CN105775251A - Control system and method for toilet paper packing machine - Google Patents
Control system and method for toilet paper packing machine Download PDFInfo
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- CN105775251A CN105775251A CN201610213635.9A CN201610213635A CN105775251A CN 105775251 A CN105775251 A CN 105775251A CN 201610213635 A CN201610213635 A CN 201610213635A CN 105775251 A CN105775251 A CN 105775251A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Containers And Plastic Fillers For Packaging (AREA)
Abstract
The invention relates to a control system for a toilet paper packing machine. The control system comprises a controller, a temperature control module, servo drivers and a sensor. The controller comprises a servo driving control unit, a data processing unit, a receiving and sampling unit and a temperature control unit, wherein the receiving and sampling unit conducts sampling on the sensor through an IO module; the data processing unit is used for conducting data processing on a sampling result; the servo driving control unit synchronously controls the servo drivers through the EtherCAT protocol according to the data processing result; and the temperature control unit controls the temperature control module through a serial port according to the data processing result. The invention further relates to a control method of the control system. By means of the control system and method for the toilet paper packing machine, packing efficiency can be improved.
Description
Technical field
The present invention relates to toilet paper packing technique field, particularly relate to a kind of control system and method for toilet paper packing machine.
Background technology
Along with science and technology develops, the production of toilet paper needs more and more efficient.Nowadays, along with the increase of urban population, the demand of toilet paper is increased further, and human cost is also in lasting rising.Improving production efficiency, reducing cost of labor is put the difficult problem in all toilet paper manufacturing enterprises.
The generation of toilet paper packing machine tool, substantially increases efficiency, solves a difficult problem for manufacturing enterprise.But, when facing multifunctional packaging, it is necessary to the multiple machine of multiple stage so that business burden increases the weight of.
Summary of the invention
The technical problem to be solved is to provide a kind of control system and method for toilet paper packing machine, it is possible to increase packaging efficiency.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of control system for toilet paper packing machine, including controller, temperature control modules, servo-driver and sensor, described controller includes servo drive control unit, data processing unit, reception sampling unit and temperature control unit, and sensor is sampled by described reception sampling unit by I/O module；Described data processing unit is for carrying out data process to the result of sampling；Described servo drive control unit utilizes EtherCAT agreement that servo-driver is carried out Synchronization Control according to the result receiving data process；Described temperature control unit utilizes serial ports that described temperature control modules is controlled according to the result that data process.
Described control system also includes converter, and described controller also includes frequency conversion control unit；Described frequency conversion control unit utilizes converter described in CANopen protocol integrated test system to control the axle that dynamic response requirement is low according to the result that data process.
Described data processing unit includes virtual main shaft and generates unit and virtual Spindle control unit；Described virtual main shaft generates unit for simulating a virtual main shaft run；Described virtual Spindle control unit controls described virtual main shaft according to the speed of service receiving the packer that sampling unit obtains and keeps consistent with the speed of service of packer；All axles of described servo drive control unit and frequency converter control unit control packer follow the position of virtual main shaft, make to keep Tong Bu with the position of virtual main shaft, wherein, the run unit of virtual main shaft is set to the cycle, and the unit of all axles all normalizeds are the cycle.
Described sensor is the photoelectric sensor for detecting paper ball position, described photoelectric sensor is arranged on the conveyer belt of feeding-passage, described reception sampling unit receives described photoelectric sensor when continuing to receive signal, and described data processing unit judges to occur in that in feed conveyor belt that paper ball is piled up；Described servo drive control unit controls for driving the servo-driver of conveyer belt to add fast speed；When described reception sampling unit receives the frequencies go lower that described photoelectric sensor receives signal, described data processing unit judges that the paper ball in feed conveyor belt is rare；Described servo drive control unit controls for driving the servo-driver of conveyer belt to reduce speed.
Described sensor is electronic ruler, and the position of described electronic ruler feedback tension force fork completes the sampling to Tensity size；Described reception sampling unit receives the Tensity size of electronic ruler；Described data processing unit calculates the deviation value controlling speed increment according to Tensity size；The converter that described frequency conversion control unit is connected with tension force fork according to deviation value pair is controlled.
