Bottle on the multi-axis servo control system

Abstract: Multi-axis servo control system bottle, the bottle machine servo control system, is the determinant of domestic bottles of the new field of machine control products, is three gold Container Glass Machinery Company under domestic and international trends to the best value for money, the simplest structure, the most convenient operation and maintenance and reliability as the goal, with the microcontroller, integrated circuits and other components, from the basic hardware circuit design and programming of the hundred-axis servo control system. The system axes, curves, functions, and scalable option to control 140 from the axis to the timing of the servo-axis positioning synchronous operation coordination of the curve. The bottle machine system control, with servo drive mechanism to replace high energy consumption pneumatic machinery sector, with electronics to replace mechanical cam cam, replaced by electronic hydraulic buffer the buffer to reach the whole bottle machine servo low-cost, low power consumption, easy operation, high performance, high efficiency, so that bottle feeding machine, sub- material, then material, mold switch, flutter gas, blowing, turning bottles, take bottle, cooling, vacuum, whole bottles of hundreds of dial movement and action is completely automated, low energy consumption bottle green robot. Introduction three gold R & D of multi-axis servo control system bottle structure, functions, features and servo control in the application of the determinant bottle machine generated results.

Paper Keywords: full servo bottle machine, bottle robot, environment protection and energy
0 Introduction
Machinery manufacturing at home and abroad determinant of Container Glass bottle machine mainly for pneumatic and mechanical cam-driven machines. Bottle process is coordinating a series of institutions and the valve action is completed, the machine moves mainly through the mechanical valve door or electromagnetic valve control gas-off, which drive mechanism and mechanical cam operation, and some agencies to use the hydraulic buffer to stable operation, and some institutions mechanical cam need to hinge the tank for the oil bath. bottle machine on the energy conversion first converted to electrical energy through air compressor compressed air can, after the purification of compressed air, through a complex system of pipes to the gas bottle, and then by air to drive the body motion. such control too much energy efficiency low, high energy consumption, noise, causing serious environmental pollution, movement poor stability, complex structure, low-speed running machines. develop energy-saving servo bottle machine, is the Industry demand for technological progress, is the national environmental protection and low-carbon economy.

With the rapid development of electronic information technology and the popularization of the servo motors, glass containers at home and abroad have developed machinery Industry servo clamp bottles, bottle machine servo-flips on the part of the servo mechanism, replacing the old pneumatic mechanism and machinery cam. The electric servo-driven bottle machine body has a stable, low energy consumption, noise, pollution, machine speed advantages, welcomed by users.

In recent years, the company developed three gold bottle full servo control system was developed based on the axis of the allocated bottles of system control devices, single-axis servo sub-feeder, dual-axis servo feeder, dual-axis electronic dial vases that the position clamp shifter, flip the determinant of servo motion bottle machine, and large quantities to the market, innovative R & D is configured for dual-axis servo feeder, dual-axis electronic dial bottles, servo motion clamp shifter, flip the servo movement, the beginning of mold and molding the parallel switch mechanism servo, servo flutter gas, such as the servo is blowing bottle machine servo a set of prototype. ARTICLE bottle axis servo control system structural characteristics Its function principle.

1 Technical Requirements
Container Glass Industry status quo at home and abroad, to make more of the servo mechanism used in the determinant bottle machine, simple and reliable multi-axis servo control is the key technology. Comprehensive analysis of bottles particularity required by the process Industry and automation the status of multi-axis motion control Industry, the determinant on the bottle machine servo control system as a series of problems to solve.

1.1 The structure of the complex issues
Optional multi-axis motion control program is the most direct "PLC main module" + "number of motion control module" ten "number of block I / 0 module" + "communication module" + "upper IPC" .12 group determinant bottle machine requires a minimum of full servo control shaft 135, which requires a large control structure, need 12 to 20 months to complete the control cabinet. so the design of bottle machine servo control system, the first is to solve complex problems.

1.2 The cost issue
Servo system is mainly determined by the price control and servo motor servo drive, to use "PLC main module" + "number of motion control module" + "number of block I / O Module" + "communication module" + "upper IPC" structure, bottle machine control and for each servo axis servo motor drive at 5 to 10 million, each of 8 groups with servo and servo clamp bottle flipping 2-axis servo bottle machines, servo control alone will increase 80 ~ 160 million cost, the user is difficult to accept, and the complex and difficult to maintain. So bottle machine servo control system for wider application in China, we must solve the cost problem.


