Interface 6AXX Manual Umarnin Sensor Sensor

Saitin 6AXX Multicomponent Sensors ya ƙunshi firikwensin ƙarfi masu zaman kansu guda shida sanye da ma'aunin ma'auni. Yin amfani da siginar firikwensin shida, ana amfani da ƙa'idar lissafi don ƙididdige ƙarfin da ke cikin gatari uku da lokutan ukun da ke kewaye da su. An ƙayyade kewayon ma'aunin firikwensin multicomponent:

ta ma'aunin ma'aunin na'urori masu auna karfi guda shida, da
ta tsarin tsarin geometric na na'urori masu auna karfi shida ko ta diamita na firikwensin.

Sigina guda ɗaya daga na'urori masu auna ƙarfi shida ba za a iya haɗa su kai tsaye da takamaiman ƙarfi ko lokaci ta haɓaka tare da ma'auni mai ƙima ba.

Za'a iya siffanta ƙa'idar lissafin daidai cikin sharuddan lissafi ta samfurin giciye daga matrix ɗin daidaitawa tare da vector na siginar firikwensin shida.

Wannan tsarin aiki yana da advan mai zuwatage:

Musamman high rigidity,

Musamman ingantacciyar rabuwar abubuwa guda shida ("ƙananan maganganun giciye").

Calibration matrix

Matrix na daidaitawa A yana bayyana haɗin tsakanin siginar fitarwa da aka nuna U na ma'auni ampLifier akan tashoshi 1 zuwa 6 (u1, u2, u3, u4, u5, u6) da abubuwan haɗin 1 zuwa 6 (Fx, Fy, Fz, Mx, My, Mz) na ɗaukar nauyi L.

Ƙimar da aka auna: siginar fitarwa u1, u2, …u6 akan tashoshi 1 zuwa 6	siginar fitarwa U
Ƙimar ƙididdiga: sojojin Fx, Fy, Fz; lokacin Mx, My, Mz	Load vector L
Dokar lissafin: Samfurin giciye	L = A x U

Matrix calibration Aij ya ƙunshi abubuwa 36, waɗanda aka tsara a cikin layuka 6 (i=1..6) da ginshiƙai 6 (j=1..6).
Naúrar abubuwan matrix shine N/(mV/V) a cikin layuka 1 zuwa 3 na matrix.
Naúrar abubuwan matrix shine Nm/(mV/V) a cikin layuka 4 zuwa 6 na matrix.
Matrix daidaitawa ya dogara da kaddarorin firikwensin da na ma'auni ampmai sanyaya wuta.
Yana aiki don auna BX8 amplifier kuma ga kowa da kowa amplifiers, wanda ke nuna alamun fitarwa na gada a cikin mV/V.
Ana iya sake daidaita abubuwan matrix a cikin wasu raka'a ta hanyar gama gari ta hanyar ninkawa (ta amfani da "samfurin sikeli").
Matrix ɗin daidaitawa yana ƙididdige lokutan da ke kusa da asalin tsarin haɗin gwiwar da ke ƙasa.
Asalin tsarin haɗin gwiwar yana samuwa a wurin da z-axis ke haɗuwa tare da fuskar fuskar firikwensin. 1) Ana nuna asali da kuma daidaitawar gatari ta hanyar zane a saman fuskar firikwensin.

1) Matsayin asalin na iya bambanta da nau'ikan firikwensin 6AXX daban-daban. An rubuta asalin a cikin takardar daidaitawa. EG asalin 6A68 yana tsakiyar firikwensin.

