Interface 6AXX Multicomponent Sensor Instruction Manual

Cov txheej txheem ntawm 6AXX Multicomponent Sensors muaj rau lub zog ywj pheej sensors nruab nrog cov ntsuas ntsuas. Siv rau lub teeb liab sensor, ib txoj cai xam yog siv los xam cov rog nyob rau hauv threespatial axes thiab peb lub sij hawm nyob ib ncig ntawm lawv. Kev ntsuas qhov ntau ntawm multicomponent sensor yog txiav txim siab:

los ntawm kev ntsuas qhov ntau ntawm rau lub zog ywj siab sensors, thiab
los ntawm geometrical kev npaj ntawm rau lub zog sensors los yog ntawm txoj kab uas hla ntawm lub sensor.

Cov cim ntawm tus kheej los ntawm rau lub zog sensors tsis tuaj yeem cuam tshuam ncaj qha nrog lub zog tshwj xeeb lossis lub sijhawm los ntawm kev sib npaug nrog qhov ntsuas qhov ntsuas.

Txoj cai suav tau raug piav qhia meej hauv kev ua lej los ntawm cov khoom sib tw los ntawm calibration matrix nrog vector ntawm rau lub cim sensor.

Qhov kev ua haujlwm zoo no muaj cov hauv qab no advantages:

Tshwj xeeb yog siab rigidity,

Tshwj xeeb tshaj yog zoo sib cais ntawm rau lub Cheebtsam ("tsawg cross-hais lus").

Calibration matrix

Lub calibration matrix A piav qhia txog kev sib txuas ntawm cov cim qhia tawm U ntawm qhov ntsuas amplifier ntawm channels 1 txog 6 (u1, u2, u3, u4, u5, u6) thiab cov khoom 1 txog 6 (Fx, Fy, Fz, Mx, My, Mz) ntawm load vector L.

Ntsuas tus nqi: tso zis tawm u1, u2, ...u6 ntawm channel 1 txog 6	tso zis signal U
Muab xam tus nqi: rog Fx, Fy, Fz; moments Mx, Kuv, Mz	Load vector L
Kev suav cov cai: Hla cov khoom	L = A x U

Lub calibration matrix Aij suav nrog 36 lub ntsiab lus, teem rau 6 kab (i = 1..6) thiab 6 kab (j = 1..6).
Chav tsev ntawm matrix ntsiab yog N / (mV / V) nyob rau hauv kab 1 txog 3 ntawm lub matrix.
Chav tsev ntawm matrix ntsiab yog Nm / (mV / V) nyob rau hauv kab 4 mus rau 6 ntawm lub matrix.
Lub calibration matrix nyob ntawm seb lub zog ntawm lub sensor thiab qhov ntsuas ampua neej nyob.
Nws siv rau kev ntsuas BX8 amplifier thiab rau txhua tus amplifiers, uas qhia tus choj tso tawm cov cim hauv mV / V.
Cov ntsiab lus matrix tuaj yeem rov ntsuas dua hauv lwm cov units los ntawm qhov sib piv ntawm kev sib npaug (siv "cov khoom lag luam").
Lub calibration matrix xam lub sij hawm nyob ib ncig ntawm lub hauv paus chiv keeb ntawm lub hauv paus tswj system.
Lub hauv paus chiv keeb ntawm qhov kev sib koom tes yog nyob ntawm qhov chaw uas lub z-axis cuam tshuam nrog lub ntsej muag ntawm lub sensor. 1) Lub hauv paus chiv keeb thiab kev taw qhia ntawm cov axes yog qhia los ntawm kev kos rau ntawm lub ntsej muag ntawm lub sensor.

1) Txoj hauj lwm ntawm lub hauv paus chiv keeb yuav txawv nrog ntau hom 6AXX sensor. Lub hauv paus chiv keeb yog sau tseg nyob rau hauv daim ntawv calibration. EG lub hauv paus chiv keeb ntawm 6A68 yog nyob rau hauv nruab nrab ntawm lub sensor.