Described sensor is for detecting the photoelectric sensor of paper ball position and for detecting the catalyst of axle back to zero, and described photoelectric sensor is arranged on the front end in projection mechanism, and described reception sampling unit receives the sampled result of described photoelectric sensor and described catalyst；Described data processing unit judges whether to meet paper ball position at front end and push rod not below paper ball according to sampled result；Described servo drive control unit controls when judged result is meet for driving the servo-driver of projection mechanism to project.
Described sensor is color mark sensor, the equidistant color punctuation stayed when described color mark sensor is for detecting packaging film printing；Described reception sampling unit receives the sampled result of color mark sensor；Described data processing unit calculates absolute position and length according to equidistant color punctuation and determines the position of cutting knife point；The servo-driver that described servo drive control unit is connected with cutting knife according to the position control of cutting knife point cuts.
The technical solution adopted for the present invention to solve the technical problems is: also provides for the control method of a kind of above-mentioned control system for toilet paper packing machine, adopts virtual main shaft to realize each axle and follow；Adopt photoelectric sensor to judge paper ball in-position, pile up situation according to paper ball and determine machine transfer rate；The tension force that tension force fork measures feedback film is adopted to realize closed-loop tension control；The position of the paper ball position in projection mechanism and push rod is judged, thus carrying out projection paper ball according to photoelectric sensor；According to thin film color mark sensor feedback correction film length and the cusp position determining cutting knife.
Above-mentioned control method also includes adopting the method for the some position imaginary axis to control to blow particularly as follows: treated as an axle the digital output point position controlling to blow, the phase angle of virtual main shaft is followed in its folding, open at a phase angle, close at another phase angle, be, between two phase angles, the time continuing to blow.
Above-mentioned control method also includes adopting many cams simultaneous techniques, specifically, arrange the cam curve that each crown of roll wheel shaft is corresponding with virtual main shaft so that each axle accomplishes balance between acceleration and maximal rate.
Beneficial effect
Owing to have employed above-mentioned technical scheme, the present invention is compared with prior art, have the following advantages that and good effect: it is harmonious that the present invention adopts the method that virtual main shaft and each axle are followed to ensure that each axle runs, without mechanical impacts between axle and axle occurring and coordinating unreasonable；The method adopting the some position imaginary axis controls the two ends making peplos only be attached to paper ball of blowing；Adopt photoelectric sensor to judge paper ball in-position, pile up situation according to paper ball and determine that the method for machine rising or falling speed improves packaging efficiency；Tension force fork is adopted to measure the tension force of feedback film thus reaching the closed loop control to membrane tension；Adopt and determine cutting knife cusp position according to thin film color mark sensor feedback, eliminate error.
Accompanying drawing explanation
Fig. 1 is the system block diagram of the present invention；
Fig. 2 is the block diagram of middle controller of the present invention；
Fig. 3 is the operating diagram of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is expanded on further.Should be understood that these embodiments are merely to illustrate the present invention rather than restriction the scope of the present invention.In addition, it is to be understood that after having read the content that the present invention lectures, the present invention can be made various changes or modifications by those skilled in the art, and these equivalent form of values fall within the application appended claims limited range equally.
Embodiments of the present invention relate to a kind of control system for toilet paper packing machine, as shown in Figure 1, including controller, temperature control modules, converter, servo-driver and sensor, servo-driver is carried out Synchronization Control by EtherCAT agreement by described controller, the axle that dynamic response requirement is low is controlled by CANopen protocol integrated test system converter, by I/O module, sensor is sampled, by RS485, described temperature control modules is controlled.Described controller is also associated with man machine interface, described man machine interface is for showing the running status putting position state and packer of the running status of all axles, I/O module, utilize this man machine interface that all parameters of machine can also be set, the information that can operate write packaging product on screen, the temperature etc. arranging heating operate, it is possible to select paper ball carries out list bag or many handbags dress.
As in figure 2 it is shown, described controller includes servo drive control unit, frequency conversion control unit, data processing unit, reception sampling unit and temperature control unit, sensor is sampled by described reception sampling unit by I/O module；Described data processing unit is for carrying out data process to the result of sampling；Described servo drive control unit utilizes EtherCAT agreement that servo-driver is carried out Synchronization Control according to the result receiving data process；Described frequency conversion control unit utilizes CANopen protocol integrated test system converter to control the axle that dynamic response requirement is low according to the result that data process；Described temperature control unit utilizes serial ports that described temperature control modules is controlled according to the result that data process.