Example na matrix calibration (6AXX, 6ADF)

	u1 in mV/V	u2 in mV/V	u3 in mV/V	u4 in mV/V	u5 in mV/V	u6 in mV/V
Fx a cikin N / mV/V	-217.2	108.9	99.9	-217.8	109.2	103.3
Fy a cikin N / mV/V	-2.0	183.5	-186.3	-3.0	185.5	-190.7
Fz a cikin N / mV/V	-321.0	-320.0	-317.3	-321.1	-324.4	-323.9
Mx a cikin Nm / mV/V	7.8	3.7	-3.8	-7.8	-4.1	4.1
Ina cikin Nm/mV/V	-0.4	6.6	6.6	-0.4	-7.0	-7.0
Mz a cikin Nm/mV/V	-5.2	5.1	-5.1	5.1	-5.0	5.1

Ƙarfin da ke cikin x-direction ana ƙididdige shi ta hanyar ninkawa da tara abubuwan matrix na jere na farko a1j tare da layuka na vector na siginar fitarwa uj.
Fx =
-217.2 N/(mV/V) u1+ 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4+ 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6

Don misaliample: akan duk tashoshin ma'auni na 6 shine u1 = u2 = u3 = u4 = u5 = u6 = 1.00mV/V da aka nuna. Sannan akwai wani ƙarfi Fx na -13.7 N. Ƙarfin da ke cikin shugabanci z ana ƙididdige shi daidai ta hanyar ninkawa da tarawa na uku na matrix a3j tare da vector na vol da aka nuna.tagda uj:
Fz =
-321.0 N/(mV/V) u1 -320.0 N/(mV/V) u2 -317.3 N/(mV/V) u3
-321.1 N/(mV/V) u4 -324.4 N/(mV/V) u5 -323.9 N/(mV/V) u6.

Matrix Plus don firikwensin 6AXX / 6ADF

Lokacin amfani da tsarin daidaitawa na "Matrix Plus", ana ƙididdige samfuran giciye guda biyu: matrix A x U + matrix B x U *

Ƙimar da aka auna: siginonin fitarwa u1, u2, … u6 atshoshi 1 zuwa 6	siginar fitarwa U
Ƙimar da aka auna su ne siginar fitarwa azaman samfuran gauraye: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 na tashoshi 1 zuwa 6	siginar fitarwa U*
Ƙimar da aka ƙididdige: Forces Fx, Fy, Fz; Moments Mx, My, Mz	Load da vector L.
Dokar lissafin: Samfurin giciye	L = A x U + B x ku*

Example na matrix calibration "B"

	u1·u2 a cikin (mV/V)²	u1·u3 a cikin (mV/V)²	u1·u4 a cikin (mV/V)²	u1·u5 a cikin (mV/V)²	u1·u6 a cikin (mV/V)²	u2·u3 a cikin (mV/V)²
Fx a cikin N / (mV/V)²	-0.204	-0.628	0.774	-0.337	-3.520	2.345
Fy a cikin N /(mV/V)²	-0.251	1.701	-0.107	-2.133	-1.408	1.298
Fz a cikin N / (mV/V)²	5.049	-0.990	1.453	3.924	19.55	-18.25
Mx a cikin Nm /(mV/V)²	-0.015	0.082	-0.055	-0.076	0.192	-0.054
Nawa a cikin Nm / (mV/V)²	0.050	0.016	0.223	0.036	0.023	-0.239
Mz a cikin Nm / (mV/V)²	-0.081	-0.101	0.027	-0.097	-0.747	0.616

Ƙarfin da ke cikin x-direction ana ƙididdige shi ta hanyar ninkawa da tara abubuwan matrix Aof jere na farko a1j tare da layuka j na vector na siginar fitarwa uj da abubuwan matrix B na jere na farko a1j tare da layuka j na vector na siginonin fitarwa na gauraye huɗu:

Exampda fx

Fx =
-217.2 N/(mV/V) u1 + 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4 + 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6
-0.204 N/(mV/V)² u1u2 0.628 N/(mV/V)² u1u3 + 0.774 N/(mV/V)² u1u4
-0.337 N/(mV/V)² u1u5 3.520 N/(mV/V)² u1u6 + 2.345 N/(mV/V)² u2u3

Exampda fz

Fz =
-321.0 N/(mV/V) u1 -320.0 N/(mV/V) u2 -317.3 N/(mV/V) u3
-321.1 N/(mV/V) u4 -324.4 N/(mV/V) u5 -323.9 N/(mV/V) u6.
+5.049 N/(mV/V)² u1u2 -0.990 N/(mV/V)² u1u3
+1.453 N/(mV/V)² u1u4 +3.924 N/(mV/V)² u1u5
+19.55 N/(mV/V)² u1u6 -18.25 N/(mV/V)² u2u3
Hankali: Abun da ke tattare da gaurayawan kalmomi hudu na iya canzawa dangane da firikwensin.

