基于EtherCAT总线的弯管机多轴运动控制系统设计及应用

Design and Application of Multi-axis Motion Control System for Pipe Bending Machine Based on EtherCAT Bus

多运动轴的三合一弯管机机械系统采用台达运动控制器和威纶通触摸屏的硬件配置,在InoProShop集成编程环境下,为了实现基于EtherCAT总线的多轴交流伺服系统控制,文章对单运动轴定位控制的实现进行了详细设计,并采用速度主轴和从轴同步控制、伺服驱动器限制转矩的控制方案,实现了弯管时送料轴主动送料与被动送料的自适应同步调整。设备可通过校圆校直、开料、管端成型、管材移动、弯管、快速卸料等工序直接将铜管盘料一次加工为成品。实现了全自动生产,可有效提高工作效率,减少操作人员。

The mechanical system of a three-in-one pipe bending machine with multiple motion axes adopts the hardware configuration of Delta motion controller and Weinview touch screen.In the InoProShop integrated programming environment,in order to realize the control of a multi-axis AC servo system based on EtherCAT bus,this paper designs the realization of single motion axis positioning control in detail.The control scheme of synchronous control of speed spindle and slave shaft and torque limitation of servo driver is adopted to realize the adaptive synchronous adjustment of active feeding and passive feeding of feeding shaft when bending pipe.The equipment can directly process the copper pipe coil into a finished product through some processes,such as calibration circle and straightening,rough shape cutting,pipe end forming,pipe movement,bending pipe,rapid discharge,and so on.It realizes automatic production,which can effectively improve work efficiency and reduce operators.