Uyiqalisa njani iRobotic Arm Trough Plc?

Ukuseta ingalo yerobhothi nge-PLC kusenokuvakala kuyinkimbinkimbi, kodwa kulula kunokuba ucinga. Ukususela ekucwangciseni iidilesi ze-IP ukuya ekudibaniseni ii-inputs zedijithali kunye neziphumo, inyathelo ngalinye lidlala indima ekudaleni ulawulo olungenamthungo. Ngaba ukulungele ukuhlola indlela yokwenza ingalo yakho yerobhothi iphendule ngokungenamthungo kwimiyalelo yakho? Qhubeka ufunda!

Ukuseta i-Hardware ye-Robot kunye noLungiselelo

Ukuseta iNethiwekhi

• Qinisekisa ukuba ingalo yerobhothi kunye ne-PLC ziqhagamshelwe kwinethiwekhi efanayo. Sebenzisa i-router engenacingo ukuba ingalo yerobhothi ixhasa i-Wi-Fi kwaye i-PLC isebenzisa i-Ethernet.
• Yabela idilesi ye-IP engatshintshiyo kwi-PLC ngokusebenzisa izicwangciso ze-router okanye umlawuli wenethiwekhi. Nciphisa uluhlu lweDHCP ukukhusela iidilesi ezimileyo.

Uqwalaselo lwe-Robotic Arm Wi-Fi

• Qhagamshela ingalo yerobhothi kwiPC nge-USB. Vula i-App Configure, khetha i-USB njengemo yonxibelelwano, kwaye ucofe "Yiya" ukuseta i-Wi-Fi.
• Sebenzisa i-Robot Arm V2 Control Apps ukuqinisekisa ukuba ingalo yerobhothi ikwinethiwekhi efanayo nePLC.

Isabelo sedilesi yeIP yePLC

• Vula isakhelo seprojekthi kwi-Siemens TIA Portal. Kumthi weZixhobo, fumana i-PLC, khetha kwi-Intanethi kunye nokuxilongwa, kwaye uskene i-PLC usebenzisa iZixhobo eziFikelelekayo ukhetho.
• Yabela idilesi ye-IP kwi-PLC kwaye uqinisekise uqhagamshelwano usebenzisa i-Flash LED ukhetho ukuchonga isixhobo esichanekileyo.

Uqwalaselo lweDigital I/O

• Yabela i-rack, i-slot, kunye namanani etshaneli kwi-Input / Output (I/O) amanqaku. Umzekelo, imephu yekhadi lokufaka le-16-channel kunye ne-16-channel ye-output card kwi-rack slots ezithile.
• Qhagamshela amagalelo edijithali ePLC kwi ingalo yerobhothiiziphumo zedijithali, kwaye ngokuphendululekileyo. Vavanya useto ngokuguqula amasuntswana emveliso yePLC ngelixa ujonge iphepha le-pendant's fundisa iNgeniso yeDijithali (DI).

Unxibelelwano lwe-Ethernet / IP

• Qwalasela unxibelelwano lwe-Ethernet/IP phakathi kwePLC kunye nerobhothi. Kwirobhothi ye-FANUC kunye ne-Rockwell PLC, yiya kwiphepha lokuseta unxibelelwano lomninimzi, setha idilesi ye-IP, kwaye uqalise uxhulumaniso. Qinisekisa ukuba iinkcukacha zomzekelo wendibano ziyahambelana (umz., Igalelo: 101, Imveliso: 151, Ubumbeko: 100).

Ukuqinisekisa kunye noVavanyo

• Sebenzisa umyalelo we-PING ukujonga uxhulumaniso phakathi kwe-PLC kunye nengalo yerobhothi.
• Qalisa kwakhona isilawuli sengalo yerobhothi kwaye uqinisekise ukusebenza kwe-I/O kwiphepha lokuJonga ngokuvavanya igalelo kunye nemisebenzi yemveliso.

Ubonelelo lwaMandla kunye noKhuseleko lweArm yeRobhothi

• Qinisekisa unikezelo lwamandla oluzinzileyo kwi-PLC kunye nengalo yerobhothi ngaphandle kokuguquguquka kwamandla ombane.
• Ukuphumeza amanyathelo okhuseleko, kubandakanywa amaqhosha okumisa okungxamisekileyo, i-interlocks yokhuseleko, kunye namakhethini okukhanya, ukuqinisekisa ukusebenza okukhuselekileyo.

