The MLX300 has a feature to monitor the feedback of the robot axes. This can be used to evaluate the performance of the axes under certain loads the while executing particular motion cycles. One of the feedback types listed below can be monitored on the selected axis of a particular robot. It's possible to setup a different feedback type for each axis on all the robots in the cell and monitor them all at the same time.
Feedback Type
- 0 = Actual Position in position units
- 1 = Actual Position in encoder pulses
- 2 = Actual Velocity in position units
- 3 = Actual Velocity in encoder pulses
- 4 = Commanded Velocity in position units
- 5 = Commanded Acceleration
- 6 = Actual Following Error in encoder pulses
- 7 = Actual Motor Torques in percentage of rated torques
The picture below shows where the feedback type is set in the PLC controller tags and where to monitor the feedback value.
SETTING THE FEEDBACK TYPE
Set the MLX[x].Robot[y].RobotAxis[z].ConfigurationData.FeedbackUserDataType
to one of the values shown at the right side in the above picture. To see the feedback choices in the ladder, just move the curser on the description field.
In the above tag name, the "[x]" is the controller number, the "[y]" is the robot number, and the "[z]" is the axis number. All these number start at 0, unlike on the robot controller. For instance, Robot[1] in the PLC is robot 2 in the controller.
RECORDING THE FEEDBACK VALUE
The feedback value can be moved from MLX[x].Robot[y].RobotAxis[z].FeedbackData.UserData into an array[x] to record a history. Increment the "x" index of the array after every recording. This value will update every scan period.
Also note the MLX[x].Robot[y].RobotAxis[z].FeedbackData.CommandedPosition tag, which will always shows the commanded position of that axis.
Also note the MLX[x].Robot[y].RobotAxis[z].FeedbackData.CommandedPosition tag, which will always shows the commanded position of that axis.
Comments
0 comments
Please sign in to leave a comment.