Wherein, described data processing unit includes virtual main shaft generation unit and virtual Spindle control unit；Described virtual main shaft generates unit for simulating a virtual main shaft run；Described virtual Spindle control unit controls described virtual main shaft according to the speed of service receiving the packer that sampling unit obtains and keeps consistent with the speed of service of packer；All axles of described servo drive control unit and frequency converter control unit control packer follow the position of virtual main shaft, make to keep Tong Bu with the position of virtual main shaft, wherein, the run unit of virtual main shaft is set to the cycle, and the unit of all axles all normalizeds are the cycle.
Described sensor includes the photoelectric sensor for detecting paper ball position, for detecting the catalyst of axle back to zero, for the color mark sensor of peplos color spot graph, for measuring the electronic ruler of peplos tension force.Utilize the sensor various information can be fed back to controller.
When sensor is for detecting the photoelectric sensor of paper ball position, described photoelectric sensor is arranged on the conveyer belt of feeding-passage, described reception sampling unit receives described photoelectric sensor when continuing to receive signal, and described data processing unit judges to occur in that in feed conveyor belt that paper ball is piled up；Described servo drive control unit controls for driving the servo-driver of conveyer belt to add fast speed；When described reception sampling unit receives the frequencies go lower that described photoelectric sensor receives signal, described data processing unit judges that the paper ball in feed conveyor belt is rare；Described servo drive control unit controls for driving the servo-driver of conveyer belt to reduce speed.
When sensor is electronic ruler, the position of described electronic ruler feedback tension force fork completes the sampling to Tensity size；Described reception sampling unit receives the Tensity size of electronic ruler；Described data processing unit calculates the deviation value controlling speed increment according to Tensity size；The converter that described frequency conversion control unit is connected with tension force fork according to deviation value pair is controlled.
When sensor is that described photoelectric sensor is arranged on the front end in projection mechanism, and described reception sampling unit receives the sampled result of described photoelectric sensor and described catalyst for detecting the photoelectric sensor of paper ball position and during for detecting the catalyst of axle back to zero；Described data processing unit judges whether to meet paper ball position at front end and push rod not below paper ball according to sampled result；Described servo drive control unit controls when judged result is meet for driving the servo-driver of projection mechanism to project.
When sensor is color mark sensor, the equidistant color punctuation stayed when described color mark sensor is for detecting packaging film printing；Described reception sampling unit receives the sampled result of color mark sensor；Described data processing unit calculates absolute position and length according to equidistant color punctuation and determines the position of cutting knife point；The servo-driver that described servo drive control unit is connected with cutting knife according to the position control of cutting knife point cuts.
It is noted that this control system can only have above-mentioned a kind of sensor, it is possibility to have above-mentioned multiple sensors is combined thus completing more many-sided control.
Motion controller adopts tcp/ip communication with touch screen human-computer interface, film length and all configuration parameters that the data of customization are arranged are transferred in controller, change controller inner parameter, the status information simultaneously controller produced is shown on touch screen, as alarm code, I O point position state, packer duty are all shown on touch screen.
Motion controller, by RS485 and temperature control modules communication, arranges temperature parameter on the touchscreen and can read over motion controller and be written on temperature control module, and the temperature data of temperature control module is shown on touch screen also by controller simultaneously.
Motion controller realizes being connected with each sensor with extension I/O module by EtherCAT, utilizes the high speed characteristics of EtherCAT, obtains the information of all the sensors and the information of position, control point timely.Controlled the output of some signals by IO output simultaneously.
Motion controller is by CANopen and converter communication, owing to the response speed of converter is high less than driver, it is possible to implement the control to induction machine by CANopen with converter communication, reduce cost.
Motion controller is controlled by EtherCAT and motor servo driver, EtherCAT at a high speed disclosure satisfy that many cams, multi-axial Simultaneous height accordingly, at a high speed, the requirement of high position precision.
Fig. 3 is the operating diagram of the present invention.
The installation of toilet paper bag can for being divided into: feeding part A, film feeding part B and packaged unit C.
