Galil_ca_技术参考案例.pdfGalil_ca_技术参考案例pdf,Galil_ca_技术参

文件名称: Galil_ca_技术参考案例.pdf

所属分类: 其它

开发工具:

文件大小: 140kb

下载次数: 0

上传时间: 2019-10-14

提供者: weixin_********

下载 (140kb)

不能下载？报告错误

详细说明：Galil_ca_技术参考案例pdf,Galil_ca_技术参考案例Technical reference Application Examples Rotating Knife Example--Rotating Knife A rotating knife system, illustrated at the right, is used to cut webs of INSTRUCTION INTERPRETATION paper or plastics to a given length. The web moves independently # CAM label and the knife is synchronized so the blade moves at the same linear EAX Define x axis as master speed as the web during the cutting interval. When the cutting is EM16000,10000 Table cycle completed, the knife is advanced or retarded in a manner that pro EP10000 Create eCam table duces the required cut length ET[0]=00;ET[1]=1000500 The method illustrated here applies with slight modifications to ET[2]=20001000ET[3]=30001500 printing on moving webs or applying labels ET[4]=40002000ET[5]=5000,2531 ET[6]=60003125;ET[T]=7000,3781 Requirements ET[8]=80004500ET[]=90005250 Web speed: Zero to 120 inches per second, independent ET[10]=100006000ET[11]=110006750 motion(master) ET[12]=120007500;ET[1]=130008219 Knife circumference: diameter)=20 inch ET[4]=140008875;:ET15=150009469 Required cut length: 16 to 40 inches, programmable ET[16]=16000,1000 Resolution of web encoder: 1000 counts/inch DP 0.0 Define starting points Resolution of knife. 10000 counts/rey or 500 counts/inch EB 1 Activate CAM Required accuracy: 0.005 inch noncumulative error EG O Engage CAM he knife is driven by a motor and an external amplifier. JG5000 BGX An additional encoder senses the position of the moving web EN End program eration Suppose that the required cut length is 16 inches. This implies that Rotating Knife system the knife must perform one revolution for every 16-inch move of the web In addition while the knife is in contact with the web its blade must move at the same linear velocity as the web. Suppose, for example, the knife and web must move in synchronization over 4 inches of travel. This implies that over the remainder of the cycle the web moves 12 inches and the blade moves 16 inches this indicates Required motion Profile that the speed ratio varies over each cycle as shown in the top graph of the motion figure. The corresponding position of the knife is described by the bottom figure. Such a relationship between master position(web )and slave position (knife)is known as electronic cam To construct the table note that the motion consists of four intervals Interva Web Motion knife motion ratio 4000 2000 Constant 4000 2500 Varies 4000 3000 Constant 2500 Varies The above intervals are applied using Galils ECAM program which generates the table To reduce the program length the table size has been reduced to 16 points only To operate the system, the knife is driven to the starting point of the cutting interval and the program is executed 20Www.galilmc.com/GalilMotionControlInc Technical reference Application Examples Web tension control The two programs are executed simultaneously by multitasking Web processing applications often require tension control. In the The load cell signal is applied to the analog input #1 and the most demanding case, the web is pulled by an independent required sensor level is 4 V. accordingly the difference e between the process which may be continuous or start/stop. The web tension is sensor output and 4 is the error in tension the motor is required to sensed by a load cell. The requirement is to supply the web from a jog at a speed that is equal to 20 times E feed roll under constant tension. The same process applies to wind Example-Web Tension Control ing the web on a take-up roll under constant or variable tension Requirements INSTRUCTION INTERPRETATION Speed of master: 0-20 inches/sec, start/stop #INITIAL Label G=0 Define G Master encoder resolution 400 counts/in GAY Set y as master Feed roll diameter 35-16 inches GRG Initial gear ratio Feed roll encoder resolution: 10,000 counts/rev JGO Initialjog speed Load sensor output: 0-10V for 0-20 0Z BGX Begin motion XP= TPX Tension accuracy:±050 Read initial X position YP= TPY Read initial y position 〔 omponents selected XQ#TRIM, DMC-2720. Controller #GEAR ICM-2900: Interconnect module Y= TPY Read new y X= TPX Read new x /SDK: Servo design software JP #GEAR, Y=YP Repeat if no y motion peration DX=X- XP Compute x increment The length of the web pulled by the master process is monitored DY=Y-YP Compute y increment by an encoder with a resolution of 400 counts/in. The feed roll is XP=X Update x position YP=Y Update y position driven by a motor with a tachometer and an encoder of 10,000 RATIO= DX/DY Ratio of increments counts/rev. The motor is driven by an external amplifier. Due to the G=( 7+RATIO)8 EStimate gear heavy inertial load, the amplifier is configured in velocity mode for GRG Update gear added stability UP#GEAR Repeat cycle The feed- roll motion is divided into two parts coarse and fine motion. The coarse motion is achieved by gearing the feed roll to #TRIM Label Tension error the master process and continuously estimating the gear ratio E=AN1]-4 JGE*20 Fine jog speed (which is necessary because the feed radius changes). This mode UP #TRIM Repeat performs most of the required motion but not all of it because the EN End program ratio is not known precisely The fine motion consists of corrective moves superimposed on the electronic gearing signal. The errors in tension are monitored and the motor is driven to the correct speed It is assumed that the initial gear value g is known The initial value can be computed or measured directly. The gear ratio may be continuously estimated by determining the ratio of the frequencies of the two encoders and filtering that ratio In the following program, the feed-roll motor is controlled by the X axis and the master is monitored by the y axis. The program con- sists of two parts: GEAR which estimates the gear ratio then per forms the coarse move and #tRIM which performs the fine move. Note: This program does not control the y axis www.galilmc.com/GalilMotionControlInc.21

(系统自动生成,下载前可以参看下载内容)