Description
3300/16-11-01-03-00-00-01 BENTLY vibration monitoring system
3300/16-11-01-03-00-00-01 BENTLY vibration monitoring system
Module Clips Drive controller servo moto
The 3300/16-11-01-03-00-00-01 EGD Communication Gateway Integrates process control and other automation systems using both Ethernet TCP/IP and serial (RS232 / RS422 / RS485) communications capabilities. Permits Ethernet communications with 3500 Rack Configuration Software. The 3300/16-11-01-03-00-00-01 also supports proprietary Bently Nevada protocol along with Modicon Modbus and Modbus/TCP protocols.
3300/16-11-01-03-00-00-01Communication Gateway integrates easily with process control networks and other automation systems using both Ethernet TCP/IP and serial (RS232 / RS422 / RS485) communications capabilities. Permits communications via Modbus using 3500 Rack Configuration Software. The 3300/16-11-01-03-00-00-01 can be configured using the 3500 Rack Configuration software to produce a custom or condensed Modbus map for communications using fixed or configurable registers. All vital rack information including direct vibration, gap, 1X, 2X, Smax, channel statuses, rack status, trip multiply, rack reset, and others can be easily communicated.
Contact: Mr. Lai
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Figure 4 Tool Framework
2.3Smart component creation
Call the Rotator component: This component is used to allow the rotatable grinding rotor to rotate during simulation to simulate the real grinding scene. In the parameters of the Rotator component, set the reference to object, the reference object to the frame l, and the object to a copy of the rotor. (2) The rotary grinding rotor can be rotated, and the speed is l20mm/s (the speed of the grinding head will affect the quality of the finished product) ), the reference center axis is: axis (based on frame l, centerpoint x, y,: set to 0, 0, 0, Axis set x, y,: 0, 0, l000mm).
Call the Attach component: This component is used to allow the rotatable grinding rotor to be integrated with the tool body. When the tool body is installed on the flange, it can follow the movement of the flange. In the parameters of the Attach component, set the sub-object to be a copy of the rotor (2) for the rotatable polishing rotor, and the parent object is the tool body of a copy of the rotor. The offset and orientation are based on the offset of point B relative to the origin. For setting, you can use the measurement tool in Robotstudio software to measure, and then set the parameters after measurement.
Verification: Install a copy of the rotor tool body onto the robot flange, and then click Execute in the Attach component. You can observe whether the position of the rotatable grinding rotor is correct at this time. If there is a deviation, adjust the position in time, as shown in the figure. 5 shown.
Figure 5 Tool installation
2.4 Create tool coordinate system
Use the six-point method to create the tool coordinate system Too1data on the robot teach pendant at the center of the rotor. Change the tool coordinate system to Too1data in the basic options. At this time, click on the robot manual linear and you can drag the robot to move linearly at will.
2.5 Creating trajectories and programming
Determine the trajectory: According to the requirements of the work task, design the grinding trajectory around the workpiece and determine the trajectory points and transition points required for the grinding trajectory. The grinding action process is shown in Figure 6.
Setting I/O and programming: Yalong IY-l3-LA industrial robot deburring and grinding system control and application equipment adopts 0sDC-52 6/o communication board, the address is 10, Do1 is the digital output signal, the address is 1 . First set the I/O board, then set the I/O digital output signal Di1, and then program on the simulation teaching pendant. The procedure is as follows:
PRoCmain()
setDo1: Set the Do1 signal to allow the external grinding rotor to start rotating.
waitTime1: The robot stays in place and does not move, waits for 1s, and lets the polishing rotor turn to the specified speed, transition
MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1: The robot moves to the initial point jpos10 above point p10. Point jpos10 is used as the starting point and end point of the robot’s action.
Move4p10,v1000,z50,Too1data1: Move straight line grinding to point p10
Move4pL0,v1000,z50,Too1data1: Move straight line grinding to pL0 point
Move4p30,v1000,z50,Too1data1: Move straight line grinding to point p30
Move4p40,v1000,z50,Too1data1: Move straight line grinding to p40 point
Move4p10,v1000,z50,Too1data1: Move straight line grinding to point p10
MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1: The robot moves to the initial point jpos10 above point p10
waitTime1: wait 1s, transition
ResetDo1: Reset the Do1 signal to stop the rotor ENDPRoC
2.6 Simulation design and verification
Simulation design: Create a smart component to input the Di1 signal, and use the Di1 signal to simulate the external polishing start signal to execute the Rotator component and Attach component of the smart component to achieve the visual effect of rotating and polishing the polishing rotor. In the workstation logic design, the smart component input Di1 signal is associated with the robot Do1 signal, so that the robot signal Do1 can control the smart component input Di1 signal, thereby controlling the start and stop of the rotation of the polishing rotor.
