Article catalogue:
- 1 、Delta CNC lathe truss mechanical manual teaching device how to use
- 2 、How to debug the manipulator?
- 3 、What are the programming steps of the manipulator?
- 4 、What are the types of claws of truss manipulators?
- 5 、How to modify the Action parameters of Truss manipulator
Delta CNC lathe truss mechanical manual teaching device how to use
1. Before entering the safe area of the truss manipulator, be sure to turn off the main power supply and the air pressure source, and remove the gas and power connectors.
Secondly, verify whether the turning direction of the motor is consistent, and turn on the power supply.
3. Drain the air pressure again, relax and pull the cylinder fixing plate fixing screw, and move the arm, move the buffer seat to make it close to the arm.
4. Finally, tighten and pull the cylinder fixing plate, so that the arm can not move, lock the rotating safety screw, so that the truss manipulator can not rotate.
How to debug the manipulator?
It is easy to adjust, first connect the pneumatic button, and the injection molding machine line (not connected to the mechanical manual, or pick up the signal of the test bench), then set the servo motor parameters, adjust the cylinder pressure and so on.
What are the programming steps of the manipulator?
After entering the editing state with EDIT instructions, you can use C, D, E, I, L, P, R, S, T and other commands to further edit. Such as:
1. C command: change the editing program and replace it with a new program.
2. D command: delete the n-line program from the current line, and delete the current line by default.
3. The E command: exit editing and return to monitoring mode.
4. I command: moves the current instruction down one line to insert an instruction.
5. P command: displays the content of the program text from the current line to the next n lines.
6. T command: initialize the joint interpolation program teaching mode, in which the MOVE instruction is inserted into the program by pressing the “RECODE” button on the teaching box once.
Extended data:
Execute instruction
ABORT instruction: emergency stop (emergency stop) after execution of this instruction.
DO instruction: execute a single-step instruction.
EXECUTE instruction: this instruction executes the user-specified program n times, n can range from-32768 to 32767, and when n is omitted, the program executes once.
NEXT instruction: this command control program is executed in a single-step mode.
PROCEED instruction: this instruction implements the execution of the program from the next step after a pause, sudden stop, or running error.
RETRY instruction: the function of the instruction is to rerun the program from that step after a running error occurs at that step.
Source: Baidu Encyclopedia-Robot programming
What are the types of claws of truss manipulators?
The truss manipulator is a kind of automatic industrial equipment based on x, y, z coordinate system, which can adjust the position of the workpiece or realize the motion of the workpiece. The truss manipulator adopts the latest plc control technology and servo motion control technology, which makes the manipulator more efficient, widely used, more stable and more convenient. The whole process is completed automatically by the manipulator control system, which can realize intelligent detection, automatic alarm and other functions. It can be combined arbitrarily in a certain range, and the automatic production line of lathe, machining center, gear shaper, EDM machine, grinder and other equipment can be realized. The automatic loading and unloading process of truss manipulator is mainly controlled by plc and PLC, and operated by various hydraulic cylinders and cylinders. The whole automatic loading and unloading process consists of five parts: workpiece conveying, manipulator picking, chuck loading and unloading, manipulator loading and unloading. Among them, the transportation of some workpieces and the lower processing of the parts, and the NC machining of the materials and feed parts of the parallel manipulator are carried out simultaneously. The truss manipulator has the following main advantages: 1. Multi-degree-of-freedom motion, and the space angle between the degree motion is right angle. Automatic control, repeatable programming, all actions run according to the program. It is generally composed of control system, transmission system, mechanical system, operation tools and so on. Figure 4. The truss manipulator is flexible and versatile and varies according to the function of the operating tool. 5. High reliability, high speed, high precision. 6. Can be used in harsh environment, long-term work, convenient operation and maintenance.
How to modify the Action parameters of Truss manipulator
1. General rules of manipulator operation flow
Step 1: turn on the CNC device, the CNC should be able to give a “processing complete” signal
Step 2: power on the manipulator and wait for the startup to complete.
Step 3: reset the manipulator in “manual” mode
Step 4: set path parameter data in manual mode
Step 5: in manual mode, make sure that the CNC device is working properly and that one or more products have been processed
Step 6: switch the manipulator to automatic mode, press the “start” button, and the manipulator enters the automatic running state.
Step 7: after the finished product station is full, take away the finished product or replace the material tray.
two。 How to reset the manipulator
(1) normal operation, latte intelligence, the manipulator must remove the workpiece from the claw (to prevent falling during the reset process) and the arm to avoid obstacles (chuck, flip clamp) before resetting:
This is the end of the introduction on truss manipulator programming and debugging and truss manipulator programming and debugging CHAN. Have you found the information you need? If you want to know more about this, remember to collect and follow this site.