Example ntawm calibration matrix (6AXX, 6ADF)

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

Lub zog nyob rau hauv x-kev taw qhia yog xam los ntawm multiplying thiab totaling li matrix ntsiab ntawm thawj kab a1j nrog cov kab ntawm vector ntawm cov zis tawm tswv yim 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

Rau example: ntawm tag nrho 6 kev ntsuas raws yog u1 = u2 = u3 = u4 = u5 = u6 = 1.00mV / V tso tawm. Tom qab ntawd muaj ib tug quab yuam Fx ntawm -13.7 N. Lub zog nyob rau hauv lub z kev taw qhia yog xam raws li los ntawm multiplying thiab summing tus thib peb ntawm lub matrix a3j nrog lub vector ntawm lub qhia vol.tages 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 rau 6AXX / 6ADF sensors

Thaum siv cov txheej txheem "Matrix Plus" calibration, ob qho khoom hla yog xam: matrix A x U + matrix B x U *

Ntsuas qhov tseem ceeb: tso zis tawm u1, u2, … u6 atchannels 1 txog 6	tso zis teeb liab U
Kev ntsuas qhov tseem ceeb yog cov khoom tso tawm raws li cov khoom sib xyaw: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 ntawm channel 1 txog 6	tso zis teeb liab U*
Tus nqi suav: Forces Fx, Fy, Fz; Moments Mx, Kuv, Mz	Load vector L.
Kev suav cov cai: Hla cov khoom	L = A x U + B x ua*

Example ntawm ib tug calibration matrix "B"

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

Lub zog nyob rau hauv x-kev taw qhia yog xam los ntawm multiplying thiab summing lub matrix ntsiab Aof thawj kab a1j nrog cov kab j ntawm lub vector ntawm cov zis signals uj plus matrix ntsiab B ntawm thawj kab a1j nrog cov kab j ntawm vector ntawm Mixedquadratic tso zis signals:

Exampua 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

Examplwm 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
Nco ntsoov: Qhov sib xyaw ua ke ntawm cov lus sib xyaw ua ke tuaj yeem hloov pauv nyob ntawm lub sensor.

Offset ntawm lub hauv paus chiv keeb

Cov quab yuam uas tsis siv rau hauv lub hauv paus chiv keeb ntawm kev sib koom tes yog qhia los ntawm anindicator nyob rau hauv daim ntawv ntawm Mx, Kuv thiab Mz lub sij hawm raws li lub caj npab.

Feem ntau hais lus, cov rog yog siv rau ntawm qhov deb z los ntawm lub ntsej muag ntawm lub sensor. Qhov chaw ntawm lub zog kis tau tus mob kuj yuav hloov nyob rau hauv x- thiab zdirections asrequired.

Yog hais tias lub zog raug siv ntawm qhov deb x, y lossis z los ntawm lub hauv paus chiv keeb ntawm kev sib koom ua ke, thiab cov ntsiab lus nyob ib ncig ntawm qhov chaw sib kis ntawm qhov chaw yuav tsum tau pom, cov kev kho hauv qab no yuav tsum tau ua:

Kho lub sijhawm Mx1, My1, Mz1 tom qab hloov pauv hauv kev xa xov hluav taws xob (x, y, z) los ntawm keeb kwm

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

Nco tseg: Lub sensor tseem raug rau lub sijhawm Mx, Kuv thiab Mz, nrog lub sijhawm Mx1, My1 thiab Mz1 tso tawm. Lub sijhawm tso cai Mx, Kuv thiab Mz yuav tsum tsis pub dhau.

Scaling ntawm lub calibration matrix

Los ntawm kev xa cov ntsiab lus matrix mus rau chav tsev mV / V, calibration matrix tuaj yeem siv rau txhua qhov muaj ampcov neeg ua neej nyob.

Lub calibration matrix nrog N / V thiab Nm / V matrix ntsiab siv rau BSC8 ntsuas amplifier nrog lub tswv yim rhiab heev ntawm 2 mV / V thiab cov teeb liab tawm ntawm 5V nrog 2mV / V input teeb liab.

