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[大豪电控]大豪框架伺服调试指南

放大字体  缩小字体 发布日期:2014-09-05  来源:百度快照  作者:中国绣花机网  浏览次数:1192
核心提示:新建网页 1 高转速、高效率的绣花机为低迷的纺织缝制设备市场注入一剂强心针,以前全伺服高速机的市场主要在现有绣花机应用市场的高端,而且基本上被国外先进的绣花机制造商所垄断。国内绣花机厂家本着提高自身技术实力,增加技术储备,提高品牌影响力,经过与大豪科技的深入合作,目前大豪全伺服绣花机电控系统逐渐成熟,成为市场上一只强有力的竞争产品。 大豪全伺服机型优点: 1、整机成本增加不多,轻松实现从700转到850转,1000转的效率的提升。 2、伺服电机驱动框架,动框柔和,整机震动小,有益于提高机械寿命。
新建网页 1   高转速、高效率的绣花机为低迷的纺织缝制设备市场注入一剂强心针,以前全伺服高速机的市场主要在现有绣花机应用市场的高端,而且基本上被国外先进的绣花机制造商所垄断。国内绣花机厂家本着提高自身技术实力,增加技术储备,提高品牌影响力,经过与大豪科技的深入合作,目前大豪全伺服绣花机电控系统逐渐成熟,成为市场上一只强有力的竞争产品。

大豪全伺服机型优点: 1、整机成本增加不多,轻松实现从700转到850转,1000转的效率的提升。
2、伺服电机驱动框架,动框柔和,整机震动小,有益于提高机械寿命。
3、对厂家技术要求降低,全伺服机便于调试,绣品质量比步进机型好
4、价格优势和售后服务,通过遍布中国的市场维护网络,便于产品的维修升级。   大豪伺服的优越性,不断地满足客户的需求。在安装生产过程中需要进行调试参数,以达到让机器绣作效果良好的目的。参数调整前请参考阅读《大豪伺服高速机调试操作手册》,以便于熟悉操作。 机械方面的要求   全伺服机和普通机械的最大差别在于框架部分,其必须使用二级传动装置。二级传动的机械设计的好坏直接影响到框架的运动效果,所以对二级传动装置建议如下 1. 二级传动比 为了充分利用伺服电机的特性,应尽量加大二级传动比,让伺服电机工作在较高的转速,提供最高的性能。厂家可根据需要在1:3到1:5之间选择,推荐1:4。
2. 二级传动同步带宽度 建议选用50mm以上的宽度
3. 二级传动同步带长度 皮带过长,不利于皮带和齿轮的包裹和力的传输。建议传动皮带长度400~500。根据齿轮大小作调整同时为了保证皮带和齿轮的包裹,皮带齿形采用5m齿。并增加张紧轮。 大豪框架伺服的调试方法   务必按照相关图纸将电缆接好,并确认无误后才能进行电控的调整测试 一、确认XY通讯地址(需重新上电才能生效)
  大豪伺服框架采用通信方式进行指令控制,因此务必把XY轴对应的驱动器地址设对(X向驱动器参数PA01设为0001,Y向驱动器参数PA01设为0002)。如果设置错误将会造成通信报错或者绣作花样变形走位。
二、设定电子齿轮比PA02、PA03(需重新上电才能生效)
  电子齿轮比设置规律为:
A、框架轴套采用转动0.45°对应移框0.1mm的机器,则电子齿轮比的设置为

B、框架轴套采用转动0.36°对应移框0.1mm的机器,则电子齿轮比的设置为

注: 如果原来采用三洋伺服后更换成大豪伺服的机器,则可以根据上述的AB两条重新计算,或者用大豪伺服电子齿轮比=1.25×三洋伺服电子齿轮比来计算。 三、机械回差补偿PA18
  根据机械情况一般设为10~20之间,即0.1mm~0.2mm。此参数针对绣作调头动作时进行补偿,低速机(750rpm)的设置值一般为10,而高速机(1000rpm)的设置值一般为20.
四、手动移框参数
  根据高低速手动移框的效果(震动和声音)来设定,机器框架行程比较大的机器,可以将参数设置的大些。
PA17一般调整范围200~400 推荐设定值为250
PA04一般调整范围10~20 推荐设定值为13 五、设置电控参数

