基于CANopen总线的弯管机多轴运动控制系统设计与实现

以弯管机多运动轴机械系统为基础,采用ESTUN运动控制器+MCGS触摸屏的硬件配置,在VTB集成编程环境下,为实现基于CANopen总线的多轴交流伺服系统控制,对单轴定位运动控制实现路径进行了详细的设计。为实现弯管C轴与送料Y轴在弯管工序下的同步协调运动,提出了速度主从同步控制与伺服驱动器转矩限制相结合的控制方案,达到了弯管时Y轴主动送料与被动送料的自适应调整。工程应用结果表明:该系统工作可靠、性能良好,经济性佳。

Design and Implementation of Multi-axis Motion Control System for Tube-bending Machine Based on CANopen Bus

Based on the multi-motion axis mechanical system of the tube-bending machine, hardware configuration using ESTUN motion controller + MCGS touch screen is adopted and in the integrated programming environment of Visual Turbo Basic(VTB), from the perspective of control implementation of multi-axis AC servo system based on Controller Area Network (CANopen) bus, the realization path of the single-axis positioning motion control is designed in detail. In order to realize the synchronous and coordinated movement of the curved C-axis and the feeding Y-axis in the bending process, a control scheme combining the speed master slave synchronous control and the torque limit of the servo driver was proposed, which achieved the adaptive adjustment of the Y-axis active feeding and passive feeding. The result of engineering application shows that the system works reliably, and has good performance and economy.