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YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊

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YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊

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型號：CACR-SR01AB1ER
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主營DCS控制系統(tǒng)備件，PLC系統(tǒng)備件及機器人系統(tǒng)備件，
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YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊 YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊 YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊 YASKAWA CACR-SR01AB1ER機器人驅(qū)動模塊
PAC可以通過各種工業(yè)化的現(xiàn)場總線提供互聯(lián)，如FOUNDATION Fietdbus，DeviceNet，CAN，Modbus，Ethernet，Profibus，串口等。PAC不僅能作為分布式I／O模塊的主控設(shè)備，而且也可以作為從屬設(shè)備添加到已有系統(tǒng)中。 粗紗機適用于普梳和精梳棉型纖維，60mm以下的化學(xué)纖維及其它混紡纖維，將并條后的熟條加工成不同號數(shù)和捻度的粗紗，供細紗機紡制細紗。 　　根據(jù)紡紗工藝的要求，粗紗機將棉條經(jīng)羅拉牽伸后，由前羅拉出紗，進行加捻，然后按照卷裝形成的要求，將紗卷繞在筒管上，由于前羅拉出紗速度是恒定的，而卷繞速度是隨著卷繞直徑的增大而降速，傳統(tǒng)的粗紗機采用機械式錐輪變速機構(gòu)，皮帶在上、下錐輪上平行移動，達到改變卷繞和升降速度，完成粗紗卷繞成形。 　　傳統(tǒng)粗紗機主傳動由一臺交流異步電動機驅(qū)動，為了解決電機起動時升速太快引起粗紗的斷頭或者產(chǎn)生粗紗條干不均勻等質(zhì)量問題，而在交流電機主回路中串聯(lián)電抗器，實現(xiàn)電動機的軟起動，另外在紡制不同品種需要改變?nèi)珯C速度時，由人工替換皮帶輪方式實現(xiàn)變速，20世紀90年代中開始用新型的懸錠粗紗機逐步取代托錠粗紗機并在懸錠粗紗機上推廣了變頻調(diào)速，然而，由于錐輪變速傳動速度的穩(wěn)定性較差，操作難度大，易引起粗紗質(zhì)量不穩(wěn)定。因而多家廠商又推出了多電動機傳動的新型粗紗機，有2臺電機、3臺電機、4臺電機和7臺電機傳動的粗紗機，其中采用4臺電機傳動的粗紗機應(yīng)用較普遍。 2 主要的技術(shù)特征
錠翼速度 高速1500 r/min～1800 r/min 錠 數(shù) 132、120、108等 控制參數(shù) 起動、停止時間控制（起動時間6 s ～16s，停止時間8 s ～3s），粗紗張力控制，即恒張力卷繞。高速懸錠粗紗機取消了傳統(tǒng)粗紗機中的錐輪（俗稱鐵炮），成形機構(gòu)、差動機構(gòu)、擺動機構(gòu)和換向機構(gòu)等，還取消了捻度、升降、卷繞、張力、成形角度等變換齒輪，而采用4臺電機分別傳動牽伸羅拉（產(chǎn)生牽伸倍數(shù)），錠翼（使粗紗繞卷到紗管上），筒管（使粗紗產(chǎn)生捻度）和龍筋升降（完成卷繞形狀）。羅拉、錠翼、筒管和龍筋升降分別為4kW、4kW、5.5kW和0.55kW交流異步電機傳動，變頻調(diào)速。采用4臺電動機傳動后，除簡化了機械結(jié)構(gòu)，取消了上述機構(gòu)齒輪外，還降低了噪聲，提高了車速，減少粗紗斷頭，增加單機產(chǎn)量（主機速度提高了30%以上）保證粗紗質(zhì)量穩(wěn)定，同時改變工藝簡便、快捷。 4 控制系統(tǒng)
目前4電機傳動的粗紗機控制有二種控制方案。 一種方案，采用PLC或PCC加觸摸屏，通過RS-485通訊方式或CAN BUS現(xiàn)場總線控制4臺變頻器和電動機的運轉(zhuǎn)。 　　第二種方案，采用單片機自制的專用控制器，通過RS-485通訊控制4臺變頻器和電動機的運轉(zhuǎn)，此種方案造價低，但可靠性和通用性不如一種方案。本文不詳述。 　　采用PLC可編程控制器或PCC可編程計算機控制器加觸摸屏通過CAN BUS現(xiàn)場總線控制4臺變頻器和相應(yīng)電動機的運行速度，如EJK211型粗紗機全機控制采用了PCC加觸摸屏和CAN BUS總線的控制系統(tǒng)，系統(tǒng)原理框圖如圖1。 圖1 粗紗機控制系統(tǒng)原理框圖 　　該系統(tǒng)中PCC或PLC作為上位機，采用CAN通訊適配卡與CAN總線連接。CAN總線上的各部件（變頻器等）必須具有CAN標準通訊接口。變頻器（4 臺）采用共直流母線供電方式，共直流母線供電可以采用將4臺通用變頻器的直流電源相互并聯(lián)方式或采用將一臺變頻器的直流電源供電給其余3臺逆變器的方式。 　　4臺電動機均帶編碼器實現(xiàn)速度閉環(huán)控制，保證高精度調(diào)速。 　　PCC可編程計算機控制器通過CAN BUS現(xiàn)場總線控制4臺變頻器和電動機按多個數(shù)學(xué)模型或根據(jù)實測粗紗張力進行控制。 　　4臺變頻器和電動機按工藝所需的規(guī)律運轉(zhuǎn)。Instead, two temporary storage areas are set in the memory: the input temporary storage area and the output temporary storage area. The input value used in the user program is the value of the input state temporary storage area, and the operation result is stored in the output state temporary storage area. The processing of input / output by PCC has the following three characteristics: (1) the data in the input status temporary storage area depends on the on / off status of each actual input point in the service stage. When the user program is executed, the data in the input state buffer no longer changes with the input. (2) in the execution stage of the user program, the contents of the output state buffer will change at any time according to the different execution results of the program, but the contents of the output state latch will not change. (3) in the output service stage, the final result of the user program execution stage is transferred from the output state buffer to the output state latch. The state of the output terminal is determined by the output state latch.