Inkqubo yeRobhothi yeArm kunye neNgqiqo

Ukuqonda iiLwimi zoCwangciso lwePLC

Inkqubo ye-PLC ye- robotics arm idla ngokusebenzisa i-ladder logic , i-function block diagrams , kunye nesicatshulwa esicwangcisiweyo . Ezi lwimi zinceda abaqulunqi beenkqubo ukuchaza ngokufanelekileyo indlela esebenza ngayo i-robotic arm.

ILadder Logic Basics yeRobot Arm

• Ingqiqo yeleli isekelwe kumasango logic yedijithali ezifana AND, OR, yaye NOT:
  • KUNYE neSango: Omabini amagalelo kufuneka asebenze ukuze imveliso isebenze.
  • OKANYE Isango: Isebenzisa amasebe ukwenza imveliso isebenze ukuba naliphi na igalelo liyasebenza.

Umjikelo wokuSkena weNkqubo

• Kwi Inkqubo Scan Cycle, i-PLC iqhuba ngokuqhubekayo la manyathelo:
  1. Ufunda amagalelo.
  2. Iqhuba ingqiqo yeleli.
  3. Uhlaziyo iziphumo.
• Ixesha lokuskena lihlala lisuka kwi-1 ukuya kwi-20 milliseconds, kuxhomekeke kwisantya somprosesa kunye nobukhulu beprogram.

Ukuqhagamshela i-PLC kwi-Robotic Arm I/O Devices

I-PLC inxibelelana nengalo yerobhothi igalelo/imveliso (I/O) izixhobo, ezifana nabenzi boluvo, ii-activators, iimotor, kunye namaqhosha okutyhala.
– Umzekelo: Kwi-pick-and-place ringalo ye-obotic, izinzwa kunye namaqhosha akhokela iintshukumo zengalo.

Ukucwangcisa kwiindlela ezahlukeneyo zokuSebenza

Iinkqubo kufuneka zixhase iindlela ezahlukeneyo, ezinje:
- Ulawulo lweManqaku: Igalelo lomsebenzisi ngqo.
- Umsebenzi oZenzekelayo: Iintshukumo ezisekwe kwingqiqo echazwe kwangaphambili.
- Umzekelo: Ingalo yerobhothi yokuchola kunye nendawo inokuhambisa izinto ukusuka kwibhanti yokuhambisa ukuya kwiindawo ezithile.

I-Input Logic kunye noTshintsho lwe-Robot Arm

• Ngesiqhelo Vula (NO) Iiswitshi: Imveliso ye-0V xa ingasebenzi kunye ne-24V xa ivuliwe.
• Ngokuqhelekileyo kuvalwe (NC) Iiswitshi: Sebenza ngokuchaseneyo, uhlale uvaliwe xa ungenzi nto.

IiProthokholi zoNxibelelwano zoManyano

Unxibelelwano olusebenzayo phakathi kwePLC kunye nengalo yerobhothi isebenzisa imigaqo efana nale:
- I-Ethernet / IP
- Imodbus TCP
- Inzuzo
Ezi protocol zivumela ulawulo oluchanekileyo kunye nokudibanisa okugudileyo.

Ukusebenza noLawulo lwezixhobo zeRobhothi

Ulwamkelo loMqondiso kunye noLungiselelo

• I-PLC iqokelela igalelo kwi-sensor ezinjengendawo, amandla, kunye nezinzwa zobushushu. La magalelo abonelela ngedatha yexesha lokwenyani kwimeko yengalo yerobhothi.
• Ii-algorithms ezinengqondo ziqhuba imiqondiso ukuqonda ngokuchanekileyo i ingalo yerobhothiiindawo zangoku nezifunwayo.

IsiZukulwana soMqondiso wemveliso

• Idatha esetyenzisiweyo yenza ukuba i-PLC yenze iimpawu ezichanekileyo zemveliso. Ezi zixhobo zokulawula iimpawu ezifana neenjini kunye neesilinda, ziqinisekisa ukuba ingalo yerobhothi isebenza ngokuchanekileyo.
• Le miqondiso ithunyelwa kwisandla serobhothi, ivumela ukuba yenze imisebenzi ecwangcisiweyo ngokufanelekileyo.

Iindlela zokuSebenza kweArm yeRobhothi

Imoji Yemoto

• Kwimodi ye-auto, ingalo yerobhothi isebenza ngokuzimeleyo, ilandela imiyalelo ebekwe ngaphambili. Yenza imisebenzi ngaphandle kokufakwa ngesandla.

Indlela yesandla

• Kwimo yesandla, abaqhubi balawula ingalo besebenzisa amaqhosha okutyhala kunye nokutshintsha kweDPDT. Ukutshintsha komda kuthintela ingalo ukuba ingagqithisi imida yentshukumo echazwe ngaphambili, ikhusela inkqubo kumonakalo.

