Agenda ROBO 247 - Robotic Applications Week #12: DC Motor Control Cont'd
Agenda ROBO 247 - Robotic Applications Week #12: DC Motor Control Cont'd
Agenda ROBO 247 - Robotic Applications Week #12: DC Motor Control Cont'd
Brushless DC Motor
ABB & Fanuc Robot’s Maintenance
Work cell Support Systems
Test#3 Preview
Closing the start button completes the control circuit from line 1 to point 5,
energizing relay coils M and TR1. This starts the motor turning by connecting
the armature, through the two series resistor, to the line. Note that the field
coil is connected directly to the line and is not affected by the series resistors
R1 and R2.
Meanwhile, the timing relay TR1 pulls the plunger up into the coil at a rate
determined by its time escape mechanism. After a predetermined time the
plunger is pulled up as far as possible, closing the normally open contacts of
TR1. This action simultaneously energizes acceleration relay A1 and timing
coil TR2. As a result Resistor R1 is cut out of the circuit, allowing the motor to
accelerate. After a further time delay, TR2 times out and energizes the
second acceleration relay A2.
Dynamic Braking
• The dynamic braking coil (DBM) is designed so that its only function
is to ensure a positive closing of the normally closed dynamic
braking contacts 9—10. If the main coil M is energized, the dynamic
braking contacts 9—10 open and contacts 8—9 of M close,
although the dynamic braking coil is also energized. The dynamic
braking coil is a little weaker than the M coil.
Stopping
If the motor has been running in the forward direction, both M1 and TD1 will have been energized.
This being the case, the normally-closed, timed-closed contact of TD1 between wires 8 and 5 will
have immediately opened the moment TD1 was energized. When the stop button is pressed,
contact TD1 waits for the specified amount of time before returning to its normally-closed state, thus
holding the reverse pushbutton circuit open for the duration so M2 can't be energized. When
TD1 times out, the contact will close and the circuit will allow M2 to be energized, if the reverse
pushbutton is pressed. In like manner, TD2 will prevent the "Forward" pushbutton from energizing
M1 until the prescribed time delay after M2 (and TD2) have been de-energized.
Reversing cont’d…
The time-interlocking functions of TD1 and TD2 render the M1 and M2 interlocking contacts
redundant. We can get rid of auxiliary contacts M1 and M2 for interlocks and just use TD1 and
TD2's contacts, since they immediately open when their respective relay coils are energized,
thus "locking out" one contactor if the other is energized. Each time delay relay will serve a dual
purpose: preventing the other contactor from energizing while the motor is running, and
preventing the same contactor from energizing until a prescribed time after motor shutdown.
The resulting circuit has the advantage of being simpler than the previous example:
Brushless DC motor
• The motor consists of a stator with windings placed in its slots, a rotor, which is the
moving part, constructed of permanent magnet material and Hall effect sensors that
are used to give feedback of the rotor position to a microcontroller.
The rotor which has a fixed magnet is attached to the output shaft.
The three phases red, blue and black are each producing an
alternating field and the three together produce a rotating field
which pulls the rotor magnet round as well as the shaft.
Brushless DC motors (BLDC) -
Electronically Commutated Motors
(ECM)
Powered by a DC electric source via an integrated inverter/switching power
supply, which produces an AC electric signal to drive the motor
Increased reliability, reduced noise, longer lifetime (no brush and commutator
erosion)
Stationary windings are not subjected to centrifugal forces, and because they are
supported by the housing, they can be cooled by conduction, requiring no airflow
inside the motor for cooling. Therefore the motor can be entirely enclosed and
protected from dirt.
BLDC Applications
High power brushless motors are found in electric vehicles and hybrid
vehicles
The robot has several functions to provide efficient diagnostics and error
reports:
The maintenance intervals depends on the use of the robot. For detailed
information on maintenance procedures, see the robot’s respective manuals
under maintenance section
Product manual (ABB)
Mechanical unit Operator manual (ArcMate 100iC)
Work-cell support system
In addition to the sensors, solenoids, robot I/O signals and PLC I/O signals,
a variety of other support systems are required for robotic automation cells
Material handling
Material handling systems are responsible for:
Delivering raw material to the automated work cell.
Moving parts between work stations
Removing finished parts from the automated work cell
1) Continuous transfer
Overhead monorail
Work-cell support system, cont’d:
3) Asynchronous transfer