Kashe asalin

Ƙarfin da ba a yi amfani da su ba a asalin tsarin haɗin gwiwar ana nuna su ta hanyar anindicator a cikin nau'i na Mx, My da Mz dangane da hannun lever.

Gabaɗaya magana, ana amfani da ƙarfin a nesa z daga fuskar firikwensin. Hakanan ana iya canza wurin watsa ƙarfin a cikin x- da zdirections da ake buƙata.

Idan an yi amfani da dakarun a nesa x, y ko z daga asalin tsarin haɗin gwiwar, kuma ana buƙatar nuna jigogi a kusa da wurin watsa ƙarfin kashewa, ana buƙatar gyare-gyare masu zuwa:

Ingantattun lokuttan Mx1, My1, Mz1 suna biye da motsi a cikin watsawar ƙarfi (x, y, z) daga asalin

Mx1 = Mx + y*Fz - z*Fy
My1 = Nawa + z*Fx – x*Fz
Mz1 = Mz + x*Fy – y*Fx

Lura: Hakanan ana fallasa firikwensin zuwa lokacin Mx, My da Mz, tare da lokacin nunin Mx1, My1 da Mz1. Dole ne a wuce lokacin da aka halatta Mx, My da Mz.

Scaling na matrix calibration

Ta hanyar nusar da abubuwan matrix zuwa naúrar mV/V, ana iya amfani da matrix calibration zuwa samuwa. ampmasu rayarwa.

Matrix na daidaitawa tare da abubuwan matrix N/V da Nm/V sun shafi ma'aunin BSC8 amplifier tare da ƙwarewar shigarwa na 2 mV / V da siginar fitarwa na 5V tare da siginar shigarwar 2mV/V.

Haɓaka duk abubuwan matrix ta hanyar ma'aunin 2/5 yana daidaita matrix daga N/(mV/V) da Nm/(mV/V) don fitowar 5V a ƙwarewar shigarwa na 2 mV/V (BSC8).

Ta hanyar ninka duk abubuwan matrix ta hanyar 3.5/10, Matrix yana haɓaka daga N/(mV/V) da Nm/(mV/V) don siginar fitarwa na 10V a ƙwarewar shigarwa na 3.5 mV/V (BX8) )

Naúrar factor shine (mV/V)/V
Naúrar abubuwan da ke cikin vector load (u1, u2, u3, u4, u5, u6) su ne vol.tagina cikin V

Exampda fx

Analog fitarwa tare da BX8, shigar da hankali 3.5 mV / V, fitarwa siginar 10V:
Fx =
3.5/10 (mV/V)/V
(-217.2 N/(mV/V) u1 + 108.9 N/(mV/V) u2 + 99.9 N/(mV/V) u3
-217.8 N/(mV/V) u4 + 109.2 N/(mV/V) u5 +103.3 N/(mV/V) u6) + (3.5/10)² ( (mV/V)/V)²
(-0.204 N/(mV/V)² u1u2 0.628 N/(mV/V)² u1u3 + 0.774 N/(mV/V)² u1u4
-0.337 N/(mV/V)² u1u5 3.520 N/(mV/V)² u1u6 + 2.345 N/(mV/V)² u2u3)

Matrix 6 × 12 don firikwensin 6AXX

Tare da firikwensin 6A150, 6A175, 6A225, 6A300 yana yiwuwa a yi amfani da matrix 6 × 12 maimakon a6x6 matrix don biyan kuskure.

Matrix na 6 × 12 yana ba da mafi girman daidaito da mafi ƙarancin magana, kuma ana ba da shawarar ga na'urori masu auna firikwensin daga ƙarfin 50kN.

A wannan yanayin, na'urori masu auna firikwensin suna da jimillar tashoshi 12 masu aunawa da masu haɗawa biyu. Kowane mai haɗin haɗin yana ƙunshe da firikwensin ƙarfin ƙarfi mai zaman kansa na lantarki tare da sigina na firikwensin 6. Kowane ɗayan waɗannan haɗin yana haɗa da nasa aunawa. ampFarashin BX8.