Feeding part A, is responsible for accepting the paper ball that paper ball production line produces, and is responsible for that again paper ball is sequentially placed into packaged unit and packs.It can be divided into again the first feeding belt (undertaking), the second feeding belt (paper ball is piled with in projection mechanism), projection mechanism (throwing in paper ball successively), transfer bar mechanism (paper ball is put into ejecting mechanism).
Film feeding part B, is responsible for film being cut and putting into packaged unit.It can be divided into again unreeling structure (film of rolling is discharged and opens), film feeding mechanism (membrane, film is pulled out from big volume, the Position And Velocity of the advance of major control film), cutter mechanism (be responsible for cutting film, film is cut into one by one as requested) and Fen Mo mechanism (responsible the film cut is taped against on the ejecting mechanism of packaged unit).
Packaged unit C, is responsible in paper bag to the film cut.nullIt can be divided into again eject part (paper ball upwards jack-up，In the process due to film just locating with paper ball above，Namely film has been wrapped on paper ball)、Edge-folding mechanism (is tightly wrapped up in film with paper bag，And the side doubling of film together)、(it is the delivery chain of paper ball of wrap film to top chain，It has teeth groove，Teeth groove can hold the paper ball after peplos，Ejecting mechanism enters paper top dome in teeth groove，Top chain is transported to blowing paper ball、The end, scalds and side seal)、Inflatable body (two gas blow pipes，The blast utilizing gas presses close to the film outside paper ball rear and front end the both ends of the surface of paper ball)、Side seal mechanism (utilizes a boiling hot sheet heated，The film of paper ball side is ironed boiling hot，Seal side) and end ironing mechanism (end, scalds and utilizes two conveyer belts heated，The film of paper feeding ball both ends of the surface irons seal and lives the film of both ends of the surface，And paper ball is transferred out machine).
The control method of the above-mentioned control system for toilet paper packing machine, including adopting virtual main shaft, the method that each axle is followed；The method adopting the some position imaginary axis controls to blow；Adopt photoelectric sensor to judge paper ball in-position, pile up, according to paper ball, the method that situation determines machine rising or falling speed；Adopting tension force fork to measure the tension force of feedback film, closed-loop tension controls；Two conveyer belts can be carried out switching manipulation；Judge that paper ball carries out projection paper ball in the position of projection mechanism and the position of push rod according to photoelectric sensor；Feed back according to thin film color mark sensor, correct film length and determine the cusp position of cutting knife；Many cams simultaneous techniques.
Virtual main shaft in described toilet paper packing machine control method, the method that each axle is followed: namely simulate a virtual main shaft run with software inside controller, it is consistent with the speed of service of machine, other all axles follow the position of virtual main shaft, keep Tong Bu with the position of virtual main shaft, the run unit of virtual main shaft is the cycle, is the cycle same for the axle of other operation normalized, and the speed of service of so all axles is all cycle per minute.Each axle each position is Tong Bu with virtual main shaft, and namely the period position point of each axle is Tong Bu with virtual main shaft, and what this ensures that there that each axle runs is harmonious, without mechanical impacts between axle and axle occurring and coordinating unreasonable.
The method by the some position imaginary axis in described toilet paper packing machine control method controls air blowing method: the digital output point position (DO) namely this being controlled to blow is treated as an axle, the phase angle of virtual main shaft is followed in its folding, open at a phase angle, close at another phase angle, its time continuing to blow it is between two phase angles, along with speed increases, its frequency also increases naturally.Air blowing is that peplos inward at both ends is blown, and makes peplos only be attached to the two ends of paper ball.
Employing photoelectric sensor in described toilet paper packing machine control method judges paper ball in-position, the method that situation determines machine rising or falling speed is piled up: namely photoelectric sensor is installed on the conveyer belt of feeding-passage according to paper ball, namely proved that paper ball enters owing to photoelectric sensor receives signal, conveyer belt runs and paper ball is transported, if photoelectric sensor continues to receive signal, prove that paper ball occurs in that accumulation in feed conveyor belt, packaging speed starts speed-raising, if photoelectric sensor receives the frequencies go lower of signal, then prove that paper ball is rare, then automatically reduce packaging speed, even stop.
