Ingabe ukusebenza kwerobhothi lomshini wokubumba i-servo one-axis ezintathu kuyawohloka?

Ingabe ukusebenza kwe-servo enezingqimba ezintathu Umshini Wokubumba Umjovo irobhothi elihlazisayo?

Emgqeni wokukhiqiza ubumba olufakwe umjovo, irobhothi lomshini wokubumba i-servo injection one-axis ezintathu iyithuluzi eliyinhloko elixhumanisa ukuvulwa nokuvalwa kwesikhunta, ukubekwa komkhiqizo, kanye nokudluliselwa. Ukuqina kokusebenza kwalo kunquma ngqo ukusebenza kahle komkhiqizo, izinga lokufaneleka komkhiqizo, kanye nesikhathi sokuphila kwemishini. Lapho irobhothi libhekana nezinkinga zokusebenza njengokuphambuka kokunemba kokubeka, isivinini esisheshayo, umthamo womthwalo oncishisiwe, noma ukubambezeleka kokunyakaza, ukwehluleka ukuthola ngokushesha imbangela eyinhloko akugcini nje ngokubangela ukungasebenzi komugqa wokukhiqiza kodwa futhi kuholele ekulimaleni kwesibili ezingxenyeni ngenxa yokulungiswa okungenangqondo. Lesi sihloko sizohlinzeka ngesisombululo sokuhlola imbangela yamaphutha esihlelekile kusuka emibonweni emine: ukuhlonza isignali okungavamile → ukuxazulula inkinga ngemojuli → ukuqinisekiswa kwamaphutha → ukulungiswa kokuvimbela, ukusiza ochwepheshe ukuxazulula izinkinga ngempumelelo.

1. Ukuxilongwa Kwasekuqaleni Kokungasebenzi Kahle: Okokuqala "Thatha Isignali" Bese "Khiya Ububanzi"

Ngaphambi kokuqala ukuxazulula izinkinga, kubalulekile ukuhlonza izimpawu ezithile zokuwohloka kokusebenza ngokubuka nokuqoqwa kwedatha ukuze ugweme ukuchitha isikhathi ngokwenza ukuxazulula izinkinga ngokungakhethi. Okulandelayo yizimpawu ezivamile zokusebenza okungafani kanye nezindawo zokuqala zokuxilonga ezihambisanayo:

1. Ukuhlukaniswa Kwesignali Yokusebenza Okungavamile Kokusebenza Okuyinhloko

Ukuphambuka Kokunemba Kokubeka: Irobhothi liyaphambuka endaweni eliqondiwe kuyo lapho libamba umkhiqizo, lehluleke ukuhambisana kahle nebhande lokuhambisa lapho liwubeka, noma iphutha lokuphindaphinda lidlula inani elicacisiwe encwadini yemiyalelo yemishini (ngokuvamile, ukunemba kokuphindaphinda kwe-servo enezingqimba ezintathu Irobhothi Skufanele kube ngu-≤±0.1mm). Izinsolo zokuqala: Ukukhukhuleka kwepharamitha yesistimu ye-Servo, ukuguguleka komshini, kanye nokuphazamiseka kwesignali ye-encoder.

Ukunciphisa Isivinini Sokusebenza: Uma irobhothi lilayishiwe noma lilayishiwe, isivinini sangempela se-axis ngayinye (i-X-axis evundlile, i-Y-axis evundlile, kanye ne-Z-axis evundlile) siphansi kunenani elibekiwe, futhi kuba nokuma ngesikhathi sokusheshisa/ukunciphisa ijubane. Izinsolo zokuqala: Umkhawulo wamanje we-Servo drive, ukulahlekelwa amandla enjini, noma ukumelana nomthwalo okwandisiwe.

Umthamo Womthwalo Oncishisiwe: Umkhiqizo obungabanjwa ngaphambilini ngokujwayelekile (isb., ingxenye ebunjiwe ngomjovo engu-5kg) uyehla ngemva kokubamba, noma i-alamu yokulayisha ngokweqile ivuselelwa ngesikhathi sokusebenza ngenxa yomthwalo owedlulele. Izinsolo zokuqala: I-torque enganele ye-servo motor, ukushelela kokudlulisela, noma ingcindezi enganele ohlelweni olusizayo lwe-pneumatic/hydraulic (uma kufakiwe i-pneumatic gripper). Ukulibaziseka Kwempendulo Yesenzo: Ngemva kokuba iphaneli yomqhubi ikhiphe umyalo, irobhothi lithatha imizuzwana eyi-1-3 ukwenza isenzo, noma kuba nokuma okubonakalayo lapho kushintshana phakathi kwezenzo. Izinsolo zokuqala: Ukulibaziseka kokuxhumana kohlelo lokulawula, ukulibaziseka kwesignali yenzwa, kanye nemingcele yokuzuza kwe-servo engafanele.