IiNdlela zoLawulo lweRobhothi yeArm

• IiRelays kunye neeMotor: Iireyilayi zilawula iintshukumo zengalo, njengokuya phezulu, ezantsi, ekhohlo, okanye ekunene.
• Igalelo lokungenisa / imveliso: Izibuko zongeniso zibamba iintshukumo ezifana nokuqala, ukumisa, nomhlathi uvule/uvale, ngelixa izibuko zemveliso zilawula ngokuthe ngqo imisebenzi yeemoto kunye nezinye iinkqubo zerobhothi.

Ukudityaniswa kweNkqubo kunye nee-Algorithms eziPhezulu

• I-PLC isebenza ngaphandle komthungo kunye nezixhobo ezifana namabhanti okuhambisa kunye noomatshini abancedisayo ukufezekisa imveliso.
• I-algorithms ephezulu, esekelwe kwisikhundla kunye nemifanekiso, iqinisekisa ukucwangciswa kwendlela echanekileyo, ukuphepha umqobo, kunye nokulawula ukunyakaza okuhamba kakuhle-isitshixo sokusebenza okuphezulu.

Ukubek' iliso kunye neNdibaniselwano yomsebenzisi

• I-Human Machine Interface (HMI) yenza lula ulawulo lwenkqubo. Ibandakanya iimpawu ezifana nee-alam, ukurekhoda iimpazamo, kunye nokubeka iliso kwidatha ukuphucula ulawulo kunye nokusebenza kakuhle.

Ubonelelo lwaMandla kunye nokuXhuma kweArm yeRobhothi

Ukwabelwana ngokuFakwa

Ukuqinisekisa ukusebenza kakuhle nokuphepha iingxaki ze-voltage, qhagamshela i-0V/GND yengalo yerobhothi kunye ne-PLC. Ukwabelana ngomhlaba omnye kudala uqhagamshelo oluzinzileyo.

Ukunikezelwa kwamandla angaphandle

Ukuba ingalo yerobhothi okanye unikezelo lwangaphakathi lwe-PLC alwanelanga, sebenzisa umbane wangaphandle oyi-24V. Umzekelo, abalawuli beRobhothi beHlabathi bayaluxhasa olu khetho. Unikezelo lwamandla lwangaphandle lunokwenza amandla amanye amacandelo afana ne-PLCs kunye ne-solenoids.

Ulawulo lwangoku

Qinisekisa ukuba umbane unokuxhasa itotali yangoku efunwa ngawo onke amacandelo. Xa ulawula i-solenoids, qinisekisa ukuba i-cable gauge ihambelana neemfuno zangoku.

Ukwahlulwa kocingo lweRobhothi yeArm

Gcina amandla kunye neengcingo zesignali zahlukeneyo ukunciphisa ukuphazamiseka. Jija iingcingo zamandla kunye ukuthoba ukuphazamiseka kwe-electromagnetic (EMI) kunye nokuphucula umgangatho womqondiso.

Digital I/O Connections

Qhagamshela iziphumo zedijithali ze-PLC kwiingeniso zedijithali zengalo yerobhothi , uqinisekise ukuba zombini izixhobo zabelana nge-0V/GND efanayo. Oku kuvumela unxibelelwano olungenamthungo.

Uqwalaselo lweModbus

Sebenzisa i-modbus protocol kunxibelelwano olusebenzayo. Inciphisa iingcingo zomzimba ngokuvumela izixhobo ezininzi ukuba ziqhagamshelane nenethiwekhi enye.

I-Robot Arm yokuNxibelela kwiNgxaki yokuMisa

Faka umatshini wokumisa unxunguphalo usebenzisa i-relay okanye i-contactor. Le nkqubo inokunqumla amandla kubalawuli beemoto ngexesha likaxakeka, ukuphucula ukhuseleko.

I-Fuses kunye ne-Circuit Breakers

Khusela inkqubo kwi-overcurrent ngokusebenzisa i-fuses okanye ii-circuit breakers ezireyithwe kwiimfuno zangoku zesixokelelwano sakho.

Ukuqhagamshela iqhosha lokucofa

Ukuseta iqhosha lokutyhala lokuqalisa inkqubo: 1. Qhagamshela ucingo olusuka kwi-terminal ye +24V kwibhloko yokufakwa kwedijithali kuqhagamshelwano lweqhosha. 2. Qhagamshela olunye ucingo olusuka komnye umfowunelwa weqhosha ukuya kwitheminali ye-DI0.