Kev sib faib ntawm tag nrho cov ntsiab lus matrix los ntawm qhov zoo ntawm 2/5 teev cov matrix ntawm N / (mV / V) thiab Nm / (mV / V) rau qhov tso zis ntawm 5V ntawm qhov kev nkag siab ntawm 2 mV / V (BSC8).

Los ntawm kev sib faib tag nrho cov ntsiab lus matrix los ntawm qhov zoo ntawm 3.5/10, Matrix yog ntsuas los ntawm N / (mV / V) thiab Nm / (mV / V) rau cov teeb liab tawm ntawm 10V ntawm qhov kev nkag siab ntawm 3.5 mV / V (BX8 )

Qhov ntsuas qhov ntsuas yog (mV / V) / V
Chav tsev ntawm lub ntsiab ntawm lub load vector (u1, u2, u3, u4, u5, u6) yog vol.tages v V

Exampua fx

Analog tso zis nrog BX8, input rhiab heev 3.5 mV / V, tso zis teeb liab 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 rau 6AXX sensors

Nrog rau cov sensors 6A150, 6A175, 6A225, 6A300 nws tuaj yeem siv 6 × 12 matrix es tsis txhob a6x6 matrix rau kev ua yuam kev.

6 × 12 matrix muab qhov tseeb tshaj plaws thiab qis tshaj crosstalk, thiab pom zoo rau cov sensors los ntawm 50kN quab yuam.

Nyob rau hauv cov ntaub ntawv no, lub sensors muaj tag nrho ntawm 12 ntsuas raws thiab ob connectors. Txhua connector muaj ib tug hluav taws xob ywj pheej quab yuam-torque sensor nrog 6 sensor signals.Txhua ntawm cov connectors yog txuas nrog nws tus kheej ntsuas. amplus bx8.

Hloov chaw ntawm kev siv 6 × 12 matrix, lub sensor tseem tuaj yeem siv tshwj xeeb nrog cov khoom txuas A, lossis tsuas yog nrog cov txuas B, lossis nrog ob qho tib si txuas rau kev ntsuas rov qab. Nyob rau hauv cov ntaub ntawv no, ib tug 6 × 6 matrix yog muab rau connector A thiab rau connector B. Lub 6 × 6 matrix yog muab raws li ib tug qauv.

Lub synchronization ntawm cov ntaub ntawv ntsuas yuav ua tau xws li nrog kev pab los ntawm ib tug synchronization cable. Rau amplifiers nrog EtherCat interface ib synchronization ntawm BUS kab yog ua tau.

Cov rog Fx, Fy, Fz thiab lub sijhawm Mx, Kuv, Mz raug xam hauv software BlueDAQ. Muaj 12 input channels u1…u12 yog muab faib los ntawm 6 × 12 matrix A kom tau 6 qhov tso zis raws ntawm load vector L.

Cov channels ntawm connector "A" raug xa mus rau channels 1…6 hauv BlueDAQ software.
Tom qab thauj khoom thiab ua kom lub matrix 6 × 12 hauv BlueDAQ software, lub zog thiab lub sijhawm tau tshwm sim ntawm cov channel 1 txog 6.
Channel 7…12 muaj cov ntaub ntawv nyoos ntawm cov khoom sib txuas B thiab tsis cuam tshuam rau kev ntsuas ntxiv. Cov kab no (nrog rau lub npe "dummy7") rau "dummy12") tuaj yeem muab zais tau thaum siv 6 × 12 matrix, lub zog thiab lub sijhawm raug suav tsuas yog los ntawm software, txij li nws yog tsim los ntawm cov ntaub ntawv los ntawm ob qho kev ntsuas. ampcov neeg ua neej nyob.

Tswv yim: Thaum siv BlueDAQ software, kev teeb tsa thiab txuas mus rau 6 × 12 matrix tuaj yeem ua tiav los ntawm "Txuag Session". thiab "Open Session" yog nias. yog li ntawd lub sensor thiab channel configuration tsuas yog yuav tsum tau ua ib zaug.