The tension force fork that adopts in described toilet paper packing machine control method measures the tension force of feedback film, closed-loop tension control method: unreel speed by Frequency Converter Control due to packaging film, its tension force must keep, and to accomplish that fluctuation is minimum when membrane tension is controlled, and adjusts fine；Adopting a tension force fork, namely Tensity size can be sampled by the position feeding back tension force fork with electronic ruler；Its sampled data feedback is in controller, and controller does instruction feedback closed loop control, controls speed increment deviation value according to feedback deviation and reaches the closed loop control to tension force fork, thus reaching the closed loop control to membrane tension.
Employing in described toilet paper packing machine control method can to the method that two conveyer belts carry out switching manipulation: namely arranging wherein any one projection axis work can enable or close, so individually can produce line product to one when producing line for only one but not two produce product on lines and pack, also can be used for when debugging to work, so will save energy by Close All.
Adopting in described toilet paper packing machine control method judges the paper ball position in projection mechanism according to photoelectric sensor, and the position of push rod carries out projection paper ball method: namely photoelectric sensor is contained in the front end of projection mechanism, when photoelectric sensor detects paper ball position when front end, projection mechanism one paper ball of forward projects, the opportunity of its projection depends on the position that push rod is current, when wanting its projection, push rod does not cause installation below paper ball, so require that projection mechanism starts the period position position with reference to virtual main shaft of projection, and photoelectric sensor is judged as that paper ball puts two conditions in place when all meeting, start projection.
Employing in described toilet paper packing machine control method is fed back according to thin film color mark sensor, correct film length and determine the method for cusp position of cutting knife: owing to adopting circle roller to compress the kind of drive that thin film runs, membrane axle is inevitable with thin film generation relative sliding, thus needs membrane carries out position and the rectification of film length；Utilize the equidistant color punctuation that packaging film stays when printing as absolute position and length feedback, carry out closed loop control, it is determined that cutting knife cusp position, eliminate error.
The method adopting many cams simultaneous techniques in described toilet paper packing machine control method: (cutting knife cam runs, and its linear velocity near point of contact is Tong Bu with the linear velocity of film owing to a lot of axis servomotor of toilet paper packing machine must walk cam operation；Push rod walks cam motion, it is necessary to when projecting mechanism and throwing paper ball, reserved time enough reduces the time when paper ball is put into ejecting mechanism, reduces ejecting mechanism in the bottom waiting time；Ejecting mechanism cam runs, and is to wait in bottom, paper ball can be smoothly entered and is pushed ejecting mechanism by push rod；Top chain cam runs, and is to stop waiting in the draw-in groove that ejecting mechanism enters the paper top dome of peplos on top chain in ejecting mechanism upper end；Fen Mo mechanism cam run in order to tear cut through film is placed into ejecting mechanism upper end piecemeal for film), this just requires to arrange the cam curve that each crown of roll wheel shaft is corresponding with virtual main shaft, consider acceleration change, plan curve, between acceleration and maximal rate, accomplish balance.
Claims (10)
1. the control system for toilet paper packing machine, including controller, temperature control modules, servo-driver and sensor, it is characterized in that, described controller includes servo drive control unit, data processing unit, reception sampling unit and temperature control unit, and sensor is sampled by described reception sampling unit by I/O module；Described data processing unit is for carrying out data process to the result of sampling；Described servo drive control unit utilizes EtherCAT agreement that servo-driver is carried out Synchronization Control according to the result receiving data process；Described temperature control unit utilizes serial ports that described temperature control modules is controlled according to the result that data process.
2. the control system for toilet paper packing machine according to claim 1, it is characterised in that also including converter, described controller also includes frequency conversion control unit；Described frequency conversion control unit utilizes converter described in CANopen protocol integrated test system to control the axle that dynamic response requirement is low according to the result that data process.
3. the control system for toilet paper packing machine according to claim 1, it is characterised in that described data processing unit includes virtual main shaft and generates unit and virtual Spindle control unit；Described virtual main shaft generates unit for simulating a virtual main shaft run；Described virtual Spindle control unit controls described virtual main shaft according to the speed of service receiving the packer that sampling unit obtains and keeps consistent with the speed of service of packer；All axles of described servo drive control unit and frequency converter control unit control packer follow the position of virtual main shaft, make to keep Tong Bu with the position of virtual main shaft, wherein, the run unit of virtual main shaft is set to the cycle, and the unit of all axles all normalizeds are the cycle.
