Development of Demo Application for 3DOF Cartesian Robot Schneider Electric

U ovom radu je robot Lexium MAX R3 osposobljen za izvršavanje kretanja i ostalih zadataka. Od početnog spajanja ormara, induktivnih senzora kraja radnog prostora te sigurnosnih prekidača, robotski sustav je pripremljen za pokretanje. Programskom podrškom SoMove postavljeni su regulacijski parametri petlji brzine, položaja i struje. Postavljeni su i parametri CAN komunikacije, brzina prijenosa i adresa servo pogona LXM32A bez kojih kontroler LMC058 ne bi mogao stupiti u vezu s njima i zadavati naredbe pa pokretanje osi. Spajanjem na kontroler i povezivanjem na računalo pomoću programske podrške SoMachine započeta je konfiguracija kontrolera. Odabirom modela i serije servo pogona, upravljačkog tabloa i postavljanjem parametara komunikacije, sustav je dobio cjelinu i zatvorenu petlju. Blokovskim sastavljanjem programskog koda, ostvareno je kretanje robota od točke do točke te kontinuirano kretanje po zadanoj putanji. Riješen je problem direktne i inverzne kinematike te je omogućeno upravljanje položajem vrha alata.In this document is described how robot Lexium MAX R3 was prepared for movements and other tasks. From constructing the control cabinet, setting inductive sensors that define the working space and safety switches, robot system was prepared for turning on. With programing support SoMove the regulation parameters of velocity, position and current loops were calculated. Parameters of CAN communication were also set, such as baud rate and servo drive LXM32A addresses without which controller LMC058 couldn’t achieve successful communication with them. Connecting the controller to computer with programing support SoMachine the configuration started. By selecting the right model and series of servo drives, HMI and setting the communication parameters the robot system was connected in closed loop. Programing with function blocks moving from point to point and continuous movement were achieved. Also, the problems of direct and inverse cinematics were solved so controlling of tool tip is possible