Maimakon amfani da matrix 6 × 12, firikwensin kuma za'a iya amfani dashi na musamman tare da haɗin A, na musamman tare da haɗin B, ko tare da haɗin haɗin biyu don aunawa mai yawa. A wannan yanayin, ana ba da matrix 6 × 6 don haɗin A da mai haɗin B. Ana ba da matrix 6 × 6 azaman ma'auni.

Yin aiki tare na bayanan da aka auna zai iya zama misali tare da taimakon kebul na aiki tare. Domin ampmasu haɓakawa tare da keɓancewar EtherCat aiki tare ta layin BUS yana yiwuwa.

Sojojin Fx, Fy, Fz da lokacin Mx, My, Mz ana ƙididdige su a cikin software na BlueDAQ. Akwai tashoshin shigarwa guda 12 u1… u12 ana ninka su ta 6 × 12 matrix A don samun tashoshi 6 na fitarwa na vector L.

Ana sanya tashoshin haɗin “A” zuwa tashoshi 1…6 a cikin software na BlueDAQ.. Ana sanya tashoshin haɗin “B” zuwa tashoshi 7…12 a cikin software na BlueDAQ.
Bayan lodawa da kunna matrix 6 × 12 a cikin software na BlueDAQ, ana nuna ƙarfi da lokacin akan tashoshi 1 zuwa 6.
Tashoshi 7…12 sun ƙunshi ɗanyen bayanan mai haɗin B kuma basu da dacewa don ƙarin ƙima. Wadannan tashoshi (tare da sunan "dummy7") zuwa "dummy12") za a iya ɓoye su Lokacin amfani da matrix 6 × 12, ana ƙididdige ƙarfin da lokacin ta hanyar software kawai, tun da ya ƙunshi bayanai daga ma'auni daban-daban guda biyu. ampmasu rayarwa.

Tukwici: Lokacin amfani da software na BlueDAQ, daidaitawa da haɗin kai zuwa matrix 6 × 12 na iya yin ta "Ajiye Zama". kuma ana danna "Bude Zama". ta yadda za a yi na'urar firikwensin da tsarin tashoshi sau ɗaya kawai.

Taurin Matrix

Example na matrix stiffness

6A130 5kN/500Nm

Fx	Fy	Fz	Mx	My	Mz
93,8 kN/mm	0,0	0,0	0,0	3750 kN	0,0	Ux
0,0	93,8 kN/mm	0,0	-3750 kN	0,0	0,0	Uy
0,0	0,0	387,9 kN/mm	0,0	0,0	0,0	Uz
0,0	-3750 kN	0,0	505,2 knm	0,0	0,0	phix
3750 kN	0,0	0,0	0,0	505,2 knm	0,0	phiy
0,0	0,0	0,0	0,0	0,0	343,4 knm	phiz

Lokacin da aka ɗora shi da 5kN a cikin x-direction, motsi na 5 / 93.8 mm = 0.053 mm a cikin shugabanci x, da karkatar 5 kN / 3750 kN = 0.00133 rad sakamakon a cikin y-direction.
Lokacin da aka ɗora shi da 15kN a cikin z-direction, motsi na 15 / 387.9 mm = 0.039 mm a cikin hanyar z (kuma babu karkatarwa).
Lokacin da Mx 500 Nm juyawar 0,5kNm / 505,2kNm = 0.00099 rad ya haifar da sakamakon x-axis, da motsi daga 0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Lokacin da aka ɗora shi da Mz 500Nm sakamakon karkatarwa na 0,5kNm / 343.4 kNm = 0.00146 rad game da z-axis (kuma babu motsi).

