进口伺服电机驱动器    伺服电机控制器     零配件销售jsoknkudfg
联系人:程经理
手机:139188-64473

手机:139188-64473

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固话:021-6131-6707

固话:021-6131-8625
 热喷涂是一种表面处理技术,即将熔融或加热后的材料喷涂到表面上。为了提高喷涂质量,四川大学自主设计出一套九轴联动热喷涂系统,在这个系统中,三轴转台与六轴机械手同时优化运行。该系统利用 Beckhoff 开放式高速控制系统的性能优势发挥其全部潜力。
德阳市东汽表面工程技术有限公司总部位于四川省德阳市,主要致力于金属表面材料研制及表面处理技术应用。为了提高表面处理工艺性能和以机器人为基础的热喷涂中的喷涂质量,公司决定与四川大学电气信息学院进行项目合作。
由于待喷涂元件的工艺曲面较为复杂,以及为了让热喷涂工艺更为灵活自由,项目开发人员提议除了已经使用的六轴机械手之外,将三轴转台建造为被喷涂元件的夹持设备,从而能够优化定位工件。这一系统的挑战是:由四川大学电气信息学院独立开发的三轴转台有一个扩展外轴,它必须与引导喷枪的机械手完全同步运行。
TwinCAT 和 EtherCAT 解决了时间要求严格的运动控制应用要求。
 
/
函数名: inp_arc
功能:二轴圆弧插补
参数:
cardno    卡号
no1         参与插补X轴的轴号
no2         参与插补Y轴的轴号
x,y          圆弧插补的终点位置(相对于起点),范围(-8388608~+8388607)                     
i,j            圆弧插补的圆心点位置(相对于起点),范围(-8388608~+8388607)
mode      0:顺时针插补   1:逆时针插补
返回值:
0 失败           1  成功
/
unsigned char inp_arc(unsignedcharcardno ,unsignedcharno1,unsignedcharno2, long X , long y, long i, long j,unsignedcharmode )

unsigned char OutByte[25];
unsigned char inbuf[12];
OutByte[0] = 0x68;
OutByte[1] = 0x17;
OutByte[2] = cardno;
OutByte[3] = 0x8;
OutByte[4] = no1;
OutByte[5] = no2;
OutByte[6] = X >>24;
OutByte[7] = X >>16;
OutByte[8] = X >>8;
OutByte[9] = X ;
OutByte[10] = y >>24;
OutByte[11] = y >>16;
OutByte[12] = y >>8;
OutByte[13] = y ;
OutByte[14] = i >>24;
OutByte[15] = i >>16;
OutByte[16] = i >>8;
OutByte[17] = i ;
OutByte[18] = j >>24;
OutByte[19] = j >>16;
OutByte[20] = j >>8;
OutByte[21] = j ;
OutByte[22] = mode;
OutByte[23] =OutByte[1] +OutByte[2] +OutByte[3] +OutByte[4] +OutByte[5] +OutByte[6] +OutByte[7] +OutByte[8] +OutByte[9] +OutByte[10] +OutByte[11] +
OutByte[12] +OutByte[13] +OutByte[14] +OutByte[15] +OutByte[16] +OutByte[17] +OutByte[18] +OutByte[19] +OutByte[20] +OutByte[21] +OutByte[22] ;
USRAT_transmit(OutByte,24);   
receive(inbuf);
return 1;

 
/
函数名:  set_speed
功能:设置轴速度
参数:
cardno    卡号
axis  轴号(1-6)
acc     加速时间(ms)
dec     减速时间(ms)
startv     启动频率为:值频率倍率(Hz)
speed      运行频率为:值频率倍率(Hz)
range      频率倍率(1-100)
返回值:
0 失败           1  成功
/
unsigned char set_speed(unsignedcharcardno ,unsignedcharaxis ,unsigned int acc  ,unsigned int dec  ,unsigned int startv ,unsigned int speed ,unsigned char range)

unsigned char OutByte[25];
unsigned char inbuf[12];
OutByte[0] = 0x68;
OutByte[1] = 0xe;
OutByte[2] = cardno;
OutByte[3] = 1;
OutByte[4] = axis;
OutByte[5] = acc >>8;
OutByte[6] = acc ;
OutByte[7] = dec >>8;
OutByte[8] = dec ;
OutByte[9] = startv >>8;
OutByte[10] = startv ;
OutByte[11] = speed >>8;
OutByte[12] = speed ;
OutByte[13] = range;
OutByte[14] =OutByte[1] +OutByte[2] +OutByte[3] +OutByte[4] +OutByte[5] +OutByte[6] +OutByte[7] +OutByte[8] +OutByte[9] +OutByte[10] +OutByte[11] + OutByte[12] +OutByte[13] ;
USRAT_transmit(OutByte,15);
receive(inbuf);
return 1;

 
/
函数名: set_soft_limit
功能:设置轴软件限位
参数:
cardno    卡号
axis         轴号(1-6)
mode   0:解除软件限位  1:启用软件限位
pulse1            负方向限位脉冲值,范围(-268435455~0)                       
pulse2            正方向限位脉冲值,范围(0~+268435455)
返回值:
0 失败           1  成功
/
unsigned char set_soft_limit(unsignedcharcardno ,unsignedcharaxis ,unsignedcharmode, long pulse1 , long pulse2 )

unsigned char OutByte[25];
unsigned char inbuf[12];
OutByte[0] = 0x68;
OutByte[1] = 0xE;
OutByte[2] = cardno ;
OutByte[3] = 0x13;
OutByte[4] = axis;
OutByte[5] = mode;
OutByte[6] = pulse1 >>24;
OutByte[7] = pulse1 >>16;
OutByte[8] = pulse1 >>8;
OutByte[9] = pulse1 ;
OutByte[10] = pulse2 >>24;
OutByte[11] = pulse2 >>16;
OutByte[12] = pulse2 >>8;
OutByte[13] = pulse2 ;
OutByte[14] =OutByte[1] +OutByte[2] +OutByte[3] +OutByte[4] +OutByte[5] +OutByte[6] +OutByte[7] +OutByte[8] +OutByte[9] +OutByte[10] +OutByte[11] +
OutByte[12] +OutByte[13] ;
USRAT_transmit(OutByte,15);
receive(inbuf);
return 1;
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