ABB PM633 PROCESSOR MODULE 3BSE008062R1

The servo system selected is the Panasonic MI NAS A5 series servo system, which includes a servo driver and a servo motor. This servo system can meet the requirements of high speed, high precision , and high performance. The servo driver and servo motor are connected through matching power lines and encoder lines. Two servo systems are required in the robot arm, one horizontal and one vertical. There are two limit switches in the horizontal and vertical directions respectively to control the stroke of the servo motor. In addition, there is a zero-return switch in the horizontal and vertical directions as a reference to set the zero point in the horizontal and vertical directions.

4. CNC system software design

The system software design mainly consists of three parts: host computer program design, control program design, and touch screen program design. Through the coordinated operation of the control program and the touch screen program, the corresponding functions of the robotic arm can be realized.

(1) Overall Software Design. To ensure the reliability and scalability of the software, the control program and touchscreen program adopt a modular design approach. As shown in Figure 4, the software is divided into three main parts: a management module, a control module, and a parameter module. Since the motion controller itself does not have an operating system or development environment, it must be developed and managed through a host computer. Therefore, the management module runs on the host computer; the control module runs in the motion controller, and the control program written on the host computer can be directly transferred to the motion controller, which then performs the corresponding functions according to the program; the parameter module is mainly used for setting and displaying parameters and can run on the touchscreen. This modular design improves the system’s response speed and makes the system more stable and reliable.

(2) Partial Program Design. Since the motion controller runs on a PC, a host computer program needs to be developed to manage the CNC program. Generally, motion controllers provide an interface for host computer development. The ActiveX control in Trio is an interface used to combine with high-level languages. In this paper, VB is used to write the host computer program. The ActiveX control is added directly to the project, and the relevant functions are called during programming.

The control program is divided into two parts: a manual control program and an automatic control program. In manual control mode, the robot arm mainly moves according to the button instructions on the touch screen. Each action can be executed step by step, and it is mainly used for installation, debugging, and maintenance . The automatic control program controls the robot arm to automatically complete the workpiece handling. The program uses external status information feedback to handle the workpiece according to a specified route. When a problem occurs, the system will run a protection program to prevent accidents. The robot arm’s operating status and external feedback information are displayed on the touch screen in real time. The robot arm control flow is shown in Figure 5.

A touchscreen serves as a window for human-computer interaction. A touchscreen program consists of multiple screens, which makes human-computer interaction clearer and avoids accidental operations. The touchscreen interface mainly includes a main interface, a status display interface, and an operation interface, as shown in Figure 6.