Razvoj demo aplikacije za troosni Kartezijski robot Schneider Electric

undergraduate thesis

• Title (english): Development of Demo Application for 3DOF Cartesian Robot Schneider Electric
• Author: Matko Kulaš
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Committee member: Edin Kočo (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

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.

Abstract (english)

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.

• Keywords: Schneider Electric; Lexium MAX R3; upravljački ormar; servo pogon; LXM32A; kontroler; LMC058; SoMove; SoMachine; blok; CAN komunikacija; gibanje od točke do točke; gibanje po putanji; kinematika
• Keywords (english): Schneider Electric; LexiumMAXR3; control cabinet; servo drive; LXM32A; controller; LMC058; SoMove; SoMachine; block; CAN communication; point to point movement; trajectory movement; kinematics
• Language: croatian
• URN:NBN: urn:nbn:hr:168:510308
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 09:59:32