Description
ABB PM511V16 3BSE011181R1 Controlboard
The robotic hand handling mechanism described in this article typically transports a workpiece from one designated location to another, as shown in Figure 2. Before operation, the robotic hand is positioned at the set origin. The system has four limit switches (up, down, left, and right), each connected to a different input point in the motion controller. During operation, the robotic hand moves downwards from the origin, stopping upon hitting the lower limit switch. It then grips the workpiece. To ensure reliable clamping, a delay function is used, allowing the robotic hand to continue upwards after a 2-second delay. The same applies to the other three directions. Finally, the robotic hand releases the workpiece and places it in the designated location. To ensure reliable workpiece placement, a delay function is used again, allowing the robotic hand to continue upwards after a 2-second delay. Upon hitting the upper limit switch, it moves to the left, returning to the origin for the next gripping and placement cycle.
The robotic arm handling system has two modes: automatic and manual. In automatic mode, the system operates fully automatically without human intervention. In manual mode, the operator can control the robotic arm’s movements according to their needs.
The CNC system hardware mainly includes a motion controller, servo drive system, pneumatic clamping mechanism, touch screen, and other expansion modules and auxiliary hardware. The CNC system hardware design is shown in Figure 3.
(1) CNC System Hardware Design. The motion controller is a British Trio controller, which uses the latest microprocessor technology of a 32-bit 120-150MHz DSP and integrates the latest control theory and network technology. The Trio motion controller provides a rich set of standard interfaces, such as RS232C , RS485 , USB , Ethernet and CAN . Among them, RS232C and RS485 have HostLink and Modbus protocols, which can communicate directly with the touch screen. The Trio motion control programming language is a BASIC -like language developed by Trio. Its commands are the English words of the motion names. For example, axis is AXIS, relative movement is MOVE, absolute movement is MOVEABS, etc. In addition, TRIO also provides ActiveX controls for secondary development. Users can use high-level languages such as VB/VC/ C++ to perform secondary development according to their own needs.
(2) A Pingtong touchscreen is selected. The Pingtong touchscreen uses a high-color, high-brightness digital LCD screen, which has good display effect and fast response. The touchscreen is connected to the motion controller via an RS485 interface. The touchscreen can set and display parameters . The status information of the robot can be displayed intuitively through the touchscreen. The robot can also send commands to the system through the buttons and digital input functions on the touchscreen to control the robot.
