BENTLY 125800-01 卡件模块

BENTLY 125800-01 卡件模块

125800-01 AGV和自主移动机器人(AMRs)通常需要使用基于直流电机的系统来实现自由漫游的电池供电操作。由于运动学相当传统，其轴上的致动器(不像其先进和专有的软件和传感器系统)在其他工业应用中相当常见。

125800-01 但是有特殊的要求:提升质量的机器人致动器比水平移动负载的机器人致动器消耗更多的功率，因此在其他机器人(如笛卡尔机器人)中，AGV和AMRs中的垂直提升致动器通常通过高传动比齿轮头以高扭矩和低速度运行。虽然效率低于其他齿轮产品，但这里的蜗轮组可抵抗反向驱动，因此有助于防止潜在系统故障期间负载骤降。在用户程序执行阶段，PLC总是按由 上而下的顺序依次地扫描用户程序(梯形图)。在扫描每一条梯形图时， 又总是先扫描梯形图左边的由各触点构成的控制线路,并按先左后右、先上后下的顺序对由触点构成的控制线路进行逻辑运算,然后根据逻辑运算的结果，刷新该逻辑线圈在系统RAM存储区中对应位的状态;或者刷新该输出线圈在I/O映象区中对应位的状态;或者确定是否要执行该梯形图所规定的特殊功能指令。即，在用户程序执行过程中，只有输入点在I/O映象区内的状态和数据不会发生变化，而其他输出点和软设备在I/O映象区或系统RA存储区内的状态和数据都有可能发生变化，而且排在上面的梯形图，其程序执行结果会对排在下面的凡是用到这些线圈或数据的梯形图起作用;相反,排在下面的梯形图，其被刷新的逻辑线圈的状态或数据只能到下一个扫描周期才能对排在其上面的程序起作用。

BENTLY 125800-01 卡件模块

125800-01 AGV and autonomous mobile robot (AMRs) usually need a system based on DC motor to realize free roaming battery-powered operation. Because kinematics is quite traditional, its on-axis actuator (unlike its advanced and proprietary software and sensor system) is quite common in other industrial applications.

125800-01 However, there are special requirements: the robot actuator that lifts the mass consumes more power than the robot actuator that moves the load horizontally, so in other robots (such as Cartesian robots), the vertical lifting actuator in AGV and AMRs usually runs at high torque and low speed through high transmission ratio gearheads. Although the efficiency is lower than other gear products, the worm gear set here can resist the reverse drive, thus helping to prevent the load from plummeting during the potential system failure. In the user program execution stage, PLC always scans the user program (ladder diagram) in order from top to bottom. When scanning each ladder diagram, always scan the control circuit composed of contacts on the left side of the ladder diagram first, and perform logical operation on the control circuit composed of contacts in the order of first left and then right, first up and then down, and then refresh the state of the corresponding bit of the logic coil in the system RAM storage area according to the result of logical operation; Or refresh that state of the corresponding bit of the output coil in the I/O map area; Or determine whether to execute the special function instruction specified in the ladder diagram. That is, in the process of user program execution, only the state and data of the input point in the I/O image area will not change, while the state and data of other output points and soft devices in the I/O image area or the system RA storage area may change, and the program execution result of the ladder diagram ranked above will play a role in the ladder diagram ranked below that uses these coils or data; On the contrary, in the ladder diagram arranged below, the status or data of the refreshed logic coil can only work on the program arranged above it in the next scanning cycle.