CRT3-6 axis polishing motion control system workpiece processing editing method and steps

The Krete DMC600 series is a multifunctional motion control system, mainly used in welding, polishing, manipulator and other equipment. It realizes multi-axis linkage and various interpolation, such as linear, circular, parabolic, spiral interpolation, etc. The following takes the 3-axis polishing teaching system as an example to illustrate the editing method and steps of workpiece processing. Figure 1 is the motion trajectory of the processed workpiece.

The 14 points from P1 to P14 are the workpiece process action requirements:

1. Start the mill and lower it to point P1 (angle adjustment, mill opening, speed, delay);

2. Move to point P2 (delay);

3. The mill rises to point P3;

4. Move to point P4 (angle adjustment);

5. The mill descends to point P5 (delay);

6. Move to point P6 (delay);

7. The grinding machine rises to point P7 (angle adjustment);

8. The mill descends to point P8 (delay);

9. Move to point P9 (delay);

10. The grinding machine rises to point P10 (angle adjustment);

11. Move to point P11 (delay);

12. Move to the arc midpoint P12;

13. Move to the arc end point P13;

14. Rise to point P14 and end (mill shuts down).

Figure 1

To process a workpiece, there are two main steps:

1. Edit the process program (that is, edit the position of each point to be moved);

2. Trajectory collection (that is, the path of points that the grinding disc will pass through).

1. Program Editing

Process editing method 1:

First, we need to know how many points the process to be edited has (generally the workpiece to be processed will have a sketch and a description of the position of each point). Take Figure 1 as an example: there are a total of 14 points (P1 to P14 points).

In the first step, we can edit (edit points) like this (as shown in Figure 2, there is no delay set for each point):

Figure 2

In this way, from P1 to P14, the editing of these 14 points is completed, and no point will be missed. Doesn't it seem very simple? It is clear at a glance. Look at Figure 2. You only need to edit the "Function" column. The parameters in the red box on the right (P1 to P14, 100%) do not need to be manually edited, they are automatically generated. From Figure 2, we can see some rules: Have you noticed that from P1 to P11 and P14 points, they are all in a straight line? Look at the "Function" column again, is "Move-LMOV" selected for all of them? So remember, the points you pass through are all in a straight line, and the function here is "Move-LMOV". When walking in an arc, the "Function" of the midpoint of P12 is "Arc-ARC", and the end point of P13 is automatically generated by default.

(Remember: when walking an arc, the "Function" of the arc midpoint is "Arc-ARC", and the end point of the arc is automatically generated without manual editing).

When the last step is finished, select "Finish" to complete the editing of the entire motion program. Isn't it simple?

Summary: Editing order: When editing point P1, select "Move-LMOV" in "Function" and press the "OK" key; when editing point P2, switch to the second line and select "Move-LMOV" in "Function"; ... the same method continues until point P11. When editing point P12 (arc midpoint), select "Arc-ARC" in "Function", and point P13 (arc end point) is automatically generated. When editing point P14, select "Move-LMOV" in "Function". At the end of the last step, select "End" in "Function". The entire editing is completed.

The second step is to edit (add delay) (edit according to your specific requirements for each point):

If you want the mill to start and delay at point P1, you can move the cursor to the line below point P1 and press F1 to insert, as shown in Figure 3.

Figure 3

After pressing F1 to insert, the interface will appear as shown in Figure 4, with the line below point P1 being blank.

Figure 4

Press the "OK" button, select "Output Delay", then select "Output B", and press "OK". The interface is shown in Figure 5.

Figure 5

Parameter settings are shown in Figure 6.

Figure 6

Remark:

"OTB2" of "Parameter 1": This depends on the output port wiring settings of your device. If your device is "2", we write it as "OTB2". If other devices are "0" or "1", we write it as "OTB0" or "OTB1".

"1" in "Parameter 2": This means open. If it is closed, write "0". Remember: "1" means open; "0" means close.

"2000" in "Parameter 3": indicates a delay of 2000 milliseconds (that is, 2 seconds). Set it according to your actual situation. For example, if you want a delay of 5 seconds, enter "5000".

If we want to add a delay at point P2, move the cursor to the line below point P2, as shown in Figure 7.

Figure 7

After inserting by pressing F1, set the parameters as shown in Figure 8.

Figure 8

The same operation is performed when inserting delay at other points.

Process editing method 2:

That is to edit the movement, output and delay of each point in sequence.

The main problem is that before editing, you must know how many points to edit and what actions to take at each point. This is the most basic requirement for every operator. If you know this, no matter what operating system you use, your thinking will be clear, and one more step or one less step will not be a problem.

2. Trajectory Collection

The trajectory collection is very simple. Move the grinder to processing point P1, press the "L-IN" key to record, and then press the "OK" key; then move it to point P2, press the "L-IN" key to record, and then press the "OK" key; ... move point P14 in the same way. The entire motion trajectory is collected.

3. Set the operation parameters (according to the actual parameters) and run. Based on the question you asked last time, I will explain it here. Please see Figure 9:

In the red box area of ​​point P1, are all the parameters visible on the same interface? (Speed ​​to point P1, output on, delay. If you want to slow down the speed from the origin to point PI by half, change 100% to 50%). The same is true for point P2. If you want to double the speed from point P1 to point P2, change 100% to 200%.

Figure 9

The following is a complete program edited according to the action requirements of Figure 1, as shown in Figures 10, 11, and 12:

Fig.10

Fig.11

Fig.12

From Figures 10, 11, and 12, can every point in the red box that needs to be delayed be seen on the same interface?