2. Ukuqoqwa Nokuqhathanisa Idatha Eyinhloko
Ukuhlola okubonakalayo kukodwa akukwazi ukuthola inkinga ngokunembile; ukuqhathanisa idatha kuyadingeka ukuze kuncishiswe ububanzi bamaphutha:

Qopha amapharamitha okusebenza wamanje: Sebenzisa uhlelo lokulawula irobhothi (njengesikrini sokuthinta se-PLC noma iphaneli yedrayivu ye-servo) ukuze ufunde idatha efana nesivinini sokusebenza, ukuphambuka kwesikhundla, ugesi wemoto, kanye nokukhishwa kwe-torque ye-axis ngayinye. Qhathanisa lokhu namapharamitha ngesikhathi sokusebenza okuvamile (bheka incwadi yesandla yedivayisi noma amarekhodi okusebenza omlando). Gxila ezinkombeni ezifana "nogesi ophezulu ngokungavamile," "ukuphambuka kwesikhundla kudlula umkhawulo," kanye "nokushintshashintsha kwe-torque ngokweqile."

Izimo zezibalo zokubangela amaphutha: Qopha ukuthi ukuwohloka kokusebenza kuhlotshaniswa nezimo ezithile, njengokuthi "ukuphambuka kwenzeka kuphela ngaphansi komthwalo," "isivinini siyehla ngemva kwehora eli-1 lokusebenza," kanye "nokwehluleka okuvamile kwenzeka lapho izinga lokushisa elizungezile likhuphuka." Lezi zimo zingasiza ekususeni izici ezingahlobene (njengomthelela wokushisa okuzungezile kanye nomswakama ezingxenyeni zikagesi).

2. Ukuxazulula Izinkinga Nge-Module Ejulile: Kusukela "Kuzingxenye Eziyinhloko" Kuya "Kuzinhlelo Ezisizayo"

Ukusebenza kwerobhothi lomshini wokubumba i-servo one-axis ezintathu kuncike ekusebenzeni okuhlelekile "kwesistimu ye-servo → isakhiwo semishini → uhlelo lokulawula → izinhlelo ezisizayo." Ukuxazulula izinkinga kudinga ukuhlukaniswa kwemojuli ngemojuli, kuqinisekiswa ubuqotho bokusebenza kwesixhumanisi ngasinye ngasinye.

A. Umthombo wamandla oyinhloko: Ukuxazulula izinkinga zesistimu ye-Servo (okubangela izinkinga zokusebenza ezingaphezu kuka-60%)

Uhlelo lwe-servo "luyinhliziyo yamandla" yerobhothi, equkethe izingxenye ezintathu: i-servo motor, i-servo drive, kanye ne-encoder. Noma yikuphi ukungahambi kahle kunoma iyiphi ingxenye kuzoholela ngqo ekuwohlokeni kokusebenza. Ukuxazulula izinkinga kufanele kulandele umqondo othi "kusuka kudrayivu kuya ku-motor, kusuka kusignali kuya kuhadiwe": (1) I-Servo drive: qala uhlole "ikhodi ye-alamu" bese uqinisekisa "ukulungiselelwa kwepharamitha"

Isinyathelo 1: Funda ikhodi ye-alamu: Iphaneli yedrayivu ye-servo izobonisa ikhodi yephutha (njenge-"AL.E6" yochungechunge lwe-Mitsubishi MR-J4 imele ukwehluleka kwe-encoder, kanti i-"Err.11" yochungechunge lwe-Panasonic A6 imele i-overcurrent). Izinkinga eziyisisekelo (njenge-overvoltage, i-overcurrent, i-overheating, kanye nokungajwayelekile kokuxhumana kwe-encoder) zingatholakala ngokuqhathanisa nencwadi yemiyalelo yemishini.​