Ukuqhagamshela isibane seSalathi

Ukuqhagamshela isibane sesalathisi: 1. Dibanisa i-terminal ye-0V yeziphumo zedijithali kwisibane esinegethivu (0V) sesibane. 2. Qhagamshela i-terminal ye-DO4 kwi-positive yesibane (+24VDC).

Ukulandela ezi zikhokelo kuqinisekisa ukuseta iingcingo ezikhuselekileyo, ezithembekileyo, nezisebenzayo kwingalo yerobhothi elawulwa yiPLC.

Ulungelelwaniso oluKhethekileyo lwePLC lweArm yeRobhothi

Ukulawula ingalo yerobhothi usebenzisa iProgrammable Logic Controller (PLC), ukuseta ngokufanelekileyo kubalulekile. Nantsi inkcazelo ecacileyo:

Igalelo leMaphu/Isiphumo (I/O) Uqhagamshelwano

• Qwalasela i-PLC ukwenza imaphu yoqhagamshelo lwedijithali lwe-I/O kwingalo yerobhothi.
• Umzekelo: I-Allen-Bradley MicroLogix 1100 PLC idibanisa ngebhasi yedijithali ye-I/O.

Ukusebenzisa iNgcaciso yoLawulo lweRobhothi yeArm

• Sebenzisa iinkqubo zokuqiqa ngeleli ukulawula iintshukumo zengalo yerobhothi.
• Ezi nkqubo zilawula phezulu/ezantsi kunye nezindululo zasekhohlo/ekunene kunye nokuhanjiswa kunye nokutshintsha umda.

Ukukhetha iMowudi: Incwadana kunye ne-Automatic

• Tshintshela phakathi kweemowudi zemanuwali kunye nezizenzekelayo usebenzisa iiswitshi ezimiselweyo kwinkqubo yePLC.
• Izitshixo ezivaliweyo ngokuqhelekileyo zenza imowudi itshintshe ngokuthe ngqo.

Ukuma okuchanekileyo kunye neePotentiometers

• Iipotentiometers kumalungu engalo zibonelela ngengxelo yokuma okuchanekileyo.
• Umzekelo: I- +10Vdc engaguqukiyo esetyenziswa kwi-potentiometer nganye ibonelela ngengxelo yombane we-analog, iguqulelwe kwidijithali yi-PLC.

ULawulo lweMoto yeRobhothi yeArm ngokusebenzisa iiRelays

• Ugqithiso lulawula i ingalo yerobhothi's iintshukumo motor.
• Umzekelo: Iireyilayi ezimbini zilawula intshukumo phezulu/ezantsi, ngelixa ezinye ezimbini zilawula intshukumo yasekhohlo/ekunene ngeemotho ze-12V.

Ukudityaniswa koTshintsho loMda

• Ukutshintsha okulinganiselweyo kuqinisekisa ukuba ingalo yerobhothi ihlala ngaphakathi kwemida ekhuselekileyo.
• I-PLC imisa i-motor xa ingalo ifikelela kwizikhundla ezichazwe kwangaphambili ngokusekelwe kwimpendulo.

Unxibelelwano kunye noLungiselelo oluPhezulu

• Ii-PLC zinxibelelana neengalo zerobhothi nge-Ethernet okanye uqhagamshelo lwedijithali lwe-I/O.
• Umzekelo: I-robot ye-Fanuc LR Mate 200iD idibanisa kwi-Allen-Bradley MicroLogix 1100 PLC isebenzisa i-digital I/O ukuba i-Ethernet ayifumaneki.

Izenzo zokuqalisa eziSekwe kwiMiqondiso yeNgeniso

• Iinkqubo ze-PLC zibangela iintshukumo zengalo zerobhothi ezisekelwe kwiimpawu zegalelo.
• Umzekelo: Isixokelelwano sombono sibhaqa inxalenye, ivule inkqubo “yenxalenye elungileyo” yokuhambisa ingalo. Inkqubo iphinda imisele emva kokuba isenzo sigqityiwe.

Ngokuziqhelanisa nezi nyathelo zokuseta nokudibanisa, uvula amandla apheleleyo eengalo zerobhothi ezilawulwa yi-PLC . Ngokucwangciswa ngokuchanekileyo kunye noqwalaselo olucokisekileyo, ukuzenzekela okungenamthungo kuba yinyani, okunika amandla iiprojekthi zakho ukuba zifezekise ukusebenza kakuhle, ukuchaneka, kunye nokuthembeka. Ukuze ufumane iinkcukacha ezithe vetshe okanye ukufumana ikowuteshini, nxibelelana nathi namhlanje!