The most popular omroncp1h linear interpolation fu

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The application of OMRON CP1H's linear interpolation function on the winding machine

1 introduction

the customer is a professional enterprise focusing on the development, research and production of motor production equipment. The products are widely used in the fields of electric tools, vacuum cleaners, automobile motors, motorcycle starting motors, etc. Among them, series excitation rotor winding machine, rotor and commutator excircle finishing machine

at present, the customer is developing a new product, motor stator outer coil high-speed winding machine. Its 2-axis servo linear compensation function is required. The customer's original development machine used Advantech ADAM-5000 series distributed IO station (PLC) with its linear interpolation function, and the operation panel used the simple CNC system of Zhongda Diantong

2 system process flow

paying off wheel paying off → tension swing rod controlling tension → entering the rotating winding mechanism → winding to the outer stator requiring winding. The process flow is shown in Figure 1

Figure 1 Schematic diagram of process flow

3 design requirements

the winding servo rotates the winding. Its speed can be set and is constant during operation. The enameled wire is controlled by tension. The forward and backward servo then uses the lead screw to control the forward and backward of the winding head. There is also a set of servo for rotating and changing the winding angle of the stator coil. The forward and backward servo feeds segments on one coil, and the gap between each segment and each turn is different. The number of turns on the distribution circle determines the number of winding wires

winding speed: 3000 turns per minute (can be adjusted according to the use requirements); The spacing of each turn can be adjusted, and the minimum line width is 0.7mm

and the transition of different turn widths shall be stable. The winding machine shall not have uneven winding and accumulation at the reversing position

4 scheme design and main configuration

in view of the above use requirements and mechanical structure, we have designed the following scheme:

through the lead of the lead screw, the specified number of turns per section, the spacing of each turn, and the number of pulses per revolution defined by the servo, the number of pulses per section can be derived, That is, the puls value in the direction of X axis after 2020:

p (x axis) = (d*n)/l*p

(P: number of pulses; D: spacing per turn; N: number of turns; l: lead of lead screw; P: number of pulses per revolution)

because the set speed is constant, the number of pulses per revolution defined by servo can be derived from the specified number of turns per segment (i.e. the number of turns of winding), That is, the puls value of Y axis:

p (Y axis) = n*p

(P: number of pulses; N: number of turns is the number of turns; P: number of pulses per revolution)

z axis is used to switch and adjust the winding cylinder head of motor stator outer coil, and its rotation angle is determined by the number of winding cylinder heads of motor stator outer coil, which is set in advance before each winding of the same batch

Figure 2 Schematic diagram of winding form of motor stator outer coil

during winding, the x-axis and y-axis are linked in real time. According to the set good parameters, the two axes go through the corresponding pulse number respectively, the turn distance between each section is changed, and the acceleration and deceleration time is set. In fact, this is equivalent to making a straight line between winding servo and feed servo to improve the power interpolation function of professional and technical talent team. Since CP1H itself has no linear interpolation function, but CP1H has an independent 4-axis 100k high-speed pulse output, it can also achieve linear interpolation function in the case of small amount of calculation. This creates conditions for the system to use CP1H

therefore, the Omron solution is configured as follows:

cp1h-xa40dt-d, cpm1a-20edr1, cp1w-cif01, r88d-gt08h-z, r88d-gt04h-z, r88m-g75030h-s2-z, and r88m-g40030h-s2-z.z one,

ns8-tv00b-ecv2 one

the main difficulty of this scheme is that CP1H itself does not have the function of linear interpolation. Therefore, it is necessary to design a set of linear interpolation program. In this scheme, the time division linear interpolation algorithm is used. This method has been discussed in some books on the design and manufacture of electrical systems of various equipment, which places safe operation in an important position. It will not be introduced here. Since this scheme involves multi-step continuous operation, the linear interpolation program is packed successfully with reference to the memory operation mode of Omron's NC module, as shown in Figure 3

Figure 3 function block application diagram



start: start positioning sequence bit

step: positioning sequence number setting - setting range &1 ~ &100

step_ CTRL: start the next step (it can take effect in the independent mode in combination with the memory setting)

sequ_ Areaid: positioning sequence setting area

0:d area

1:h area

sequ_ Areano: set the starting address of the positioning sequence

sequ_ When areaid is 0: set the range &0 ~ &9900

sequ_ When areaid is 1: set the range &0 ~ &400

orgxy: return to the initial position bit (see memory positioning sequence setting)


step_ Running: the current positioning step number

5 memory location sequence

Figure 4 Schematic diagram of memory location sequence

based on Sequ_ areaid=0; sequ_ For example, areano=0, the memory setting is shown in Figure 4

a: each positioning sequence occupies 10 words

b: setting content:

d0~d1: X-axis position

d2~d3: Y-axis position

d4: interpolation start speed

d5: interpolation acceleration

d6: interpolation deceleration

d7~d8: interpolate the target speed

d9: positioning mode setting

0: stop after the sequence set in the independent mode line is completed, and enter "stepu Ctrl" in the function block to start the next sequence

1: continue to run the next sequence after the sequence set in the continuous mode line is completed

c: the first sequence is the starting position. If it is not necessary to use, set X and y to (0, 0). When the function block input

"orgxy" is "on", return to the set position here

in this way, the result calculated by using the function block in combination with the parameters set by the user on the touch screen is assigned to the sequence. Constitutes a complete output. To achieve the purpose of winding the outer coil of the motor stator according to the regulations

the left figure of Figure 5 starts winding, the right figure changes turns

the left figure of Figure 6 changes the stator, and the right figure of wound stator coil

after the actual equipment is installed, the test winding of the outer coil of the motor stator is carried out for different motors, and the results are satisfactory. The number of winding turns and the accuracy of each turn spacing can meet the design requirements. Fig. 5 and Fig. 6 are equipment drawings and finished winding drawings

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