Stepper motor torque control | Suitable for grippers and bottle cap openers

With the rapid development of industry and high-precision technology, mechanical automation motion control has replaced many manual repetitive tasks, and intelligent production lines have greatly improved the efficiency of enterprises. In response to different production environments, the performance of industrial robot grippers plays a vital role. Flexibility, automatic control, automatic feedback, intelligent grasping and other complex operations are the core of the enterprise's core technology and production efficiency.

Trinamic stepper servo controller can realize the torque control of the motor. It is especially used in some robot grippers, industrial grippers, laboratory automation, bottle cap opening and twisting, etc.

How Trinamic implements torque control

Torque control, taking Trinamic's integrated stepper servo closed-loop controller as an example, supports serial or CAN communication, and sets its torque value through the TMCL-IDE host computer software. Upload instructions through the software, such as setting the minimum current/maximum current. When the motor is working, its current will be between the maximum and minimum values. The greater the load, the greater the current value. When we need force control, we can set a suitable value through the encoder feedback value. When the external force reaches the set value, it will trigger an output signal.

Flexibility and security

When facing different objects, we are worried that the output force will damage the clamped object. Then we can set the maximum force according to the actual needs, that is, its maximum current value, and the control of the external force of the gripper is also quite flexible. We can also use the program to make it stop automatically when it reaches the set maximum value.

While the gripper is working, the program will constantly monitor its force to prevent it from outputting a force greater than a certain value. When it reaches this value, the motor will stop and always maintain this force without damaging the object, thus ensuring the safety of the object and improving the performance of the gripper.

Summarize

Trinamic's motion control and host computer software allow you to easily master its control methods and complete the project faster. The torque control of the step servo, while realizing the closed loop of position and speed, will continuously send signals with the load. We can also let this signal make more actions, such as stop, hold for a period of time, reverse, etc. When the signal ends, it will return to the original position, which is more conducive to the working flexibility and safety of the gripper or other applications.