Matrix Calibration don 5AR Sensors

Na'urori masu auna firikwensin nau'in 5ARA suna ba da damar auna ƙarfin Fz da lokacin Mxand My.
Ana iya amfani da na'urori masu auna firikwensin 5AR don nuna 3 kothogonal sojojin Fx, Fy, da Fz, lokacin da aka raba ma'aunin ma'aunin ta lever hannu z (nisa na aikace-aikacen karfi Fx, Fy na asalin tsarin daidaitawa).

	ch1	ch2	ch3	ch4
Fz a cikin N / mV/V	100,00	100,00	100,00	100,00
Mx a cikin Nm / mV/V	0,00	-1,30	0,00	1,30
Ina cikin Nm/mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

Ana ƙididdige ƙarfin da ke cikin hanyar z ta haɓakawa da tara abubuwan matrix na layin farko na A1J tare da layin thevector na siginar fitarwa uj.

Fz =
100 N/mV/V u1 + 100 N/mV/V u2 + 100 N/mV/V u3 + 100 N/mV/V u4

Example: akan duk tashoshin ma'auni na 6 shine u1 = u2 = u3 = u4 = 1.00 mV/V da aka nuna. Sannan tilasta Fz sakamakon 400 N.

Matrix na daidaitawa A na firikwensin 5AR yana da girma 4 x. 4
Vector u na siginar fitarwa na aunawa amplifier yana da girman 4 x. 1 Sakamakon vector (Fz, Mx, My, H) yana da girman 4 x. 1 A abubuwan da aka fitar na ch1, ch2 da ch3 bayan amfani da matrix na daidaitawa, ana nuna ƙarfin Fz da lokacin Mx da My. A kan tashar 4 fitarwa H ana nuna kullun 0V ta layi na huɗu.

Kwamishina na firikwensin

Ana amfani da software na BlueDAQ don nuna ƙarfin da aka auna da lokacin. Ana iya sauke BlueDAQsoftware da littattafan da ke da alaƙa daga website.

Mataki	Bayani
1	Shigar da Blue DAQ software
2	Haɗa ma'auni ampLifier BX8 ta hanyar tashar USB; Haɗa firikwensin 6AXX zuwa ma'auni amplififi. Kunna aunawa ampmai sanyaya wuta.
3	Kwafi directory tare da matrix calibration (wanda aka kawo na USB) zuwa tuƙi da hanya mai dacewa.
4	Fara Blue DAQ software
5	Babban taga: Maɓallin Ƙara Channel; Zaɓi nau'in na'ura: BX8 Zaɓi dubawa: don exampda COM3Zaɓi tashar 1 zuwa 6 don buɗe Haɗin Maɓalli
6	Babban taga: Maɓallin Sensor na Musamman Zaɓi firikwensin axis shida
7	Window “Saitunan firikwensin axis shida: Maɓallin Ƙara Sensor
8	a) Maballin Canja Dir Zaɓi kundin adireshi tare da files Serial number.dat da Serial number. Matrix. b) Maballin Zaɓi Sensor kuma zaɓi Serial number c) Maballin Sake suna tashoshi d) idan ya cancanta. Zaɓi ƙaurawar wurin aikace-aikacen ƙarfi. e) Maballin Ok Kunna wannan Sensor
9C	Zaɓi Rikodi Yt” taga, fara auna;

Gudanar da firikwensin 6 × 12

Lokacin ƙaddamar da firikwensin 6 × 12, tashoshi 1 zuwa 6 na ma'aunin ampLifier atconnector “A” dole ne a sanya shi zuwa sassa 1 zuwa 6.

Tashoshi 7…12 na aunawa ampLifier a connector "B" an sanya su zuwa sassa 7 zuwa 12.

Lokacin amfani da kebul na aiki tare, masu haɗin mata 25-pin SUB-D (namiji) a bayan ampan haɗa lifi zuwa kebul na aiki tare.

Kebul na aiki tare yana haɗa tashar jiragen ruwa no. 16 na aunawa amplifiers A da B tare da juna.

Domin amplifier An saita tashar jiragen ruwa 16 azaman fitarwa don aikin azaman maigidan, don amplifier Bport 16 an saita shi azaman shigarwa don aikin azaman bawa.

Ana iya samun saitunan a ƙarƙashin "Na'ura" Babban Saiti" Dig-IO.

Shawara: Dole ne a yi tsarin mitar bayanai a “Master” da kuma a “Bawa”. Mitar ma'aunin maigida kada ta kasance sama da mitar bawa.