Isinyathelo 2: Hlola amapharamitha ayisihluthulelo: Uma kungekho makhodi e-alamu kodwa ukusebenza kwawo kwehla, gxila kumapharamitha alandelayo:

Ukwanda kwe-loop yesikhundla (P Gain) kanye nokwanda kwe-loop yesivinini (V Gain): Ukwanda okuphansi kakhulu kuzoholela ekuphenduleni okuhamba kancane kokuma kanye nokuphambuka okukhulu; ukwanda okuphezulu kakhulu kungabangela ukudlidliza. Lungisa kahle ngokwezindinganiso ezinconyiwe encwadini yemiyalelo yedivayisi (ngokuvamile lungisa i-loop yesivinini kuqala, bese kuba yi-loop yesikhundla).

Isilinganiso segiya kagesi: Ukuhlelwa kwesilinganiso segiya okungalungile kungabangela ukungalingani phakathi kwesikhundla esiqondisiwe nendawo yangempela (isibonelo, ukunyakaza kwesethi okungu-100mm kodwa okungu-50mm kuphela). Qinisekisa ukuthi isilinganiso segiya sifana nesilinganiso sokudluliselwa komshini (njenge-ball screw lead).

Izilungiselelo zomkhawulo wamanje kanye nowe-torque: Uma idrayivu isethwe ngephutha ku-"current limit mode" noma umkhawulo we-torque uphansi kakhulu, amandla okukhipha injini ngeke anele, okuholela ekusheshiseni okuhamba kancane kanye nomthamo womthwalo oncishisiwe. Buyisela amanani omkhawulo ozenzakalelayo noma uwasethe kabusha ngokusekelwe ezidingweni zomthwalo.

B, Injini ye-Servo: Ukwahlulela "impilo yehadiwe" kusukela "esimweni sokusebenza"

Ukuhlolwa kwemizwa: Uma injini isebenza, thinta indawo yokubeka injini ngesandla sakho (qaphela ukugwema ukusha). Uma izinga lokushisa lidlula u-70℃ (ukuphakama okuvamile kwezinga lokushisa lenjini ye-servo kungu-≤40℃), kungenzeka ukuthi ikhoyili yenjini iyaguga, ibheri igugile, noma umthwalo mkhulu kakhulu; lalela umsindo osebenzayo wenjini. Uma kunomsindo "wokubhodla" noma "wokushayisana", kungenzeka ukuthi ibheri ayinawo uwoyela noma yonakele. Kuyadingeka ukuqaqa nokuhlola nokufaka esikhundleni ibheri (kunconywa ukusebenzisa amabheri angenisiwe emodeli efanayo, njenge-NSK ne-SKF).

Ukuhlolwa kokusebenza: Nqamula imoto kumshini wokudlulisa (ukuhlolwa kokungalayishwa). Uma ijubane lokusebenza kwemoto kanye ne-torque kujwayelekile uma kungekho mthwalo, kusho ukuthi iphutha lisekugcineni komthwalo womshini; uma kusalokhu kungavamile uma kungekho mthwalo, sebenzisa i-multimeter ukukala inani lokumelana kokugoqa kwemoto kwezigaba ezintathu (ngokuvamile, izigaba ezintathu kufanele zilinganiswe, ngokuphambuka okungu-≤5%). Uma ukumelana kwesigaba esisodwa kungenamkhawulo, kusho ukuthi ukugoqa kuphukile futhi imoto idinga ukulungiswa noma ukushintshwa.

C, I-Encoder: Isiginali "zero error" iyisihluthulelo sokunemba kokubeka.

I-encoder "iyiso" lesistimu ye-servo, enesibopho sokubuyisela emuva isikhundla semoto kanye nezimpawu zesivinini. Izimpawu ezingavamile zizoholela ngqo ekuphambukeni kokubeka. Indlela yokuxazulula izinkinga:

Ukuhlolwa komugqa: Hlola umugqa wokuxhuma phakathi kwe-encoder kanye nomshayeli (ngokuvamile ikhebula elivikelwe) ukuze ubone ukuthi kukhona yini izixhumi ezikhululekile, izintambo ezonakele, noma ukuphansi okungekuhle kwesendlalelo sokuvikela (uma ungqimba lokuvikela lungagxilile, luzoletha ukuphazamiseka kwe-electromagnetic futhi lubangele ukushintshashintsha kwesignali). Kunconywa ukuxhuma kabusha isixhumi bese ushintsha ikhebula elonakele.

