PLC controls servo back to origin, Omron PLC servo back to origin speed

There are many ways to go back to the point of origin depending on the hardware. For example, three feedback signals may be a limit, a zero point is close to a zero point, if the middle is the origin, the last one is the limit, the beginning is the origin of the signal, when the movement to the origin of the approaching signal, the motor will slow down to the origin signal stop, such as two signals, may not be a limit, such as a signal is to use a signal as the origin of the signal, there is no origin proximity signal, these methods can achieve the function, but the three signals are the most reliable, The origin of the servo motor does not necessarily have to use an external input signal, its own Z phase can also be used as the origin input, you said that the rotation back to the origin is a way to find the origin, not necessarily so used, and the setting of the servo, such as the CW direction or the CCW direction, in short, there are many methods, which one depends on the conditions and the use environment.

1.I've written a servo like Example 1, with 2 limits and an origin in the middle.

2.The second one is not touched, and it is estimated that the two sensors are limited, and the original position should be controlled in the PLC program.

3.Return to the original position after the sensor is soon back, this is written in the PLC program control, back to the original position of the way, direction, speed, etc. are program control, depending on how you use it, I generally wait for the sensor to light up and then quickly return.

When the first switch slows down, the second switch reverses, so use a few more to accurately ensure the accuracy of the return to zero, of course, you can use one to slow down the return to zero.

Summary. In view of the problem of Omron PLC servo back to origin speed, the following solutions can be adopted:1

First of all, check the control circuit of the servo motor to ensure that the control circuit of the motor is not open or short-circuited, and whether the voltage of the control circuit is normal. 2.Secondly, check the input and output lines of the PLC to ensure that the input and output lines of the PLC are not open or short-circuited, and whether the voltage of the input and output lines is normal.

3.Then, check the PLC's program to make sure that the PLC's program is error-free and that the PLC's program is correct. 4.

Finally, check the parameters of the servo motor to make sure that the parameters of the servo motor are correct, and whether the parameters of the servo motor are correct. Through the above steps, the problem of Omron PLC servo back to origin speed can be effectively solved.

In order to solve the problem of the speed of Omron PLC servo back to the origin, the following solutions can be adopted: Brigade 1First of all, check the control circuit of the servo motor to ensure that the control circuit of the motor is not open or short-circuited, and whether the voltage of the control circuit is normal.

2.Secondly, check the input and output lines of the PLC to ensure that the input and output lines of the PLC are not open or short-circuited, and whether the voltage of the input and output lines is normal. 3.

Then, check the PLC's joke program to make sure that the PLC's program is error-free and that the PLC's program is correct. 4.Finally, check the parameters of the servo motor to make sure that the parameters of the servo motor are correct, and whether the parameters of the servo motor are correct.

Through the above steps, the problem of Omron PLC servo back to origin speed can be effectively solved.

I'm still a little confused, can you be more detailed?

The answer to the Omron PLC servo return to origin speed is: Omron PLC servo back to origin speed can be controlled early by setting the parameters of the servo controller. Generally speaking, the parameters of the servo controller include return to origin speed, return to origin acceleration, return to origin deceleration, etc.

These parameters can be adjusted according to the actual situation to achieve the best return to origin speed. In addition, the Omron PLC servo back to origin speed can also be controlled by adjusting the filtering parameters of the servo controller. The filtering parameter controls the output of the servo controller and thus the speed at which the servo returns to the origin.

Finally, the speed of Omron PLC servo back to origin can also be controlled by the control algorithm of the whole servo controller of the sock adjustment airbird. The control algorithm can control the output of the servo controller, and thus the speed at which the servo returns to the origin. In a word, the Omron PLC servo back to origin loss speed can be controlled by adjusting the parameters of the servo controller, the filtering parameters and the control algorithm.

As long as these parameters are adjusted according to the actual situation, the optimal return to origin speed can be achieved.

The servo back reference point is the same as the back reference point you talked about later.

When the back to the reference point command is executed, the servo motor starts to move, (the speed back to the reference point can be set) starts to decelerate when it encounters the origin light sensor, and then moves a distance in the opposite direction. Moving in the opposite direction is to find the origin of the pulse.

The stepper motor returns to the origin when it encounters the first sensor to slow down, and when it encounters the second sensor, the reverse motion servo is a little more advanced than the stepper motor, and the servo only needs a light sensor.

The reason why two sensors are used is to slow down the speed so that it does not rush through the sensors because it is too fast.

I am doing CNC machine tool debugging and after-sales, I hope it will be helpful to you.

There are a variety of speeds when returning to zero, please see the following figure: my understanding is that the PLC detects the zero switch signal in the zero return mode and enters the zero return action, the speed drops to the VM speed, and the action stop is out of the zero switch, looking for the nearest Z-direction pulse is the zero point.

1) The crux of your problem is that the origin is reset, and it is the driver that is finding the origin, not the controller (PLC) finding the origin. The encoder is connected to the driver, for the driver to be used for reference, not for the controller, the feedback signal of the encoder is given to the driver, constituting a closed-loop control, the command pulse given by the controller, if the motor is not completely executed, the driver is compensated for the difference fed back by the encoder. The controller can obtain the feedback pulse of the encoder from the driver for monitoring purposes.

