basics of servo weld gun
TRANSCRIPT
Resistance WeldingResistance WeldingServogun BasicsServogun Basics
What Is A Servo?What Is A Servo?
1. Motor
2. Feedback Device
3. Controller
Servo MotorServo Motor
Stator Windings
Feedback DeviceNeodymium Iron-Boron magnets in Rotor
Feedback ConnectorPower
Connector
Servo Motor ConfigurationsServo Motor Configurations
Frameless Direct Drive Rotary
Feedback DeviceFeedback Device
Used for motor commutation and position feedback.
• Hall Effect Devices
• Encoders
• Resolvers
Basic EncoderBasic Encoder
Basic ResolverBasic Resolver
Motion ControllerMotion Controller
MotionGenerator
Encoder/
Resolver
Commutationand Current
Loop
Power
Stage Position
Loop Velocity
Loop Motor
Controller Drive / Amplifier
Applying Servos to RWApplying Servos to RW
1. Measurements
2. Integration With Equipment
3. Controlling The Actuator
4. Drive Configurations
5. Equalizing
6. Additional Considerations
Position MeasurementsPosition Measurements
• Gun Open
• Retract Position(s)
• Tip Touch
• Pre-weld position
• Post-weld position
• Electrode wear
Force MeasurementsForce Measurements
• Approach force
• Weld force
• Tip dress force
• Return force
Motor current feedback (motor torque) can be used to determine:
Control ComponentsControl Components
PLCRobot
Controller Mo
tionC
ontroller
Am
plifier
WeldControl
ServoMotor
TeachPendant
ElectronicOperatorInterface
Typical Robot IntegrationTypical Robot Integration
PLC RobotWeld
ControlPLC
RobotController
Am
plifier
ServoMotor
TeachPendant
ElectronicOperatorInterface
Typical Robot IntegrationTypical Robot Integration
Robot Remote AmplifierRobot Remote Amplifier
PLCRobot
Controller
Am
plifier
WeldControl
ServoMotor
TeachPendant
ElectronicOperatorInterface
Robot Retrofit IntegrationRobot Retrofit Integration
PLCRobot
Controller Mo
tionC
ontroller
Am
plifier
WeldControl
ServoMotor
TeachPendant
ElectronicOperatorInterface
Machine IntegrationMachine Integration
PLC
Mo
tion
Controller
Am
plifier
WeldControl
ServoMotor
ElectronicOperatorInterface
Am
plifie
r
ServoMotor
Am
plifier
ServoMotor
Am
plifier
ServoMotor
Controller Integral to Weld ControlController Integral to Weld Control
PLC
Mo
tionC
ontroller
Am
plifie
r
WeldControl
ServoMotor
ElectronicOperatorInterface
Controller Integral to MotorController Integral to Motor
PLCWeld
Control
ElectronicOperatorInterface
ServoMotor
Servo Controller Integral to MotorServo Controller Integral to Motor
Controlling the ActuatorControlling the Actuator
Trapezoidal Move Profile
Controlling the ActuatorControlling the Actuator
P-Curve Move Profile
Controlling the ActuatorControlling the Actuator
S-Curve Move Profile
Controlling the ActuatorControlling the Actuator
Chart courtesy of Savair/ARO
Controlling the ActuatorControlling the Actuator
Controlling the ActuatorControlling the Actuator
Linear MotionLinear Motion
Roller ScrewsRoller Screws
Drive ConfigurationsDrive Configurations
Tubular Linear MotorTubular Linear Motor
Matching the Actuator to the GunMatching the Actuator to the Gun
Gun Ratio =
A
B
A
B
Why is Equalizing Necessary?Why is Equalizing Necessary?
Part Position or Gun Position Error
Expected Actual
Why is Equalizing Necessary?Why is Equalizing Necessary?
Part Fit-up Gap
Why is Equalizing Necessary?Why is Equalizing Necessary?
Cap Wear
Why is Equalizing Necessary?Why is Equalizing Necessary?
• Electrode Deflection
• Weld Indentation
• Metal Thickness Variation
Equalizing ServogunsEqualizing Servoguns
2. Robot Equalization
1. Pneumatic Equalization
3. Servo Equalization
Photo courtesy of Matuschek GmbH
Additional Application Additional Application ConsiderationsConsiderations
1. Training
2. Maintenance
3. Power Consumption
Packaging of Servo Vs PneumaticPackaging of Servo Vs Pneumatic
Resistance WeldingResistance WeldingServogun BasicsServogun Basics
Thanks to the following for providing material to be used in Thanks to the following for providing material to be used in this presentation:this presentation:
CenterLineCenterLine
Savair/AROSavair/ARO
Milco ManufacturingMilco Manufacturing
California Linear DevicesCalifornia Linear Devices
Matuschek GmbHMatuschek GmbH
Nachi RoboticsNachi Robotics
Other Internet SourcesOther Internet Sources