Ukuhlolwa kwesignali: Sebenzisa i-oscilloscope ukukala izimpawu zokukhipha zesigaba A, B, kanye ne-Z ze-encoder. Ngaphansi kwezimo ezivamile, kufanele kube isignali yegagasi lesikwele esizinzile. Uma kukhona ukuphambuka kwesimo samagagasi, ukulahleka kwe-pulse, noma i-amplitude iphansi kakhulu (ngaphansi kuka-5V), kusho ukuthi izingxenye zangaphakathi ze-encoder zonakele futhi i-encoder yomodeli ofanayo idinga ukushintshwa (qaphela ukuthi isixazululo se-encoder kumele sifane nomshayeli, njengama-bits angu-17 noma ama-bits angu-23). 2. Ukudluliselwa kwamandla nokunyakaza: Ukuxazulula inkinga yesakhiwo semishini (okungabhekwa kalula "umbulali ongabonakali") Ngisho noma uhlelo lwe-servo lujwayelekile, ukuguguleka, ukukhululeka noma ukuguqulwa kwesakhiwo semishini kuzoholela ekuwohlokeni kokusebenza, ngoba ukunyakaza kwe-manipulator kudinga ukudluliselwa nge-"motor → coupling → ball screw / synchronous belt → guide rail slider", futhi ukulahlekelwa kwanoma yisiphi isixhumanisi kuzokwenza buthaka ukusebenza kahle kokudluliselwa kwamandla: (1) Indlela yokudlulisela: gxila "ekugugulekeni" kanye "nokugxilisa ingqondo" I-Ball screw: Njengengxenye yokudlulisela eyinhloko yama-X, Y, kanye ne-Z axes, ukuguguleka kwe-screw kuzoholela "ekwandeni kwe-reverse clearance" (okungukuthi, lapho imoto ijikeleza ngakolunye uhlangothi, i-manipulator inomthambo ongenalutho), obonakala njengokuphambuka kokuma. Indlela yokuhlola: Sebenzisa i-dial indicator ukulungisa i-slider bese ucindezela i-slider ngesandla. Uma i-dial indicator pointer ishintshashintsha ngaphezu kuka-0.05mm, kusho ukuthi i-screw iguguleke kakhulu; ngesikhathi esifanayo, qaphela ukuthi kukhona imihuzuko, ukugqwala noma amafutha omile ebusweni be-screw. Kudingeka kufakwe amafutha akhethekile (njengamafutha asekelwe ku-lithium) njalo. Uma ukuguguleka kudlula umkhawulo, isikulufu sidinga ukushintshwa (kunconywa ukukhetha isikulufu sebhola esinokunemba kwezinga le-C3 noma ngaphezulu).
Ukuxhumanisa: Uma ukuxhumanisa okuxhumanisa i-servo motor kanye nesikulufu sebhola kunezimfa, i-elastomer isigugile, noma ukufakwa kwayo kungagxilile, kuzobangela ukudluliswa kwamandla okungazinzile, ukuminyana okusebenzayo noma ukuphambuka kokubeka. Indlela yokuhlola: Ngemva kokumisa umshini, phendula ukuxhumanisa ngesandla ukuze uzwe ukuthi kukhona yini ukuminyana noma ukuxega. Uma ukuxhumanisa kanye nomgodi wemoto/isikulufu kungagxilile (ukuphambuka>0.1mm), ukugxila kudinga ukulinganiswa kabusha.
Ibhande elihambisanayo (uma likhona): I-X-axis yamarobhothi athile isebenzisa i-synchronous belt drive. Uma ibhande elihambisanayo likhululekile noma ubuso bezinyo bugugile, kuzobangela "ukushelela", okuzobonakala njengokwehla kwesivinini kanye nokuma okungafanele. Indlela yokuhlola: Cindezela ibhande elihambisanayo. Uma ukuphambuka kudlula u-10mm, kusho ukuthi likhululekile kakhulu futhi i-tensioner idinga ukulungiswa; uma ubuso bezinyo bugugile noma buqhekekile ngokusobala, ibhande elihambisanayo kudingeka lishintshwe (kunconywa ukusebenzisa ibhande elihambisanayo le-polyurethane, elingagugi kakhulu).

