Application of the hottest acopos in heat shrinkab

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Application of acopos in heat shrinkable film packaging machine

Abstract: Taking the heat shrinkable film packaging machine as the object, this paper introduces the b&r acopos servo as the motion control part, describes its application in each mechanism of the heat shrinkable film packaging machine, and makes some discussion on the feeding and cutting of color film

at present, various brands of beer are rushing into the market first. In order to seize business opportunities, various beer manufacturers are also constantly improving the quality and output of beer. Therefore, updating the original old beer production equipment has become a factor that beer manufacturers must consider. During the production of beer, every production link from the initial brewing, filling, sterilization to the final labeling and packaging is related to the final beer output. The high degree of automation makes packaging a weak link in the whole beer production for a long time. Foreign heat shrinkable film packaging machines (hereinafter referred to as film packaging machines) have been able to complete the final beer packaging, such as Italy's dymac, SMI, ocme and Germany's Krones. Due to the high price of foreign film wrapping machines, many domestic beer manufacturers use low-cost collective manual bundling or simple manipulator moving as beer packing methods, especially in the form of collective manual bundling. In this way, a large number of bottled beer produced in the first few links will accumulate to the end, which often slows down the speed of the first few production links due to the final slow manual binding. In addition, the occasional burst of bottled beer will often hurt the staff who are carrying out the bundling operation. In June2002, China clearly stipulated in the new beer standard gb4927-2001 that manual strapping packaging should be banned. After learning from the advanced concepts of foreign film wrapping machines, several domestic light industrial machinery manufacturers and other beer production equipment manufacturers have successively launched domestic film wrapping machines according to the market demand

system configuration and scheme

generally, the film wrapping machine can be composed of six parts: main drive, bottle feeding, bottle separating, paper feeding, film feeding and cutting, and hot channel. According to different design ideas, the mechanical structure of the coating machine produced by each manufacturer is different, and the programmable control system and servo control system selected are also different. Taking the capsule machine of keshimin company as an example, this paper will introduce the bergalay programmable control (PCC) system and servo control (acopos) system as the control part

※ the hardware mechanism of the coating machine

the servo control system with synchronous electronic gears and electronic cams has long replaced the cumbersome mechanical cam mechanism, which can easily realize the synchronous relationship between moving objects according to the requirements of the designer. The servo motor is used as the drive shaft of several motion mechanisms of the film wrapping machine to complete the tasks from bottle feeding, paperboard feeding to film feeding and cutting. The main drive using one servo motor will be used as the synchronization object of several other axes, and all the angle and phase relations are also determined according to the main drive motor

※ control system

the servo control system of bekale can fully meet the basic motion control of all motors of the coating machine and the synchronous motion control between them. The man-machine panel pp41, which integrates the logic control in the packaging process and has the display function, on the one hand, can convey commands and motion characteristic parameters to the motion control part through parameter input, on the other hand, it can timely feed back the running status and alarm status of the previous machine

※ field bus (CAN bus)

can bus has strong error detection ability and differential drive function, and still operates well in the environment with strong noise and harsh conditions. Therefore, in terms of media transmission and line design, can bus can easily be suitable for most applications [1]

through the field bus (CAN bus), the communication between the man-machine panel (pp41) and each servo controller becomes very reliable, especially providing a guarantee for modifying the synchronous characteristic parameters in the servo motion control system

※ basic motion control

the servo motion control system (acopos servo) of bekale adopts an object-oriented control mode. Using high-level language (basic or C), after creating an axis object for a servo controller, you can use the created pointer to complete different motion control of the motor

Status =ncaction(AxisBUR->Object,ncPOS_MOVE,ncSTART); The lower limit of program 1

function NC will not be zero. Action() will execute all basic operation commands for servo motor motion control. Parameter 1 is the pointer of the moving control object, parameter 2 is the control mode of the moving object, and parameter 3 is the action behavior facing the control mode. The meaning of the above statement is to make the moving object axisbur->object move ncpos in the positive direction_ Move, ncstart starts

basic motion control will be used for the independent commissioning and parameter seeking of each motor of the pelletizer, the start and stop of the main drive, and the cooperation of the bottle splitting motor. This control method has clear objectives and is easy to write the control program

※ synchronous motion control

synchronous motion control is the control of a servo motor to complete a certain motion trajectory relative to another servo motor according to a certain mathematical model, which is commonly referred to as the concept of electronic gear and electronic cam

for acopos servo, the two servo motors participating in synchronization have a master-slave relationship. The synchronous motion control of the coating machine is generally synchronous in position. On the CAN bus, the main shaft will transmit the current position information to the can network at a certain small interval, and the slave shaft participating in the growth and synchronization of the use time at any time will also obtain these information in real time. Many real-time experts also said that they can calculate the current position of the slave shaft according to the mathematical model and run the current track

