Control of 3DOF Cartesian Robot Schneider Electric using PLC Modicon M238

Cilj ovog rada je puštanje u pogon i upravljanje osima troosnog kartezijskog robota MAX R3. Sinkronim servo BMH i BSH motorima upravljaju servo pretvarači Lexium 32A, a pretvaračima upravlja logički kontroler LMC058. Osim samog sučelja i povezivanja, u radu je objašnjen i način komunikacije servo pretvarača s kontrolerom, kontrolera s računalom i HMI Magelis S5T-a s kontrolerom. Programskim alatom SoMachine upravlja se kontrolerom, a alatom Vijeo-Designer dizajnira se i projektira HMI. Putem HMI-a ostvareno je ručno upravljanje svakom osi zasebno te pozicioniranje manipulatora u zadane koordinate pri čemu se osi gibaju zadanom brzinom. Prilikom izvođenja ovih operacija na HMI-u je moguće čitati trenutne koordinate manipulatora. Alat robota predstavlja hvataljka, a u radu je objašnjen način upravljanja hvataljkom iz programskog alata Lynx SSC-32 terminal.The goal of the project is to commission and control 3DOF Cartesian MAX R3 Robot Schneider Electric. Synchronous BMH andn BSH servo motors are managed by Lexium 32A servo drives, and servo drives are managed by logic motion controller LMC058. In this project, besides interface and connection, communication between drives-controller, controller-computer and HMI Magelis S5T-controller are also explained. Software SoMachine is used to program LMC058 and Vijeo-Designer software is used to design HMI. Manual control of each axis and positioning the manipulator in assigned coordinates is implemented in HMI. During this operations, it is possible to manage speed and read actual coordinates of each axis. Robot tool has grabbing and rotating function. In this project, managing both functions, programmed in Lynx SSC-32 Terminal software, is explained