Application of Shenzhen Weikoda VB Servo in the Swing Arm of Box-type Cable Coil Forming Machine

After the cable is released from the active pay-off rack, it passes through the tension device accumulator and is wound onto the expansion mandrel of the coil forming machine.

When the set length is reached, the coil forming machine stops automatically, the lower tray is lowered, and the packaging paper on the moving table is pushed under the coil line, and the coil line automatically falls into the paper box.

After the moving table is withdrawn, the lower tray rises to the working position and starts the next round of winding.

The swing arm in the whole process ensures the correct cross winding position and shape. The winding and pay-off tension is controlled constant by the tension arm of the wire storage device, and the active pay-off frame is synchronized. As shown in the figure:

Cable winding mechanical structure diagram

1. Process requirements:

a. The swing arm is synchronized with the coiling machine take-up wheel, and the cable density should be uniform;

b. The swing arm has 30 turns as one cycle. When it reaches 30 turns, it returns to the starting point to wind the second turn. A middle outlet hole is reserved. The outlet holes must be in the same position and cannot be pressed by the cable. It runs at 2 speeds until it reaches the predetermined number of meters and stops.

2. Servo function requirements:

a. Position control mode, tracking the speed of the coiling machine take-up wheel to achieve speed synchronization and cable density requirements;

b. Speed ​​switching function, 30 turns as a cycle and reserved wire outlet hole position.

3. Control scheme and debugging instructions :

The coiling machine reel uses the Euro 514 series 2.2kW frequency conversion, which is mainly used for speed regulation of the coiling machine reel. The swing arm uses the Wekoda VB series servo driver to control the swing arm motor. The speed is adjusted according to the encoder given signal of the coiling machine reel and the encoder feedback signal of the swing arm motor to keep the synchronization of the cycloid and the reel. The speed is switched through the photoelectric switch to detect the number of circles and keep the position of the outlet hole. The system control is shown in the figure:

VB servo driver wiring diagram

Specific debugging parameter description of Weikoda VB series servo: (swing arm motor)

Restoring factory settings The following describes how to perform the actions and must be performed for every new drive:

1. Connect the drive to the power supply and turn on the power.
2. Set F.094=249.
3. Press the PAR key twice, then press the RESET key; the reset action will be executed.
4. The drive will automatically reset twice.

This completes the driver reset action, and the parameters are restored to factory values. Before self-learning of the driver and servo motor, please open the FR/W data setting (ie set F.095=0 and F.096=1).

H.450～H.499 are the parameters of permanent magnet brushless servo motor. (The motor should be disconnected from the load during self-learning).

1 Self-learning of permanent magnet brushless servo motor

Before self-learning, the following parameters must be set manually:

1. Set the motor rated speed to H.460 (rpm).
2. Set the motor rated current to H.461 = (motor rated current / drive rated current) × 100%.
3. Set the motor winding direction to H.492 = 1;
4. Set H.094 = 235.
5. Perform software or hardware reset to start self-learning.

During the self-learning operation, the driver will automatically detect the motor characteristics and automatically set the relevant motor parameters;

The drive will now automatically use motor parameter group #3 (H.450~H.499) to set the permanent magnet brushless servo motor parameters.

After the self-learning operation is completed, the driver will set F.094=232 and load the parameters related to the speed control mode of the permanent magnet brushless servo motor.

1. H.452 Encoder pulses per revolution (PPR).
2. H.453 Phase A leads or lags Phase B in forward rotation.
3. H.457 Motor rated voltage (motor rated voltage/input voltage).
4. H.458 Motor maximum voltage (same as H.457).
5. H.459 Torque boost voltage is set to 0.
6. H.462 Motor maximum current is set to 100%.
7. H.463 Excitation current is set to 0.
8. H.464 Number of motor poles.
9. H.465 Motor maximum allowable speed setting.
10. H.466 Motor minimum allowable speed is set to 0rpm.
11. H.467 Motor slip differential is set to 0.
12. H.470 Proportional gain of current control loop.
13. H.471 Integral gain of current control loop.
14. H.473 Proportional gain of the speed control loop.
15. H.474 Integral gain of the speed control loop.

2 Operation in position control mode

Set F.094=233, then execute the reset action, the CPU automatically sets the following parameters:
F.188=3 Select motor parameter group #3 (H.450~H.499)
H.450=3 Select permanent magnet brushless servo motor closed loop control
H.480=1 Select position control mode
H.481=1 Select tracking mode controlled by XY pulse input
H.482~H.483=0 No torque control
F.141=102 DI1 (102) drive is activated by DI1
F.145=73 DI5 (73) forward operation (when DI5 terminal is ON)
F.146=74 D16 (74) reverse operation (when DI6 terminal is ON)
F.181=0 & F.039=0.2 Operation command comes from keyboard
F.040=0.25 Speed ​​input is set by F.000
F.000=500 Preset speed = 500rpm
F.130 = 0 Select quadruple rate XY pulse input
F.133 = 1000 XY pulse signal multiplication factor = 1000
F.134 = 1000 XY pulse signal division factor = 1000
Connect DI1 to COM to start the drive.

Press the FWD key on the keyboard, the driver receives the XY pulse signal, and the motor speed and direction are determined by the XY pulse signal.

Modify F.133 and F.134 and observe the impact of the pulse signal.

Then set the speed switching terminal F144=65 to switch the proportional coefficient of the 2-stage speed to reach the position of the reserved hole.

On-site debugging experiments have proved that after the box-type coil forming machine swing arm uses Shenzhen Weikoda VB series servo drive, the cable winding density is evenly arranged, the hole position is accurate, and the winding speed is also improved, which fully meets the process requirements of the box-type coil forming machine.