(2) Imizila yokuqondisa kanye nezilayidi: "Ukushelela" kunquma ukuzinza kokusebenza

Isilayidi sesitimela esiqondisayo sinesibopho sokusekela izingxenye ezihambayo zerobhothi. Uma singagcotshwanga ngokwanele noma singagugi, sizokwandisa ukumelana nokunyakaza, okuholela ekusheshiseni okuhamba kancane kanye nokuxinana. Ukuxazulula izinkinga:

Cindezela ngesandla isilayida ukuze uzwe ukumelana okubonakalayo noma ukunamathela. Uma kunjalo, hlukanisa isilayida ukuze uhlole ukuguguleka kwama-ball bearings angaphakathi kanye namakheji okugcina aqhekekile. Hlanza noma yiluphi uthuli kanye nemfucumfucu ebusweni be-guide rail bese usebenzisa i-lubricant eyenzelwe ngqo i-guide rails (njenge-ISO VG32).

Sebenzisa i-micrometer ukukala ukufana kwemigqa yokuqondisa. Uma ukuphambuka kokufana kudlula u-0.1 mm/m, amandla angalingani azosetshenziswa kuslayida ngesikhathi sokusebenza, okusheshisa ukuguguleka. Indawo yokufaka imigqa yokuqondisa kuzodingeka ilinganiswe kabusha.

Okwesithathu. Isikhungo somyalo kanye nempendulo: ukuxazulula izinkinga zesistimu yokulawula

Uhlelo lokulawula (kufaka phakathi i-PLC, iphaneli yokusebenza, inzwa) lunesibopho sokuthumela imiyalo yesenzo nokwamukela izimpawu zempendulo. Uma kwenzeka iphutha, lizobangela "imiyalelo ayikwazi ukudluliselwa" noma "ukuhlanekezelwa kwesignali yempendulo", okubonakaliswa njengokuwohloka kokusebenza:

(1) I-PLC kanye nohlelo: "Ukunemba okunengqondo" kuyisisekelo

Hlola ukuthi i-PLC inesibonisi se-alamu (njengokukhanya kwe-ERR okuvuliwe). Uma kunjalo, funda ikhodi yephutha (njengokwehluleka kwemojula yokufaka/yokukhipha, iphutha lohlelo) ngesofthiwe yokuhlela, bese uhlola ukuthi umugqa wokuxhumana phakathi kwe-PLC ne-servo drive kanye nenzwa (njenge-RS485, umugqa wokuxhumana we-EtherCAT) awukhululekile. Qinisekisa ukuthi i-logic yohlelo: Uma uhlelo lwe-PLC lushintshiwe muva nje, kuyadingeka ukuqhathanisa uhlelo lokusekelayo ukuze uhlole ukuthi kukhona yini izinkinga ezifana "nokulibaziseka komyalo" kanye "nephutha lokulandelana kwesenzo" (isibonelo, ukwenza umyalo okhuphukayo ngaphambi kokuba isenzo sokubamba siqedwe). Inqubo yokwenza uhlelo ingaqinisekiswa isinyathelo ngesinyathelo ngemodi "yokugijima kwesinyathelo esisodwa".

(2) Inzwa: "Ukunemba kwesignali" kuyisihluthulelo sempendulo

Izinzwa ezivamile ezisetshenziswa kuma-manipulators zifaka phakathi izinzwa zesimo (njengezishintshi ze-photoelectric, izishintshi zokusondelana) kanye nezinzwa zokucindezela (njengezinzwa zokucindezela ze-gripper). Uma isignali yesenzwa ingavamile, izoholela ekwahluleleni kabi isenzo:

Inzwa Yesikhundla: Hlola ukuthi indawo yokufaka inzwa ivaliwe yini (njengokushintsha kwe-photoelectric akuhambelani nendawo yokuthola okuqondiwe), sebenzisa i-multimeter ukukala isignali yokukhipha inzwa (njengenzwa yohlobo lwe-NPN, ekhipha izinga eliphansi ngesikhathi sokutholwa). Uma isignali ingashintshi noma ishintshashintsha, lungisa indawo yokufaka noma ufake enye inzwa esikhundleni sayo.