1.3 The problem of ease of maintenance operations
Bottle machine servo control system, each from a dozen to each axis servo axes control, the whole 100 to 140 axes, each axis to adjust the initial position, travel, running curves, each axis in the kinds of safe and smooth automatic positioning mode starts, it also should focus on consideration. servo clamp at home and abroad flip bottles and servo control system, the common operation of complex issues. Some systems can not automatically start position, use the manual auxiliary Grab some power and then start the system, need to re-adjust the portable terminal position, adjust the positioning values ​​to the control room need to be, a lot of inconvenience to the user, these are problems to be solved.


1.4 the number and function of the servo axes scalability issues
Servo control system should be scalable, can be configured to a number of different kinds of bottle-axis machines, rather than a configuration in a system. Can control each bottle machine a servo axis, can control every group of a dozen bottle machine servo axis, from a single-axis servo system to control bottle.

1.5 Start / stop easily and quickly
Servo axes always start with the production line start signal synchronization automatically start from the secure location, follow the production line shutdown sync stop, stopped at the set position, the emergency stop stop in a safe location, Single people need to stop at stop position.

2 Solutions
To address these issues, three gold company developed a "determinant of multi-axis servo control system bottle" solutions.

2.1 The structure of the system
Close connection with the special requirements bottle machine developed 4-axis servo motion control board, special curve generation and function is controlled by a board (size 150III1TI �� 200mm) of the MCU motion controller, a small plate 4 axes can be flexible programming time positioning the curve of the motion control, 4 axis I / 0 technology functions control, communications and data processing functions to achieve the machine with two buttons next to each servo axis to adjust the initial position and bottom position determine the itinerary, travel, and start running to adjust the positioning of a key domestic and foreign similar products that are not unique features.

MCU multi-block motion controller fixed to the same piece of floor, through the backplane to connect the drive, the system synchronization signal, field I / 0 signal and the host computer's communication lines to the formation of dozens of axis servo motion control and the cam curve generating unit A 2000mmx750mE �� 750mlll the control cabinet can be installed 32 to 40 servo axis control servo motor drive and servo control unit MCU accordingly, the same with 3 to 4 control cabinet can be expanded into more than 140 servo axis controller 12 sets of large-scale realization of the full bottle machine servo drive and the automatic control (instead of the foreign similar products, control cabinet 12 to 20), bottle machine operating parameters of the host computer to modify the user interface, PC-friendly user interface other system utility line, modify the data in accordance with the address and data sent to the appropriate classification of M. CU motion controller board.

In addition, according to the structure of the system is simple, intuitive, easy to understand the design concept, the machine servo axis 2 for each button on a switch to define the multiplexing function, you can use the button for a key position, the button to adjust the initial position, button to adjust the stroke (and distinguish between coarse, fine tune, adjust the buffer in place), fine-tune the operation of travel, clear alarm button, the advanced features and easy to field operations. Whether or shutdown after power failure, the location of automatic memory, the switch of a key position, or with the production line system startup and automatically locate boot into synchronous operation. are driven all the servo using ordinary servo motor and drive to achieve the best price. program designed to achieve servo running time with the line speed changes automatically change. round to achieve a simpler structure, better cost-effective, more convenient operation.



Figure 1 is a multi-axis servo control system bottle schematic. The figure is the host computer Pc, PN is the control cabinet, KC is the first type of side control panel, LCPN is forming side of the control panel, TKM1 ~ TKM12 is 1 ~ 12 sets of servo clamp shifter motor, IVM1 ~ IVM12 is 1 ~ l2 group flip the servo motor, OPBM1 ~ OPBMI2 is 1 ~ 12 sets of parallel switch servo motor first mold, 0PPM1 ~ 0PPM12 is 1 ~ 12 sets of parallel switch molding servo motor, PM1 ~ PMI2 and RM1 ~ RM12 is a dual-axis servo motor of bottle aside. other servo control structure and the same, a control cabinet by another implementation, the public host computer.