XX6电控

CX8电控 最高转速rpm

1000 1100 1200 1000 1100 1200 最低转速rpm 400 400 400 400 400 400 切换针长mm 5.0 4.0 3.0 5.0 4.0 3.0 动框曲线 F4/230 F4/230 F4/230 动框角度A:230,动框角度B:230 注:CX8电控的软件如果没有分动框角度A、B则选择F4/230,或者直接选择动框角度230. 六、通信质量测试   修改驱动器参数完毕,断电后再上电。查看驱动器是否均显示“0000”,如果显示“FFFF”则通信握手失败,查看线缆或者软件是否匹配,确认是否为大豪全伺服专用。   选择98号花样进行测试,绣花确认后拉杆起绣查看伺服驱动器的LED数码管是否从“0006”升值变化到“0011”,显示正常则通信质量没有问题。 七、绣做效果通过使用扎纸花样,对应针长调整PA05~PA15之间的值来修正。   调试参数的原则基本上安装最长针长最高转速的方法来确定参数,比如说电控中参数设置为最高转速1000,最低转速为400,切换针长为5mm;那么只要将转速开到1000rpm,并且只使用5mm针长的扎纸花样将其扎直以后,确定的参数基本上都能满足扎纸要求,具体各个针长的值可以根据扎纸效果来上下浮动参考值。   以5.0mm为调试基准,理想的扎纸针孔如图3所示(水平和竖直方向的孔都是整齐的)。

图3 理想扎纸图   A、如果绣作中出现调头反向的扎孔比上一针同一个位置的要靠前,则表明框架的响应过快有过冲,伺服参数值过大 参数值应该往减小方向调整。一般调整位置环增益,以±5以内的变化量来调试。

图4 参数过大引起过冲图示1 或者为

图5 参数过大引起过冲图示2   B、如果绣作中出现调头反向的扎孔比上一针同一个位置的要靠后,则表明框架的响应过柔,下针位置还没完全到位,伺服参数值过小,参数值应该往增大方向调整。一般调整位置环增益,以±5以内的变化量来调试。

图6 参数过小,走框偏软图示1 或者为

图7 参数过小,走框偏软图示2 八、完整的扎纸花样调试   图8所示是1-6mm针长的花样,针长依次为1mm、1.5mm、1.9mm、2mm、2.5mm、3mm、3.5mm、4mm、5mm、6mm,可以根据扎纸情况酌情调整相应针长的PA值。(先使用完整版扎纸看总体效果,另外可以拿分离的各针长的扎纸花样进行独立的扎纸调整)

图8 扎纸花样示意图   其中PA16为绣做时的速度环增益,为统一调整扎纸效果,如果单独调整PA05~PA15效果不理想,则调整PA16,一般设为300。如果不理想可以设为200、250、300、350再分别调试PA05~PA15。 九、花样校验调试效果   参数调整完毕,进行固化操作,以备断电后丢失调试好的驱动器参数。各个厂家可以根据厂里的试机花样进行测试,一般推荐测试平包针、跳针、榻榻米、剪线等花样。 附录
大豪框架伺服驱动器参数列表:

序号

界面参数名称

驱动器参数名称

参数意义

设置范围

推荐值

1

绣作参数

PA16

绣作速度环增益

50~600

300

2

移框参数1

PA17

移框速度环增益

93~600

250

3

移框参数2

PA04

移框位置环增益

10~50

13

4

参数1

PA05

0.1-0.5MM位置环增益

10~50

28

5

参数2

PA06

0.6-1.0 MM位置环增益

10~50

20~26

6

参数3

PA07

1.1-1.5 MM位置环增益

10~50

20~26

7

参数4

PA08

1.6-2.0 MM位置环增益

10~50

20~26

8

参数5

PA09

2.1-2.5 MM位置环增益

10~50

20~26

9

参数6

PA10

2.6-3.0 MM位置环增益

10~50

20~26

10

参数7

PA11

3.1-3.5 MM位置环增益

10~50

20~26

11

参数8

PA12

3.6-4.0 MM位置环增益

10~50

20~26

12

参数9

PA13

4.1-5.0 MM位置环增益

10~50

20~26

13

参数10

PA14

5.1-6.0 MM位置环增益

10~50

20~26

14

参数11

PA15

6.1MM以上位置环增益

10~50

30

15

机械回差补偿

PA18 ,

一个单位为0.01毫米

0~50

20 Build a webpage 1 High rotate speed, efficient embroider aircraft is low needle of confused strong heart of potion of infuse of market of spin tailor equipment, the market of machine of high speed of complete before servo basically uses the high end of the market in existing embroider machine, and basically be built by abroad's advanced embroider mechanism business place forestall. Manufacturer of domestic embroider aircraft is acted on increase oneself technology actual strength, increase technical reserve, increase brand force, course and the development of science and technology of big a person of extraordinary powers cooperate, at present Electromechanical of embroider of complete servo of big a person of extraordinary powers accuses a system to mature gradually, make a strong competitive product. Advantage of type of complete servo of big a person of extraordinary powers: 1, overall cost raises not much, relaxed implementation from 700 turn 850 turn, the promotion of the 1000 efficiency that turn.
2, frame of drive of servo electric machinery, touch draw a frame round downy, overall shake small, be beneficial to improve mechanical life.
3, ask to reduce to manufacturer technology, complete servo machine facilitates debug, embroider character is being measured is better into type than the pace
4, price advantage and after service, maintain a network through spreading all over Chinese market, the maintenance of facilitating product upgrades.  The advantage of servo of big a person of extraordinary powers, satisfy the client's requirement ceaselessly. In installing manufacturing process need undertakes debugging parameter, let machine embroider in order to achieve make the goal with favorable result. Reference is asked to read before parameter is adjusted " machine of high speed of servo of big a person of extraordinary powers debugs operation manual " , be familiar with an operation in order to facilitate. The requirement of mechanical respect Complete servo machine and common and mechanical the biggest difference consist frame share, its must use 2 level gearing. The stand or fall of the mechanical design of 2 class drive affects the athletic result of frame directly, to 2 class so gearing suggests as follows 1. 2 class drive is compared to make full use of the character of servo electric machinery, answer to increase 2 class drive to compare as far as possible, let job of servo electric machinery be in higher rotate speed, provide highest performance. Manufacturer can be in according to need 1: 3 to 1: 5 between choice, recommend 1: 4.
2.Synchronism of 2 class drive takes width to suggest to choose the width of 50mm above
3.Synchronism of 2 class drive takes length leather belt to grow too, go against the transmission of the wrap up of leather belt and gear and force. Belt length of proposal drive skin spends 400~500. Make according to gear size adjust to assure at the same time leather belt is mixed the wrap up of gear, leather belt tooth form uses 5m tooth. Increase Zhang Jin annulus. Of servo of frame of big a person of extraordinary powers debug a method Had received cable according to relevant blueprint without fail, affirm without by accident hind ability undertakes adjustment a test electronic-controlledly one, affirm XY communication address (need go into effect of new electrify ability)
 frame of servo of big a person of extraordinary powers uses communication means to undertake dictating controlling, be sure to establish the driver address of XY axis correspondence accordingly right (X is set to driver parameter PA01 for 0001, y is set to driver parameter PA01 for 0002) . If setting mistake will cause communication,sign up for a fault or embroider makes pattern be out of shape.
2, set electron gear needs go into effect of new electrify ability than PA02, PA03()
 Electronic gear is than setting the rule:
Axle sleeve of A, frame uses roll 0.45 ° correspondence moves the machine of casing 0.1mm, criterion the setting that electronic gear compares uses roll for axle sleeve of B, frame 0.36 ° correspondence moves the machine of casing 0.1mm, criterion the setting that electronic gear compares is note: If use the machine that servo of big a person of extraordinary powers changes after 3 foreign servo so, OK according to afore-mentioned AB two recount, perhaps compare =1.25 × with gear of electron of servo of big a person of extraordinary powers gear of electron of 3 foreign servo is calculated than coming. 3, PA18 of the mechanical compensation that answer difference
 Set commonly according to mechanical circumstance for 10~20 between, namely 0.1mm~0.2mm. When this parameter makes tune motion in the light of embroider, undertake compensating, low speed machine (the setting value of 750rpm) is commonly 10, and high speed machine (the setting value of 1000rpm) is commonly 20.
4, the hand is moved move casing parameter
