Application scheme of the hottest delta A2 servo i

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Application scheme of delta A2 servo in the die cutting and printing paper feeding Department Abstract: the die cutting machine is a device that uses a steel knife, a hardware mold, a steel wire (or a template carved from a steel plate) to exert a certain pressure through an embossing plate to roll a print or cardboard into a certain shape. This paper describes how Delta's intelligent A2 servo, which integrates high-order servo characteristics and simple motion control, realizes control on die-cutting equipment, the construction of cam curve and the setting of relevant parameters

【Abstract】This paper expounds the reaching set a high order servo characteristics and simple motion control for the integration of the intelligent A2 servo in die cutting equipment, how to realize the control, the construction of the CAM curve and related parameters settings.

key words: Delta A2 servo; Parameter setting; Speed meter building; Cam curve construction

die cutting equipment is mainly used for die cutting (full break, half break), indentation and bronzing, fitting and automatic waste discharge of some non-metallic materials, such as packaging paperboard, self-adhesive, etc. it is an important equipment for post press packaging processing and forming. Die cutting equipment can be divided into several types. According to different implementation processes, it can be divided into die cutting machine, indentation machine, bronzing machine, bonding machine, waste discharge machine, etc. its process characteristics are as follows: pressing the whole print into a single graphic product is called die cutting; Using steel wire to press out traces or leave bending grooves on the printed matter is called indentation; Using the yin-yang two templates, by heating the mold to a certain temperature, hot stamping a three-dimensional pattern or font on the printing surface is called bronzing; Using one kind of base material on another base material whose annual output value of new materials in Zhejiang plans to exceed trillion yuan in 2022 is called bonding; Excluding other parts except genuine products is called waste discharge

this paper mainly discusses the die-cutting machine in the die-cutting equipment. The die-cutting machine requires that the mold feeding shaft and the die-cutting shaft follow well, there are no problems such as phase path, and it requires high synchronization. In order to ensure that there is no phase path between the two shafts, the traditional die-cutting equipment is mainly mechanical, and some of them use high-end motion controllers. Delta A2 servo has excellent performance in the field of synchronous tracking, with high customer recognition and good tracking characteristics, which is also the key to achieving die-cutting control

1 the system requires that

the driving shaft is a large roller. A pair of large rollers have a mechanical structure to complete the linkage. The cardboard sent in by the camshaft (mold feeding shaft) is transferred to the roller equipped with the impression tool, which is called the impression roller (die cutting shaft). The die cutting shaft and the driving shaft also have a mechanical linkage. The driving shaft defined here is determined according to the feedback of the spindle code, that is, the installation position of the spindle encoder, If it is installed on the die cutting shaft, the die cutting shaft is the driving shaft. Here, the requirements for feeding paper board by camshaft are very high. It is required that the position and speed of the paper board sent to the driving shaft should be fully synchronized with the driving shaft to ensure that the position error of the paper board after impression is within 1mm. Here, it is very important to plan the cam curve and set the relevant parameters of the motor. The specific physical drawing is shown in Figure 1

the cardboard is placed on the stage of the die feeding shaft, and the time and position of the die feeding are determined according to the position of the die cutting shaft. Since the driving shaft and the die cutting shaft are mechanically linked, it can completely ensure that the driving shaft and the die cutting shaft have a fixed rotational speed proportional relationship. After passing through the mold feeding shaft, the paperboard enters the driving shaft first and then is transferred to the die cutting shaft. After passing through the die cutter, the paperboard is formed. The product effect is shown in Figure 2

2 control implementation

die cutting machine is a typical application in the field of chasing cutting. It is required that the linear speed of the driven shaft in the synchronous zone must be equal to the linear speed of the main shaft, so that the cardboard can be smoothly sent to the driving shaft. Here, the process can be realized by using the built-in electronic cam function of A2 servo. The main shaft encoder is used as the command source to control the A2 servo of the slave shaft. The I-point signal is installed on the driving shaft as the initial position adjustment, and the electronic cam of the driven shaft is started to ensure the accuracy of the die cutting position. The initial position adjustment of the driven shaft is completed through the built-in zero return function of A2 servo, Simply set the parameters of A2 servo and PLC to complete simple auxiliary logic control through the touch screen. The control structure is shown in Figure 3

