Report 2
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This report discusses the implementation of a controller for a dispensing robot. It describes the machine, which has 3 degrees of freedom along the X, Y, and Z axes. It also covers G-code commands used to control the robot and software techniques like multithreading. The current status is shared, with interpolation and most G-code commands completed. Plans are to connect hardware modules, test the full system, and produce a demo.
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![Machine Description
3 DOFs along to X-Y-Z axes
Working space: 300x300x100 [mm3]
Base Length Unit (BLU): 0.05 [mm]
Speed: 5 100 [mm/sec]
Motion control:
Linear interpolation in 3D.
Circular interpolation in XY plane.
5-phase Stepper Motors with drivers
(24V / 1.4A).
3 end-position sensors for machine
reference point.
3 user outputs (1 for PWM / 2 for
digital IO).](https://image.slidesharecdn.com/b55c6efb-9a83-43a2-8f1b-78510994779c-160615055422/85/Report-2-4-320.jpg)
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油
The document describes SoftNC software for controlling integrated servo and step motors from JVL. SoftNC is an IEC 61131-3 compliant PLC that can control up to 32 JVL MAC motors across 8 coordinate systems with 1 ms scan time. It uses serial communication to control motors and I/O modules. The combination of SoftNC and JVL motors is suitable for multi-axis robots and machines.Report 2
- 1. Industrial Project Report 2 Topic: Implementation Controller for Dispensing Robot Made by: Vu, Trung Son Nguyen, Ngoc An Supervisor: Huynh, Nguyen Dang Khoa Vietnamese-German University Pepperl + Fuchs
- 2. Contents Summary Content of Report 1 Machine Description G-code commands Software Techniques Our Current Situation Q & A
- 3. Summary of Report 1 About Pepperl + Fuchs company Situation of the machines Planning & Schedule Interpolation Algorithm
- 4. Machine Description 3 DOFs along to X-Y-Z axes Working space: 300x300x100 [mm3] Base Length Unit (BLU): 0.05 [mm] Speed: 5 100 [mm/sec] Motion control: Linear interpolation in 3D. Circular interpolation in XY plane. 5-phase Stepper Motors with drivers (24V / 1.4A). 3 end-position sensors for machine reference point. 3 user outputs (1 for PWM / 2 for digital IO).
- 5. Machine Description OLED LCD MODE << >> START STOP ORG SET REF X+ X- Y+ Y- Z+ Z-
- 6. G-code commands Design by MIT in 1960s. The most popular CNC programming language. Especially in lathe and milling machines. But, where is G come from? G-Command tell machine where and how to go. M-Command Miscellaneous commands, tell machine how to act.
- 7. G-code Commands G0 rapid moving G1 linear moving G2 CW arc G3 CCW arc G4 dwell time G28 searching machine reference point G90 absolute programming G91 incremental programming M3 switch on user output M4 switch off user output M98 start of loop M99 end of loop
- 8. Software Technique Multithreading Synchronous message Events Messages Asynchronous message Mailbox Semaphore and Mutex
- 9. Software Technique Double buffering (LCD) Prevent tearing of objects Semi-hosting environment Using JTAG SWO wire to dump debug data back to debug server Allow usage of normal C function like printf(), This is accomplished by create a virtual stdout and stderr channel In fact, our JLINK semi-hosting capabilities support 32 virtual channel Hardware Abstraction Layer (HAL) Allow changing of hardware later
- 10. Current status of Project Complete interpolation with acceleration control. Almost complete implementation of G-code (7/12 commands). Complete programming the driver for HMI devices (keypad, screen, and SD card reader.) Complete the design of PCBs.
- 11. Plan for two last weeks Connect HMI module and Motion Control module. Testing whole system and making demo run. Making PCBs and wiring. Check & Take over
- 12. Q&A If you have any questions, please tell!
Editor's Notes
- #4: We have a lot of conceptual things in report 1 but today there will be more detail and more interesting things.
- #7: Actually, it is not a programming language. It is just the instruction program to tell the machine what to do. It do not have something like for loop, while loop, if..else, etc. There are more than 100 G&M commands use for lathe and milling machines. However, we re-define our set of commands smaller and suitable with the needs of he machine