2) Origin reversion:

Method 1: the near-origin signal is connected to the driver, when the origin is restored, the driver gives the driver a direction and speed command of the origin of the return, it is not necessary, the driver controls the command given by the motor installer to carry out the origin return action, first returns at the speed of the return to the origin, touches the near-point switch on the way, and the speed immediately drops to the crawling speed, and then the driver receives the Z-phase pulse of the motor and stops, that is, returns to the origin.

It's all done by the drive itself. One way to do this is because of the functionality of advanced drives such as servo drives.

Method 2: The near origin signal is connected to the controller (PLC), in this way, the origin reset is completed by the PLC and the driver together, and the near origin signal is detected in the program, and the driver origin command is given.

When the driver performs origin reversion, it detects the encoder's Z signal. Stop it.

3) The driver is a relatively advanced thing, there is no controller and pulse input, and a separate servo drive plus a button can also complete the origin reset, and positioning control. However, the positioning is just a few positions set in the drive. Like the IAI driver, there are more than 1,000 positions inside, all of which can be set, and more than 1,000 positions can be directly positioned after gating through the switch.

It's okay if you don't need a controller.

4) A lot of stepper drivers themselves do not have the function of origin reversion, and can only rely on the controller to complete the function of origin reversion, so that if you want to accurately position, you need to enter the near origin signal, Z signal into the controller, and complete the origin return through the controller program, so that after the pulse train receives the near origin signal, the frequency changes to a crawling speed frequency, and the Z signal is found.

The near-point switch can affect the ZRN command of the PLC to send a pulse, the near-point switch has induction, the motor speed decreases, and when the last phase Z phase of the motor gets the pulse, it will be fed back to the PLC (the Z phase is energized for the first time after the near-point switch has induction), and then cut off the pulse to complete the return to the origin. This kind of return to the origin point has a large error.

Your understanding is right. If you use the PLC to return to zero, you need to connect the Z signal terminal on the servo drive to the PLC, otherwise it will not stop and keep crawling.

Yes, I don't understand it, when the near point signal becomes off, the PLC immediately stops sending pulses, if the servo drive retention pulse fails to make the servo receive the z pulse (if there are few retention pulses, the servo motor can not turn a full turn), then what should I do?

Please ask, what should I do if some channels of Wufeng controller go back to the far point command very slowly or do not?

At present, there are two types of origin copying and reversion, BAI (in the IEC61131-3 standard, there are also two types of DU MC back to origin instructions).

1) PLC to find the origin: this type of positive and negative limit to open the DAO

A little bit of a complication, a few words.

There are two common use cases:

1. All external sensors are used, that is, they rely on external sensors to determine the origin, at this time, the sensors are connected to the PLC (or the positioning module of the PLC), and the origin search has nothing to do with the encoder;

2. Using Z-phase pulse, at this time, an external near-point signal is first needed (or with an external sensor, or a proximity switch, etc.), after reaching the near point, start to decelerate to search for the origin, that is, the Z-phase pulse (this signal, the servo motor will return one every revolution), when reaching the position of the Z signal, the servo motor stops, it should be noted that whether it is stopped or started, the signal is ** PLC (or PLC's positioning module), not the service drive automatically stops the motor.

Sunzengliszl's relatively general professional bai is actually du2 ways to return to zero, using zhiz pulses for more accurate dao!

The driver has a z-differential pulse back of 5 volts and also has a collector on.

Answer output. See what your PLC accepts The PLC uses the pulse given by the driver to determine whether it has reached the zero point.

PLC of course has to be programmed...

The Z signal is the feedback signal of the motor, and after it is given to the driver, the driver can be fed back in two ways (mostly). It says that the PLC can just receive the zero point signal, as for stopping. Do you think the driver can control the motor by itself?

The PLC does not give the pulse and the motor definitely does not go.

Servo drives generally do not need to be programmed, only the parameters need to be set. The programming is done with PLC, which controls the servo controller through the program, and the servo controller then controls the operation of the servo motor. The PLC has a specific command to return to the point of origin.

First of all, the servo with an absolute encoder remembers the position on the power, while the incremental encoder cannot, and the origin must be found every time it is powered on.

Secondly, the servo pulse position control is not directly collected pulse, the general PLC pulse output function has relative or absolute position control, take Mitsubishi as an example, how many pulses have been sent, whether it is forward or reverse PLC internal automatic counting, you don't care, just give the command to let it go relative or absolute position.

Finally, I understand the reset you said as the return to the origin of the robotic arm, which is convenient to use PLC pulse control, the return to the origin of the servo itself is very inconvenient to modify, and the wiring is more complicated to do, each shaft must have two points of reset and origin detection, and it is convenient to control it directly into the PLC without the detection point.

PS: It can be said that all the actions are under the control of the PLC, the action sequence control can be very flexible, and the control of the robotic arm back to the origin of each axis should cooperate with each other, which is not achieved by the servo itself back to the origin function.