the system control simulation diagram is shown in Figure 4. The photoelectric trigger is triggered at the rising edge of a, and the electronic cam is started. The position offset of the die cutting shaft is made according to the setting (P) of the command length before the engagement of the electronic cam (since different impression tools may be installed at different positions of the cylinder, this offset can be modified by touching). Set the offset to arc AB, and the engagement of the camshaft electronic cam at point B is started, In order to ensure that the paperboard can be sent to the driving shaft within the required range, the forward distance of the paperboard is divided into l=l1+l2, and the camshaft is accelerated at the arc BC section to make the camshaft speed from V0 (v0=0) to V (speed of the driving shaft), so as to send the paperboard to the driving shaft synchronously with the driving shaft. The driving shaft controls the acceleration of the camshaft at the arc BC section, and the acceleration advance of the camshaft paperboard feeding is L2; In the arc CD section control cam constant speed zone, the constant speed advance of camshaft paperboard feeding is L1. When the driving shaft leaves point D, the electronic cam disengagement is completed according to the setting of the electronic cam disengagement time (P), the camshaft stops feeding, and the periodic advance is carried out through P

Figure 4 system control simulation diagram

the camshaft is driven by the synchronous belt for the model of Jinan testing machine factory. When the cam motor rotates for one cycle, according to the relationship between angular speed and linear speed, the forward distance of the paperboard is 102 (camshaft roller diameter) × π × 22/25 (reduction ratio) =281.99mm

the driving shaft is a large drum with a diameter of 145.71mm. The forward distance of the driving shaft after one revolution is 145.71 (diameter of the main shaft) × π=457.762536mm 。

if P and P are respectively set to 28199, the cam rotates for one cycle to 28199puu, and the camshaft advances by 1mm to 100puu. The active encoder is a 2500 line AB differential input, then the active shaft will give 10000 pulses per revolution (after quadrupling the frequency): the number of pulses required by the active shaft per 1mm: 10000/145.71 (diameter of the active shaft) × π=21.。

assuming that the longest length of L is 300mm, the lead of camshaft is 300 × 100=30000puu, if sufficient acceleration and deceleration time is required, the lead of the main shaft is 300 × (1+0.2) =360mm, then the spindle is: 21 × 360=7864. Spindle pulses

according to the speed table building function provided by 1a2pc software, which is an important component of polyester polyol polyurethane insulation material, set the lead of the main shaft to be 7864, and the lead of the slave shaft to be 30000puu. Plan the proportion of acceleration area, constant speed area, deceleration area and stop area, and you can get the cam curve as shown in Figure 5

Figure 5 Schematic diagram of cam curve

after the curve is established, select different ways to start the electronic cam through P, and the electronic cam will automatically move periodically after starting. As shown in Figure 6, the starting of the electronic cam is set through the PC software. The source of the selected command is pulsecmd, the engaging time is di-camon, and the disengagement time is that the master shaft exceeds the set displacement ECRD (increment) p:7864 and disengages back to the lead state. The lead amount is p:12136 (the die-cutting shaft rotates one circle and the encoder rotates two circles, that is =12136 is the value of the lead waiting). When the electronic cam is started, the driven shaft is connected to pr05 to adjust the initial position of the driven shaft

Figure 6 set the start of the electronic cam through the PC software

monitor the speed line of the motor through the PC software. It can be seen that the following characteristics of the driven shaft and the driving shaft are very good, that is, the speed command curve and the instantaneous speed curve of the motor are completely overlapped, as shown in Figure 7

Figure 7 PC software monitors the speed line of the motor

3 summary

the main application purpose of the electronic cam is to replace the traditional mechanical cam and realize mechanical simplification and convenient control. At present, most die-cutting machines use complex and bulky mechanical gears for synchronous control. The mechanical cost is high. Here, Delta's intelligent A2 servo relies on its high processing speed from pilot test to pilot test and then to industrialization, In the master-slave synchronous following, shaftless transmission can be achieved, and there is no phase lag between the master and slave. It provides customers with an intelligent solution, which is highly praised by customers. (end)

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