Inzwa Yokucindezela: Uma i-gripper iqhutshwa ngomoya, inzwa yokucindezela inesibopho sokuthola ingcindezi ye-gripper. Uma inani lokucindezela liphansi kunenani elibekiwe (njengenani elibekiwe elingu-0.5MPa, inani langempela lingu-0.3MPa), i-gripper ngeke ibe namandla anele okubamba, okuzoholela ekwehleni komkhiqizo. Kuyadingeka ukuhlola ukuthi ingcindezi yomthombo womoya ijwayelekile (ngokuvamile ingcindezi yomthombo womoya kufanele ibe ngu-≥0.6MPa) nokuthi inzwa ilinganisiwe (inani lokukhipha inzwa lingalinganiswa kusetshenziswa i-standard pressure gauge).

Okwesine. Uhlelo olusizayo: Ukuxazulula izinkinga zomoya/i-hydraulic kanye nokunikezwa kwamandla kagesi (okungabhekwa kalula "izindima zokusekela")

(1) Uhlelo lwe-pneumatic/hydraulic (uma luqukethe ama-gripper noma izenzo ezisizayo)

Uhlelo lwe-pneumatic: Hlola ukuthi ingcindezi ye-air compressor ijwayelekile, ukuthi ipayipi lomoya liyavuza, nokuthi i-solenoid valve inamathele yini (i-solenoid valve ingahlukaniswa ukuze kuhlanzwe umongo we-valve). Uma amandla okubamba e-gripper enganele, hlola ukuthi isivalo sesilinda sigugile yini (shintsha isivalo) nokuthi i-valve elawula ingcindezi ilungiswe yini ibe yingcindezi efanele (ngokuvamile i-0.4-0.6MPa). Uhlelo lwe-hydraulic (olusetshenziswa yizici ezimbalwa ezisindayo): Hlola ukuthi izinga likawoyela we-hydraulic lingaphakathi kobubanzi obujwayelekile, ukuthi uwoyela wonakele yini (uma uwoyela ungcolile noma uqukethe ukungcola, shintsha uwoyela we-hydraulic bese uhlanza i-filter element), nokuthi ingcindezi ye-hydraulic pump ijwayelekile yini. Uma ingcindezi inganele, hlola ukuthi umzimba we-pump ugugile yini noma i-overflow valve inephutha.

(2) Uhlelo lokuphakelwa kukagesi: "Ukunikezwa kukagesi okuzinzile" kuyimfuneko yokusebenza kwemishini.

Hlola ukuthi i-voltage yokunikezwa kwamandla (njenge-AC220V, DC24V) ye-servo drive, i-PLC, kanye ne-sensor izinzile yini. Sebenzisa i-multimeter ukukala ukuthi ukushintshashintsha kwe-voltage kudlula yini ±5% (i-voltage ephansi kakhulu izoholela ekungabini ne-torque eyanele ye-servo motor, kanti i-voltage ephezulu kakhulu izoshisa izingxenye ze-elekthronikhi).

Hlola ukuthi ngabe kukhona yini izimpawu zokusha kwe-air switch kanye ne-contactor ebhokisini lokusabalalisa. Uma oxhumana nabo be-oxidized, kufanele kusetshenziswe iphepha lokusanhlamvu ukuze kupholishwe noma kufakwe ezinye izingxenye ukuze kugwenywe ukuphazamiseka kwamandla ngenxa yokuxhumana okungekuhle.

3. Ukuqinisekiswa kwembangela yephutha: Sebenzisa "indlela yokufaka esikhundleni" kanye "no-load test" ukuqinisekisa imbangela eyinhloko.

Ngemva kokuvala indawo yephutha elisolwayo ngokuxazulula inkinga ngemojuli ngayinye, imbangela yephutha idinga ukuqinisekiswa ngokuhlolwa kokuqinisekisa ukuze kugwenywe ukwahlulela kabi:

1. Indlela yokufaka esikhundleni: Qinisekisa ngokushesha ikhwalithi yezingxenye.

Uma kusolwa ukuthi imoto ye-servo inephutha, yishintshe ngemoto evamile yohlobo olufanayo. Uma ukusebenza kubuyiselwa ngemuva kokufakwa esikhundleni, kusho ukuthi imoto yokuqala yonakele. Uma kusolwa ukuthi i-encoder inephutha, shintsha ikhebula le-encoder noma i-encoder ukuze ubone ukuthi isignali ibuyela esimweni sayo esijwayelekile. Uma kusolwa ukuthi kukhona ukwehluleka kwenzwa, shintsha inzwa esesimweni esijwayelekile (njengeswishi ye-photoelectric eyengeziwe) ngesikhundla esisolwayo esinephutha. Uma isignali ijwayelekile, inzwa yokuqala yonakele.