3 system structure design the parameters detected and controlled by the system are mainly divided into: electrical parameters, non electrical parameters, equipment operation and protection status parameters. 3.1 the electric quantity parameters include the three-phase voltage, three-phase current, active power, reactive power, bus line voltage, phase voltage, DC bus voltage, etc. the PCC and the electric quantity meter can directly read the above-mentioned electric quantity data from the electric quantity meter through RS485 communication; At the same time, the speed and frequency of the unit can be read through communication with the governor or through communication with the speed relay. 3.2 non electrical parameters include the temperature of upper guide pad, lower guide pad, water guide pad, thrust pad, stator core temperature, cold and hot air temperature, oil pressure and oil level of pressure tank, oil level of oil sump, oil level of oil leakage tank, water level of upstream and downstream, etc. The collection of temperature is completed by the analog input module of B & R 2005 series PCC and the temperature inspection instrument. The PCC communication module can read the temperature collected by the temperature inspection instrument into the PCC buffer area; The analog quantity of the auxiliary system, such as the oil pressure and oil level of the oil tank and the oil level of the oil sump, can be collected by the PCC analog quantity input module, or can be obtained by communication with the PLC of the oil pressure device; The upstream and downstream water levels are obtained by communication between PCC and water level gauge. 3.3 equipment operation and protection status parameters include unit circuit breaker switch, deexcitation switch, guide vane, intake gate, shear pin, electrical protection switch value status of hydraulic turbine and generator, accident and fault switch signal status, working status of oil, gas and water system and excitation system status, etc. This part of state quantity can be directly introduced into PCC switch value input module to participate in unit control. The system uses two industrial control computers as the upper computer monitoring terminal, which can monitor any two of the three units at the same time. The two industrial PCs must be installed with "B & R2005 PVI manager",