Introduction of Huichuan in SCARA Robot Application System
First, the introduction of the control system
(1) Robot controller
IMC100 robot controller, IS620N servo system, IMC100 series high-speed expansion module, vision system, ITP100 series teach pendant, HMI, industrial computer, low-voltage power supply and so on. The system supports a high-speed bus IMC100R controller through EtherCAT and IS62ON series servo high-speed communication, to achieve the robot's precise motion control box attitude control. The IMC100R controller communicates with industrial PCs such as industrial PCs, teach pendants, and HMIs via the Ethernet bus to teach and monitor robots. The local high-speed expansion module communicates the on-site IO signals and various sensor signals back to the IMC100R controller via the IRLINK bus.
(1) High performance
1 Real-time: Support 16-axis interpolation, the minimum control period is 125us, and the jitter period is less than 100ns;
2 Dynamics: Support 6-DOF robot dynamics decoupling control, real-time torque compensation, improve robot dynamic characteristics and trajectory tracking accuracy, support robot dynamics model parameter identification function, improve error accuracy caused by robot dynamics model not on time;
3 Multi-channel: Supports one controller to control multiple robots while supporting multiple external axis expansion.
(2) Flexible expansion
1 extended external axis: supports multiple external interpolation axes and linkage axes;
2 Extended PLC: Support IEC61131-3 standard, realize PLC programming function;
3 Simple configuration: the servo parameters are integrated, and the robot type is configured with one button.
(3) Ease of use
1 easy to operate: support rocker, touch, mouse;
2 Easy to install: side by side installation, wiring is simple;
3 Easy programming: menu programming, offline programming.
(4) Industrial Ethernet
1EtherCAT bus: realize high-speed communication of robot controller, servo system and expansion module, making the system simple and reliable;
2 IR-Link bus: realizes the requirements of local high-speed and high-precision expansion modules IO, AD, DA, encoder, etc., high speed, high precision and high reliability;
3 TCP/IP communication: Connect industrial vision terminals, remote monitoring terminals, and teach pendants to achieve interconnection and interoperability.
