(4) CC spline curve
As shown in Figure 10
Figure 10 CC spline curve
Smoothing result: smooth speed and acceleration, also passing the original point, no overshoot phenomenon;
(5) Cycloid Cycloid
As shown in Figure
Figure 11 Cycloid Cycloid Curve
Smoothing result: smooth speed and acceleration, also passing the original point, no overshoot phenomenon; the slave axis is set to the maximum speed for interval positioning.
5 Conclusion
At present, the equipment has been put into use, and the production efficiency and repeat positioning accuracy meet the requirements of customers, and patents have been applied. Delta 20PM sports PLC flexible electronic cam function: CAM curve automatic generation, dynamic modification, offset, smoothing, etc. provide a good technical basis for precision molding machines, while a single virtual spindle multiple slave axis motion mode is multi-axis coordination Motion control provides a new solution. It can be applied to multi-axis sports such as robot handling and filling.
ã€references】
[1] Delta's full range of programmable controllers Delta's internal data 2008
[2] Guo Zongren et al. Programmable controller application system design and communication network technology. People's Posts and Telecommunications Press, 2002
[3] Song Bosheng. programmable control. China Labor Press, 1993
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