DIGI-COLOR
DIGI-COLOR
DIGI-COLOR
24小時(shí)熱線【歐先生18030229053】大量現(xiàn)貨，價(jià)格合理，當(dāng)天打款，當(dāng)天順風(fēng)，即日到貨。
運(yùn)動(dòng)學(xué)方程解算是在用戶(hù)實(shí)時(shí)應(yīng)用程中進(jìn)行的，計(jì)算系統(tǒng)中所有軸的目標(biāo)位置、目標(biāo)速度或扭矩并在每個(gè)EtherCAT總線周期輸出。
DS-402協(xié)議中的循環(huán)同步模式是Elmo的EtherCAT版本驅(qū)動(dòng)器的內(nèi)置標(biāo)準(zhǔn)操作模式。
在P-MAS和上位主機(jī)、PLC或HMI之間多種標(biāo)準(zhǔn)和專(zhuān)門(mén)的通訊協(xié)議使得P-MAS與第三方設(shè)備通訊變得十分容易，如觸摸屏、手操板、PLC和PC機(jī)等。
與上位主機(jī)的通訊能力如Ethernet, TCP/IP和UDP協(xié)議，快速的二進(jìn)制協(xié)議如MODBUS和Ethernet/IP, 使得與上位主機(jī)之間的通訊變得快速而有效。
機(jī)器人工作在兩種模式，第一種是示教模式，第二種是工作模式。
在示教模式下，操作人員可以沿著需要的工作路徑移動(dòng)機(jī)器人手臂到一些關(guān)鍵位置點(diǎn)上，在移動(dòng)過(guò)程中多軸運(yùn)動(dòng)控制器記錄下相關(guān)的位置點(diǎn)以便在工作模式下復(fù)現(xiàn)工作路徑。
在示教模式下伺服驅(qū)動(dòng)器是運(yùn)行在同步循環(huán)力矩模式。除了目標(biāo)力矩命令外，多軸運(yùn)動(dòng)控制器還會(huì)輸出額外的補(bǔ)償力矩去克服重力、機(jī)器人動(dòng)力學(xué)等阻抗因素，維持拖拽過(guò)程平滑。
這種復(fù)雜機(jī)器人解決方案的亮點(diǎn)之一就是整個(gè)示教過(guò)程對(duì)一個(gè)不會(huì)編程的操作人員來(lái)說(shuō)十分簡(jiǎn)單，大部分工作不需要具有編程經(jīng)驗(yàn)或技巧就可以完成。
第二種操作模式就是正常工作模式，在這種模式下多軸控制器根據(jù)機(jī)器人的運(yùn)動(dòng)學(xué)模型來(lái)計(jì)算七個(gè)軸的目標(biāo)位置和速度(DH矩陣逆解)，如果必要的話，基于機(jī)器人動(dòng)力學(xué)模型的補(bǔ)償力矩會(huì)被加到總的輸出力矩中。伺服驅(qū)動(dòng)器是工作在循環(huán)同步位置模式或者循環(huán)同步速度模式，接收目標(biāo)位置/速度命令和力矩偏置命令。
聯(lián)系人：歐先生(銷(xiāo)售工程師) 電話：0592-5709825
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