This article mainly introduces how to use the MOVESYNC command to quickly implement the single-axis/multi-axis synchronous following function.
This function is suitable for common mechanical structures, such as XYZ(R), SCARA, DELTA, etc., and is widely used in assembly line dispensing, assembly line product sorting, assembly line product handling and other scenarios.
By reading this article, you will understand the principles and implementation of synchronous follow, which will improve your productivity.
Mastering this technology will enable you to achieve precise synchronous control between axes, ensure that the machine can follow a predetermined trajectory, and enable an efficient production process.
Whether you are an engineer or an operator, this article will provide you with valuable knowledge and practical technical guidance to help you achieve better results in your work.
01. Introduction to the synchronous following function
The main function of synchronous following is to quickly control the motion mechanism, realize the synchronization and following of products on the production line, and then assist other motion instructions to realize the functional requirements of the product on the production line such as grabbing, sorting, and dispensing;
The function of synchronous following is mainly realized by the MOVESYNC instruction, which is convenient for users to quickly realize the single-axis or multi-axis synchronous following function through the program, and realize multi-belt grabbing and placement, which is a kind of cam command.
1. Common scenarios are: assembly line dispensing, assembly line product sorting, assembly line product handling, etc.
2. Common mechanical structure: XYZ (R), SCARA, DELTA, etc.
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02, MOVESYNC instruction description
1. Instruction introduction
Synchronous following refers to the following of the point, following the position, the position relationship between the belt and the following axis is coordinated by the operator, and only the position of the first following moment needs to be processed.
The important parameter in the MOVESYNC command is to give the position of the belt and the position of the following axis, and only need to staticize the "moment" followed by the following point, that is, it can be imagined that when the object on the belt reaches the sensor mark position, the belt stops.
Follow the axis to move at this time to reach the product mark point, and at this moment two sets of coordinate positions are obtained:
Group 1: Position of the belt syncposition.
The second group: follow the position pos1 of the axis, only need to fill these two positions into the instruction, the operator will automatically calculate and plan the position of the two to ensure that the two are relatively stationary.
2. Instruction function syntax
MOVESYNC(mode,synctime,syncposition,syncaxis,pos1[,pos2, pos3...])
Supports single-axis or multi-axis synchronous following.
3. General form of use
base(0,1,2) // specifies the axis number to participate in synchronous following, here 0,1,2 is used as an example
MOVESYNC (mode, acceleration time, syncposition, syncaxis, pos1, pos2, pos3) // acceleration segment
MOVESYNC(mode,sync time,syncposition,syncaxis,pos1,pos2,pos3) // synchronization segment
MOVESYNC(mode,deceleration time,syncposition,syncaxis,pos1,pos2,pos3) // Deceleration section (reset section)
A complete following process is divided into three steps, the processing head first accelerates to the same speed as the belt, realizes synchronous movement, completes the processing operation in the synchronous section, and then returns the processing head to the waiting position and waits for the next trigger machining.
The trigger condition uses the sensor to detect the incoming material, record the location of the incoming material, and fill in the MOVESYNC command.
If you want to know more, please click "How can a motion controller quickly realize single-axis/multi-axis synchronous following function?" continues to read on to more details.