4. the control system for toilet paper packing machine according to claim 1, it is characterized in that, described sensor is the photoelectric sensor for detecting paper ball position, described photoelectric sensor is arranged on the conveyer belt of feeding-passage, described reception sampling unit receives described photoelectric sensor when continuing to receive signal, and described data processing unit judges to occur in that in feed conveyor belt that paper ball is piled up；Described servo drive control unit controls for driving the servo-driver of conveyer belt to add fast speed；When described reception sampling unit receives the frequencies go lower that described photoelectric sensor receives signal, described data processing unit judges that the paper ball in feed conveyor belt is rare；Described servo drive control unit controls for driving the servo-driver of conveyer belt to reduce speed.
5. the control system for toilet paper packing machine according to claim 2, it is characterised in that described sensor is electronic ruler, the position of described electronic ruler feedback tension force fork completes the sampling to Tensity size；Described reception sampling unit receives the Tensity size of electronic ruler；Described data processing unit calculates the deviation value controlling speed increment according to Tensity size；The converter that described frequency conversion control unit is connected with tension force fork according to deviation value pair is controlled.
6. the control system for toilet paper packing machine according to claim 1, it is characterized in that, described sensor is for detecting the photoelectric sensor of paper ball position and for detecting the catalyst of axle back to zero, described photoelectric sensor is arranged on the front end in projection mechanism, and described reception sampling unit receives the sampled result of described photoelectric sensor and described catalyst；Described data processing unit judges whether to meet paper ball position at front end and push rod not below paper ball according to sampled result；Described servo drive control unit controls when judged result is meet for driving the servo-driver of projection mechanism to project.
7. the control system for toilet paper packing machine according to claim 1, it is characterised in that described sensor is color mark sensor, the equidistant color punctuation stayed when described color mark sensor is for detecting packaging film printing；Described reception sampling unit receives the sampled result of color mark sensor；Described data processing unit calculates absolute position and length according to equidistant color punctuation and determines the position of cutting knife point；The servo-driver that described servo drive control unit is connected with cutting knife according to the position control of cutting knife point cuts.
8. the control method of the control system for toilet paper packing machine in claim 1-7 as described in any claim, it is characterised in that adopt virtual main shaft to realize each axle and follow；The method adopting the some position imaginary axis controls to blow；Adopt photoelectric sensor to judge paper ball in-position, pile up situation according to paper ball and determine machine transfer rate；The tension force that tension force fork measures feedback film is adopted to realize closed-loop tension control；The position of the paper ball position in projection mechanism and push rod is judged, thus carrying out projection paper ball according to photoelectric sensor；According to thin film color mark sensor feedback correction film length and the cusp position determining cutting knife.
9. control method according to claim 8, it is characterized in that, also include adopting the method for the some position imaginary axis to control to blow, particularly as follows: the digital output point position controlling to blow is treated as an axle, the phase angle of virtual main shaft is followed in its folding, open at a phase angle, close at another phase angle, be, between two phase angles, the time continuing to blow.
10. control method according to claim 8, it is characterised in that also include adopting many cams simultaneous techniques, specifically, arrange the cam curve that each crown of roll wheel shaft is corresponding with virtual main shaft so that each axle accomplishes balance between acceleration and maximal rate.
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Cited By (6)
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| CN106313057A (en) * | 2016-09-30 | 2017-01-11 | 武汉菲仕运动控制系统有限公司 | Control system for palletizing robot and realization method of control system |
| CN107153402A (en) * | 2017-07-18 | 2017-09-12 | 无锡职业技术学院 | A kind of packaging bag forming machine controller |
| CN109230735A (en) * | 2018-08-01 | 2019-01-18 | 深圳市威科达科技有限公司 | Multiple-axis servo tension control system based on CANopen bus |
| CN109665153A (en) * | 2017-10-16 | 2019-04-23 | 金红叶纸业集团有限公司 | A kind of paper handkerchief material arranging apparatus |
| CN110737193A (en) * | 2019-09-19 | 2020-01-31 | 中建材创新科技研究院有限公司 | Synchronous algorithm control system for controlling multiple shafts through virtual shafts |
| CN112722470A (en) * | 2021-02-04 | 2021-04-30 | 上海松川峰冠包装自动化有限公司 | Control method of full-servo soft-drawing packaging machine |
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