Homework SourseSol B SoL4 no 107 o Start Stop 5 Lee SolutionFigure 1423 Bot
Solution
Figure 14-23
Bottle-filling motion control process.
Communication Processor
PLC
Conveyor servo motor
• The servo drive monitors the motor’s position and velocity by use of an encoder mounted on the motor shaft. This feedback information is used within the servo drive to ensure accurate motor motion.
Servo Motor
The servo motors represent the axis being controlled.
The servo motors receive electrical power from their
servo drive which determines the motor shaft veloc-
ity and position.
The ller motor must accelerate the ller mecha-
nism in the direction the bottles are moving, match their speed, and track the bottles.
After the bottles have been lled, the ller motor has to stop and reverse direction to return the ller mechanism to the starting position to begin the pro- cess again.
A robot is simply a series of mechanical links driven by servo motors. The basic industrial robot widely used today is an arm or manipulator that moves to perform in- dustrial operations. Figure 14-24 illustrates the motion of
axis of motion. Figure 14-23 illustrates a bottle- lling mo- tion control process. This application requires two axes of motion: the motor operating the bottle ller mechanism and the motor controlling the conveyor speed. The role of each control component can be summarized as follows:
Programmable Logic Controller
The controller stores and executes the user program that controls the process.
This program includes motion instructions that con- trol axis movements.
When the controller encounters a motion instruction it calculates the motion commands for the axis.
A motion command represents the desired position, velocity, or torque of the servo motor at the particu- lar time the calculations take place.
Motion Module
• The motion module receives motion commands from the controller and transforms them into a com- patible form the servo drive can understand.
3
extension
Motion
Conveyor servo drive Filler servo drive
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