2.2 Control Principle
Links to Research Papers Download http://www.hi138.com Figure 2 is a multi-axis servo control system bottle schematic diagram of the control. The figure to which a motion controller board, for example, describes the servo motion clamp shifter, flip the servo movement, dial vases axis control principle. the figure is the host computer Pc, MC is a self-made one 4-axis motion controller board, KC is the control panel, Pl, M1, and SVM1 is Servo Motion clamp shifter servo drives, servo motor and servo driven, P2, M2 and SVM2 servo movement is flip the servo drive, servo motor and servo driven, P3, P4, M3, M4 and SVM3 is allocated vases axis servo or stepper motor servo drives, servo or stepping motor and the axis of the allocated bottles of body-driven.

Pc PC user to set the curve and its movement with the movement when the data is downloaded to the motion controller MC, the motion controller MC Kc under the control panel on the user commands and system requirements TB sync, real-time send to the servo drive control pulse signal and the motion curve (or curves order data), servo drives Pi according to the input command to drive the servo motor, the running position by the head of the motor shaft encoder feedback control, location tracking to achieve. servo motor driven servo operation to realize the point of each servo action, initialization, single-step, synchronized intermittent operation, operates in accordance with the requirements of bottle machine technology trajectory of the cam curve and to achieve precise movement, accurate positioning of synchronization.



Figure 3 is the electronic timer, servo motion control and biaxial dial clamp bottle bottle bottle machine molding device side control panel. LCPN equivalent to Figure 1 or Figure 2 in KC, in which the right number of 5,6, 7 switch buttons are three servo motion clamp vases of the "manual / zero / auto" control switch and the JOG button, which switches the button with the 3, position adjustment can put bottles, take bottles of position adjustment, auto-initialization position, fine tune the operation of travel and other functions. which from the right axis 8 button is allocated bottles start / stop button, the control axis allocated bottles of the startup and stop.


Figure 4 is the electronic timer, servo motion bottle making machine flip side of early-type control panel. Is equivalent to Figure 1 and Figure 2 in KC, which left three servo motion switch flip button is a "manual / zero bit / automatic "control switch and the JOG button, which switches the button with the 3, can turn and return to position adjustment, automatic initialization position, fine tune the operation of travel and other functions.

2.3 Expected results
Multi-axis servo control system for intelligent bottle machine bottle machine servo effective implementation of the scalability of multi-axis control, optional, suitable configuration to all domestic and imported bottle machine. According to the user on the bottle machine configuration the number of servo axes requirements, can be controlled from 1 to 140 servo axes, until the whole servo bottle machine - "bottle robot" control, to a large bottle machine 12 groups of all institutions Servo Control. now using the system in a uniaxial dial vases, single axis servo sub-feeder, dual-axis servo feeder, servo motion clamp shifter, flip the servo motion and servo axis dial vases, early mold axis servo switch, dual-axis servo molding switch, servo flutter gas head, servo inflatable head, servo cores to each other a dozen bottle machine bottle machine servo axis robot control.

Axis under the control of the system call vases, single axis servo sub-feeder, dual-axis servo feeder, servo motion clamp shifter, flip the servo motion and servo control axis applied successfully to pull all kinds of bottle bottle machine into operation, by users, create a good economic and social benefits. according to market development trends and national low-carbon economy, three gold companies to develop and trial based on "multi-axis servo system for intelligent control system for bottles "Control of Robot bottle (bottle machine servo) a prototype, and in the" 2010 China International Glass Industry Exhibition "on display, marking the Container Glass production equipment into a low-power servo drive servo bottle machine age.

2.4 Main technical performance
(1) to achieve more than a dozen in each bottle machine servo axis, the coordination of multi-axis machine synchronization 140, timing control of positioning the curve.

(2) to achieve 32-40 per axis intelligent motion control and servo drive, integrated integrated structure.

(3) all servo-site operation of a key position.

(4) all servo-site button to modify the zero offset and sports trips.

(5) All fine-tune the operation of servo field trip.

(6) all servo-site coarse and fine location, single step button, the button to manually debug, button clear alarm.

(7) in place of the electronic servo mechanism to adjust the buffer capacity.

(8) The positioning accuracy of 1 / 23000, timing accuracy of 0.1 degrees.

(9) degree of standards-based electronic cam curve generating and electronic cam operation, to each axis "running from the set time-specific curve, the set time to run to the set position," the difficult control targets.

(10) with bottle production line shared with other system signals, start / stop / fault protection chain control.

(11) and the bottle production line system shared with other PC WINDOWS operating system user interface. Links http://www.hi138.com Research Papers Download