through the mathematical model, we can get the profiler of the slave axis relative to the main axis. The characteristic parameters of these contours shall be downloaded to the servo controller before the motor participates in the synchronization. Pp41 will use can bus to download parameters. Acopos servo can set 11 groups of contour relationships at a time. Using the event method, the slave axis can jump easily in the set contour relationship group according to the needs of movement. There are many types of event triggering. Pp41 can be used to send down four signal messages (ncsignal1.2.3.4) or two trigger messages on the servo controller (nctrigger1.2). Therefore, we can decompose the master-slave contour relationship into several stages (States) according to certain requirements, and the synchronization requirements of different stages can be completed through the jump between stages

program 2 is the first stage of a contour relationship, which realizes a simple 1:2 master-slave position synchronization. At this stage, the spindle will complete 10000 units and the slave spindle will complete 20000 units. There are two jump events after completion. Event 1: if ncsignal1 information has occurred before, jump to phase 2; Event 2: if no previous event occurs after the end, the synchronization track of the first stage will continue to be repeated

m =2;

camdata->State[m]. CamDataIndex=0xFFFF;

camdata->State[m]. CompensationMode=ncOFF;

camdata->State[m]. MaCompDistance=0;

camdata->State[m]. SlCompDistance =0;

camdata->State[m]. MaFactor =10000;

camdata->State[m]. SlFactor=20000;

camdata->State[m]. MaMinCompDistance =1;


n =0;

camdata->state[m].event[n].type =ncsignal1;

camdata->state[m].event[n].attribute =ncstu end;

camdata->state[m].event[n].nextstate =2;

n =1;

camdata->state[m].event[n].type =ncstu ENU D;

camdata->state[m].event[n].attribute =ncstu end;

camdata->state[m].event[n].nextstate = 1;


program 2

in the film wrapping machine, After receiving the film loading signal, the film loading motor starts to move synchronously when the main motor runs to a certain phase again until the main motor completes a cycle, and the film loading motor also completes a film loading task. We can divide it into three stages, that is, the film loading motor waits for the film loading signal, the main motor reaches the film loading start phase, and completes a film loading task with the main motor. When applying film, the last stage can be subdivided into several stages according to the principle of "slow before fast"

※ virtual axis concept

in acopos service, the moving object created for each servo motor has an imaginary axis, that is, the virtual axis. The virtual axis is the same as the real axis. On the one hand, it can be used as a slave axis to complete the synchronization track with the main axis. On the other hand, it can also be used as a main axis to allow other slave axes to participate in the synchronization. Due to the introduction of the concept of virtual axis, a servo motor can also synchronize with its own virtual axis

if a main virtual axis is added between the film loading motor and the main motor, the contour relationship of the three stages of waiting for the film loading signal, waiting for the starting phase of the main motor, and completing a cycle with the main motor can be added to the main virtual axis. The membrane motor can be synchronized with the main virtual axis to complete the synchronization tasks of several stages from slow to fast. In this way, when the main motor is also a good opportunity for your product to be promoted free of charge and does not move, let the virtual axis go for a cycle, and the film feeding motor can complete the film feeding task once, that is, manually apply the film once, so as to facilitate the front and back adjustment of the film feeding position at the beginning

function realization in the control process

acopos servo's tasks in the film wrapping machine are: driving the bottle pushing rod and film taking rod, feeding paperboard, feeding and cutting film, and separating bottles. Among them, the tasks with synchronous relationship include paper feeding, film feeding and film cutting. Although the bottle feeding motor does not participate in the synchronization, during the bottle separation process, it, the pressing plate and the baffle are based on the phase angle of the main motor, performing the interrelated start and stop to jointly complete the bottle separation task

※ feeding and cutting of white film

film feeding and cutting are the most important links in the film wrapping machine and the most difficult part in the control process, especially film feeding

according to the process requirements, in the initial stage after the film feeding is started, the speed of film output should be consistent with that of a group of bottles to be wrapped. The part pressed on the lower film of the paperboard should be of the preset length and should not curl. In the remaining stages, the membrane shall be quickly removed to ensure that the membrane picking rod can pick out the rear membrane unhindered. The speed of these stages of membrane picking must also be properly controlled. Too fast will lead to membrane wrinkling, and too slow will cause membrane picking rod to be blocked. No matter how many stages, or how fast the film is discharged in the middle, it must be ensured that after the main motor executes a cycle, the film feeding motor must also just complete one film feeding. That is, the film feeding motor and the main motor are synchronized once

different manufacturers design different film cutting mechanisms. At present, there are two kinds of mechanisms, one is to use electromagnetic clutch on the film feeding motor shaft to pull in a cutter and bind it, and then rotate it for one circle; The other is to keep the cutter as an independent motor shaft synchronized with the film feeding motor shaft. It is worth paying attention to that the instantaneous linear speed of the cutter rotating to cut the film should be greater than the linear speed of the point where the film is cut, otherwise the film may be scratched, cut continuously, or even cause the cutter teeth to collapse. The film wrapping machine of keshimin company adopts an independent cutter motor shaft,

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