 Move according to hand of high low speed move the effect of casing (shake harmonic news) come set, machine frame journey compares old machine, somes what set parameter is big OKer.
PA17 adjusts limits 200~400 to recommend set to be worth commonly for 250
PA04 adjusts limits 10~20 to recommend set value to be commonly 13 5, the setting is electronic-controlled parameter XX6 is electronic-controlled long Mm 5.0 4.0 3.0 5.0 4.0 3.0 of needle of switch of Rpm 400 400 400 400 400 400 of rotate speed of lowest of Rpm 1000 1100 1200 1000 1100 1200 of electronic-controlled and top rotate speed moves CX8 casing curve F4/230 F4/230 F4/230 moves casing angle A:230, move casing angle B:230 note: If the software with electronic-controlled CX8 moves casing angle A, B to choose F4/230 without cent, direct perhaps choice changes casing point of view 230. 6, communication quality checks Modification driver parameter ends, after cutting off the power again electrify. Examine driver to whether all show " 0000 " , if show " FFFF " correspond handclasp fails, examine wire cable or whether does software match, affirm whether be big a person of extraordinary powers complete servo is special.  Choose 98 pattern to have a test, the LED number that the embroider since the pull rod after embroider affirms examines servo driver is in charge of whether from " 0006 " appreciate change arrives " 0011 " , show correspond normally quality does not have a problem. 7, embroider does the effect to tie paper flower appearance through using, corresponding shot is long adjust the value between PA05~PA15 to amend.  The principle that debugs parameter basically installs the longest shot to grow the method of top rotate speed to decide parameter, for example electronic-controlled in parameter setting is top rotate speed 1000, lowermost rotate speed is 400, switch shot is long for 5mm; Should open rotate speed 1000rpm only so, and use the variety plunging into paper with 5mm long shot only plunge into its straight later, affirmatory parameter basically can satisfy the requirement that plunge into paper, specific the value can drift up and down according to stringing paper result referenced value.  It is with 5.0mm debug fiducial, the ideal pinhole that plunge into paper is shown 3 times like the graph (the Kong Dou of level and upend direction is orderly) . Graph 3 ideal pitch paper plan A, if embroider is made in occurrence tune plunges into the stitch on aperture comparing reversely same of a position before wanting to lean, the response that makes clear frame has had too quickly strong, servo parameter value joins numerical value to should be gone to greatly too reduce direction to adjust. Adjust positional annulus gain commonly, with ± the metabolic capacity of 5 less thans is debugged. Graph 4 parameter had caused strong graphic representation greatly too 1 perhaps be a graph 5 parameter had caused strong graphic representation greatly too 2 B, if embroider is made in occurrence tune plunges into the stitch on aperture comparing reversely same of a position after wanting to lean, the response that makes clear frame is too soft, position issueing a needle has not reached the designated position completely, servo parameter value is too little, parameter value should be gone to increase direction to adjust. Adjust positional annulus gain commonly, with ± the metabolic capacity of 5 less thans is debugged. Graph 6 parameter are too small, walk along casing to slant soft graphic representation 1 perhaps be a graph 7 parameter are too small, walk along casing to slant soft graphic representation 2 8, the whole trick that plunge into paper is debugged The graph is shown 8 times is the pattern with 1-6mm long shot, the shot is long ordinal for 1mm, 1.5mm, 1.9mm, 2mm, 2.5mm, 3mm, 3.5mm, 4mm, 5mm, 6mm, the PA that can adjust corresponding needle to grow according to plunging into paper circumstance take into consideration the circumstances is worth. (Make gone full page plunges into paper to see overall effect first, the variety plunging into paper that can take detached each needle to grow additionally undertakes paper is adjusted be plunginged into independently) graph sketch map of the 8 pattern that plunge into paper Among them the speed annulus gain when PA16 is done for embroider, adjust the result that plunge into paper to unite, if adjust PA05~PA15 effect to pay no attention to alone,think, adjust PA16, set commonly for 300. If pay no attention to,want to be able to be set for 200, 250, 300, 350 debug PA05~PA15 respectively again. 9, pattern desired result debugs the effect Parameter is adjusted end, undertake solidify is operated, debug good driver parameter with having after cutting off the power, be lost. Each manufacturer are OK according to the factory in try aircraft variety to have a test, recommend a test to make the same score rice of couch of packet of needle, slip stitch, couch commonly, cut the pattern such as the line. Appendix
Driver of servo of frame of big a person of extraordinary powers joins several list: Meaning of parameter of name of parameter of driver of name of parameter of serial number interface installs limits to recommend a value 1 embroider makes parameter PA16 embroider make 50~600 300 2 of speed annulus gain move casing parameter 1 PA17 moves 93~600 250 3 of gain of casing speed annulus moves casing parameter 2 PA04 moves position of 2 PA06 0.6-1.0 MM of parameter of 10~50 28 5 of gain of annulus of position of 1 PA05 0.1-0.5MM of parameter of 10~50 13 4 of gain of casing position annulusAn unit is 0.01 millimeter 0~50 20 参数|增益|伺服|位置|调整|调试|驱动器|框架|齿轮|转速

 
 
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