2. Ukuhlolwa Kokuqhathanisa Okungalayishiwe vs. Okulayishiwe
Ukuhlolwa kokungathwali umthwalo: Nqamula irobhothi emthwalweni (njengegripper noma umkhiqizo) bese usebenzisa i-axis ngayinye. Uma ukusebenza kujwayelekile (isivinini kanye nokunemba kwendawo kuhlangabezana nezimfuneko) uma kungekho mthwalo, inkinga isemthwalweni (njengegripper enamathele noma umkhiqizo okhuluphele). Uma ukukhubazeka kuqhubeka lapho kungekho mthwalo, inkinga itholakala ohlelweni lwe-servo noma isakhiwo semishini.
Ukuhlolwa komthwalo: Ngemva kokuba ukuhlolwa kokungalayishi sekujwayelekile, khulisa umthwalo kancane kancane (uqale ku-50% womthwalo olinganisiwe) bese ubheka izinguquko zokusebenza. Uma kwenzeka ukungasebenzi kahle lapho umthwalo ufinyelela inani elilinganisiwe, hlola ukuthi i-torque yemoto ye-servo iyahambisana yini nokuthi indlela yokudlulisa ingamelana yini nomthwalo (isibonelo, ukuthi isilinganiso somthwalo oguquguqukayo sesikulufu sebhola siyahlangabezana yini nezidingo).

4. Ukulungiswa Kokuvimbela: Kusukela "Ekulungiseni Okusabelayo" kuya "Ekuvimbeleni Okusebenzayo"

Ngemva kokuxazulula iphutha lamanje, ukusungula uhlelo lokulungisa oluvikelayo kungavimbela ngempumelelo ukuwohloka kokusebenza okwengeziwe kwerobhothi futhi kwandise impilo yesevisi yemishini:

Ukugcoba Okuvamile: Faka amafutha akhethekile esikulufini sebhola kanye nasezinsikeni zokuqondisa masonto onke, bese uhlola amafutha omile njalo ngenyanga ukuze uvimbele ukuguguleka okubangelwa ukungqubuzana okomile.

Ukulinganisa Okuvamile: Linganisa ukunemba kokubeka kanye nokuphindeka kwe-axis ngayinye njalo ngekota usebenzisa i-laser interferometer. Uma ukuphambuka kudlula indinganiso, lungisa amapharamitha okuthola i-servo noma ushintshe izingxenye ezigugile ngokushesha.

Isipele Sepharamitha: Yenza isipele sohlelo lwe-PLC kanye namapharamitha edrayivu ye-servo nyanga zonke ukuze uvimbele ukungasebenzi kahle kwemishini ngenxa yokulahleka kwamapharamitha.

Ukulawulwa Kwemvelo: Gcina indawo yokusebenza ehlanzekile neyomile yerobhothi ukuze kuvinjelwe uthuli namafutha ukuthi angangeni ku-servo motor noma ku-encoder. Gcina izinga lokushisa eliphakathi kuka-0 no-40°C (izinga lokushisa eliphezulu lisheshisa ukuguga kwezingxenye zikagesi).

Ukuqeqeshwa Kwabasebenzi: Nikeza ukuqeqeshwa kubasebenzi kanye nabasebenzi bokulungisa ukuze kuvinjelwe ukwehla kokusebenza okubangelwa ukusebenza okungalungile (njengokushintsha amapharamitha e-servo noma ukulayisha ngokweqile).

Isiphetho
Isihluthulelo sokuhlola ukwehla kokusebenza kwerobhothi lomshini wokubumba i-servo one-axis ezintathu sisekuxazululeni izinkinga ezihlelekile kanye nokusekelwa kwedatha. Okokuqala, thola inkinga usebenzisa izimpawu nedatha, bese uyihlukanisa ngokulandelana "kwesistimu ye-servo → isakhiwo semishini → uhlelo lokulawula → uhlelo olusizayo." Okokugcina, qinisekisa imbangela eyinhloko ngokushintsha nokuhlola okuqhathanisayo. Ukuqonda le ndlela akugcini nje ngokuvumela ukuxazululwa okusheshayo kwenkinga yamanje kodwa futhi kunciphisa amathuba okwehluleka ngokulungiswa kokuvimbela, ukuqinisekisa ukusebenza okuzinzile komugqa wokubumba injection.