Verification: In the program of the teaching pendant, first set the pp command to move to Main, and then set the robot startup mode to automatic. Click play in the simulation of Robotstudio software to verify whether the trajectory is consistent with the assumption, and optimize the path in time for problems existing in the simulation.
3Summary and outlook
This design is based on the programming simulation of the Yalong Y4-1360A industrial robot deburring system to control the grinding robot workstation. It covers aspects such as creating a workstation, setting up tools, creating smart components, creating tool coordinate systems, creating trajectories, programming, simulation design, and verification. Starting with it, the polishing simulation of the workstation is realized through the smart component function of Robotstudio software. The animation effect is intuitive and lifelike, which not only facilitates teaching demonstrations, but also facilitates program debugging, and has application value for both production and teaching.
In the planning and design of the workpiece grinding trajectory, according to the different roughness and grinding amount process requirements of the workpiece, the rotation speed, feed speed, feed amount, and grinding angle of the grinding rotor are also different. The feed amount can be adjusted in time according to the on-site conditions. , feed speed, rotor speed, grinding angle and other parameters. After appropriate adjustments, the motion trajectory is written with the corresponding program on the Robotstudio software to further reduce the possibility of robot collisions and singular points contained in the trajectory during the actual debugging process. ,Optimize paths and improve debugging efficiency.
ABB KU C321 AE01 HIEE300698R0001 Power Pack
UA C326 AE 1 HIEE401481R0001 Combined I/O
PP C322 BE HIEE300900R0001 Processing Unit
ABB 3BHB028673R0010 PHASE MODULE FRAME 2 R0
ABB 2UBA001210R0130 PHASE MODULE FRAME 3 R0
ABB 2UBA001210R0040 PHASE MODULE 4MVA
DIODE ACS6000 3BHB044241R0001
61358064 DIODE ACS6000 Series
IGCT MODULE 3BHE023784R0001
3BHB020684R0001 IGBT Module
DIODE ACS1000 series 3BHL000398P0001
3BHL000397P0001 DIODE ACS1000 series
5SDD0760D0001 3BHL001862P0001 DIODE 38 MM / 6KV
3BHL000200P0001 5SDF0345D0006 DIODE PRESSP
5SDF 1045H0002 3BHL000986P3002 DIODE
5SHY 4045L0006 3BHB030310R0001 IGCT MODULE
5SHY 4045L0004 3BHB021400R0002 IGCT MODULE
5SHX 2645L0004 3BHL000389P0104
IGCT RC 3BHL000390P0104 5SHX 1960L0004
3BHL000387P0101 5SHX 1445H0002 IGCT MODULE
3BHL000391P0101 5SHX 1445H0001 IGCT MODULE
3BHB020538R0001 5SHX 1060H0003 RC-IGCT ACS5000 series
3BHL000392P0101 5SHX 1060H0001 IGCT MODULE
5SHX 0845F0001 3BHL000385P0101 IGCT MODULE ABB
3BHB018104R0001 5SHX 0660F0002 IGCT ACS5000
3BHB204520R0001 RECOVERY DIODE ACS6000
3BHL000396P0001 ACS1000 DIODE ABB
3BHE024577R0101 CONTROL BOARD AMC34 ABB
3BHB045647R0010 ACS1000 PM Kit for 14x 68mm IGCTs – GV C705 AE01
3BHB045647R0006 GV C714 A101 ACS5000 Series ABB
3BHE024415R0101 GATE DRIVER BOARD ABB
3BHB045668R0006 GV C713 A101 ACS1000 series IGCT
3BHB045647R0005 GV C713 A101 ABB 24x 51mm IGCT
3BHE022333R0101 GATE DRIVER BOARD ABB
HP 5517B Agilent laser head/Sensor
140SAI94000S SCHNEIDER 8 Enter the analog safety input module
810-046015-010 PCB board
3BHE024415R0101 GVC714A101 GATE DRIVER BOARD ABB
SC-PCMX01 51307195-175 RTU2020 Controller
3500/25 149369-01 Enhanced Keyphasor Module
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
