For the translation of Y-axis 1 and Y-axis 2, the general right-angle palletizer uses single-axis independent control. Because of the asynchronization of the two axes, thermostatic element it may cause the box to fall down or clamp the box or overload alarm of the servo driver, which will stop the operation of the equipment and affect the production efficiency.
The equipment introduced in this paper uses Mitsubishi 20GM motion controller, realizes synchronous translation of Y axis 1 and Y axis 2 through linear interpolation, and avoids the above faults.
Taking the synchronous translation of Y-axis 1 and Y-axis 2 as an example, this paper analyses the setting method of Y-axis 1 and Y-axis 2 electric origin and the PLC program design of box-loading control.
The right-angle palletizer is based on PLC and servo drive technology, which realizes the functions of taking out and putting out boxes. Its structure is simple, running smoothly, and its height is about 2.8 meters. It can be installed on ordinary floors.
Y-axis 1 and Y-axis 2 are translated. When using PLC pulse output to control single-axis independently, because of the asynchronism of the two axes, together with the electrical interference in the production site and the performance of the controller, the operation may cause the box to drop or clamp the box or the overload alarm of the servo driver, which will stop the operation of the equipment and affect the production efficiency.
The right-angle palletizer introduced in this paper uses Mitsubishi FX3U series PLC controller, Mitsubishi 20GM motion controller (linear interpolation, Y-axis 1 and Y-axis 2 translation control), Panasonic A5 series servo driver and servo motor (realizing X-axis, Y-axis 1, Y-axis 2 and Z-axis positioning control), realizes Y-axis 1 and Y-axis 2 synchronous translation, and makes the operation performance of the equipment more efficient.
Stable and reliable. The shape of the palletizer is shown in Figure 1. This paper focuses on the synchronous translation control of Y-axis 1 and Y-axis 2, and analyses the setting method of Y-axis 1 and Y-axis 2 electric origin, and the PLC programming of box-loading control. The motion control of Y axis 1 and Y axis 2 moving synchronously realizes the control function of taking and putting boxes.
The Panasonic A5 series servo motors of this equipment are equipped with incremental encoders. After power failure, they must perform the operation of axle return to the origin before re-energizing. Therefore, the origin sensors are installed on the Y-axis 1 and Y-axis 2 respectively, and metal detection blocks are installed on the front hook plate and the back push plate.
The distance between the spring installed on the front hook plate driven by Y-axis 1 and the metal detection block is about 75 mm after compressing the proper position. The distance between the push-back plate driven by Y-axis 2 and the metal detection block is about 80 mm. The distance between the two origin sensors is about 1189 mm.
Installation of origin sensor. Mitsubishi 20GM motion controller is used to realize synchronous translation of Y axis 1 and Y axis 2 by linear interpolation, which avoids the occurrence of box dropping or clamping when two axes are not synchronized.
After the actual operation of the production site, the designed PLC program runs steadily and can meet the control requirements of the production site.