the AC power supply (transformer).
Solution: It can be detected and observed with a DC voltmeter.
4、LE ...
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How to set the parameters of Yaskawa H1000 inverter multi-stage speed?
Yaskawa H1000 inverter parameter model setting steps:
Yaskawa H1000 hoisting using debugging steps (with PG ) No. Name Optimal value
A 1-02 Control Mode Selection 3: With PG Vector Control
A 1-03 Initialization 2220: 2 Wire Initialization
A ...
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Fault codes for Yaskawa servo drives
1. If the fault code on the Yaskawa servo drive is UV1, it means that the low voltage of the main circuit is lower than the low voltage standard of 200V, at this time, we need to check whether there is a problem with the wiring of the power supply;
2. If the ...
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How to replace the bearing of Yaskawa servo motor?
1. Preparation before servo motor bearing replacement
1. Take the servo motor off the device position and make it in a state that is easy to operate in the working environment;
2. Touch the bearing by hand to determine whether it has been damaged or worn;
3. According to the requirements of the manufacturer, early ...
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A brief introduction to Yaskawa teach pendant programming
The display of the teach-in programmer is a 5.7-inch color display. The available characters are English letters, numbers, symbols, katakana, hiragana, and kanji. In addition, when entering Japanese, you can also convert it to kana kanji by entering romaji.
Rotate [REMOTE] to enter the remote ...
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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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Precautions for the use of Yaskawa industrial robots
1. Before starting the machine, make sure that there is no one and no debris within the action range of the body, and check whether the control box is connected correctly with the body and other equipment
2. Check that the power supply matches the power supply required by the robot
3. Check the individual emergency stop and pause buttons to make sure they are functioning effectively
4. Ontology ...
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Yaskawa made its debut at the AMB - Robotics Innovation Trade Fair
As a long-standing and reliable supplier of automated metalworking solutions, Yaskawa will be exhibiting at AMB for the first time. Possible applications for the company's Motoman robots include tool handling, machining and stacking workpieces, and machine loading. At booth 6D50 in Hall 6, ...
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Yaskawa inverter - a failure prevention method for high-voltage inverters
It is composed of several parts, such as the main circuit, the power supply circuit, the IPM drive and protection circuit, and the cooling fan. Its structure is mostly in the form of units or modulars. Due to the incorrect use method or unreasonable setting environment, it will easily cause the inverter to malfunction and malfunction, or can not meet the expected ...
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Causes and solutions of Yaskawa servo drive fault code R10
1. The acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant.
2. The torque limit value set by the controller is too small. Increase the torque limit value.
3. The motor cannot start due to the insufficient torque caused by the drop in power supply voltage.
4. Check the power capacity.
...
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Summary of Yaskawa MOTOMAN Servo Drive Fault Repair Cases (5-7)
5. After powering on, the LED light of the driver does not light up;
Cause of failure: The power supply voltage is too low, less than the minimum voltage value requirement.
Solution: Check and increase the supply voltage.
6. When the motor rotates, the LED light flashes;
(1) Cause of failure: HALL phase ...
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Introduction to the instructions of Yaskawa G7 inverter
Common faults in the instructions of Yaskawa G7 inverter
Overcurrent (OCOvercurrent)
Note: The output current of the inverter exceeds the overcurrent detection value.
Common Causes:
Short circuit, grounding on the output side of the converter (motor burnout, poor insulation, damaged cables...)
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The correct connection method for Yaskawa robot anti-collision sensors
In order to realize the anti-collision function of Yaskawa robots, there are two ways to connect external sensors, which are described below; In addition, how to dismiss alarms will be described in this article.
01. Directly connect to an external collision sensor
1. The machine in the door of the control cabinet ...
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