Lub zog Matrix

Example ntawm ib tug nruj matrix

6A130 5kN / 500Nm

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

Thaum loaded nrog 5kN nyob rau hauv x-direction, ib tug hloov ntawm 5 / 93.8 mm = 0.053 mm nyob rau hauv lub x kev taw qhia, thiab ib tug twist ntawm 5 kN / 3750 kN = 0.00133 rad tshwm sim nyob rau hauv lub y-direction.
Thaum loaded nrog 15kN nyob rau hauv z-kev taw qhia, ib tug hloov ntawm 15 / 387.9 mm = 0.039 mm nyob rau hauv lub z kev taw qhia (thiab tsis twist).
Thaum Mx 500 Nm ib twisting ntawm 0,5kNm / 505,2kNm = 0.00099 rad tshwm sim nyob rau hauv x-axis, thiab ashift los ntawm 0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Thaum loaded nrog Mz 500Nm ib twisting tshwm sim ntawm 0,5kNm / 343.4 kNm = 0.00146 rad txog lub z-axis (thiab tsis hloov).

Calibration Matrix rau 5AR Sensors

Cov sensors ntawm hom 5AR tso cai ntsuas qhov quab yuam Fz thiab lub sijhawm Mxand Kuv.
Cov sensors 5AR tuaj yeem siv los ua kom pom 3 lub zog orthogonal Fx, Fy, thiab Fz, thaum ntsuas lub zog ntsuas tau muab faib los ntawm qib caj npab z (qhov deb ntawm lub zog thov Fx, Fy ntawm lub hauv paus ntawm kev sib koom tes).

	ch 1	ch 2	ch 3	ch 4
Fz hauv N / mV / V	100,00	100,00	100,00	100,00
Mx in Nm / mV / V	0,00	- 1,30 Nws	0,00	1,30
Kuv nyob hauv Nm / mV / V	1,30	0,00	- 1,30 Nws	0,00
H	0,00	0,00	0,00	0,00

Lub zog nyob rau hauv z kev taw qhia yog xam los ntawm multiplying thiab summing lub matrix ntsiab ntawm thawj kab A1J nrog cov kab ntawm thevector ntawm cov outputsignals uj

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

Example: ntawm tag nrho 6 kev ntsuas raws yog u1 = u2 = u3 = u4 = 1.00 mV / V tso tawm. Tom qab ntawd aforce Fz cov txiaj ntsig ntawm 400 N.

Lub calibration matrix A ntawm 5AR sensor muaj qhov ntev 4 x. 4
Lub vector u ntawm cov zis tawm ntawm qhov ntsuas amplifier muaj qhov ntev 4 x. 1 Qhov tshwm sim vector (Fz, Mx, Kuv, H) muaj qhov ntev ntawm 4 x. 1 Ntawm cov zis ntawm ch1, ch2 thiab ch3 tom qab siv lub calibration matrix, lub zog Fz thiab lub sij hawm Mx thiab Kuv tau tshwm sim. Ntawm Channel 4 tso zis H yog tas li tso tawm 0V los ntawm kab plaub.

Kev ua haujlwm ntawm lub sensor

BlueDAQ software yog siv los qhia qhov ntsuas lub zog thiab lub sijhawm. BlueDAQsoftware thiab lwm yam phau ntawv tuaj yeem rub tawm los ntawm webqhov chaw.

Kauj ruam	Kev piav qhia
1	Kev teeb tsa ntawm Blue DAQ software
2	Txuas qhov ntsuas amplifier BX8 ntawm USB chaw nres nkoj; Txuas lub sensor 6AXX rau qhov ntsuas amplifier. Hloov rau qhov ntsuas ampua neej nyob.
3	Luam cov npe nrog calibration matrix (muab USB stick) kom haum tsav thiab txoj kev.
4	Pib Blue DAQ software
5	Lub qhov rais loj: Khawm Ntxiv Channel; Xaiv hom ntaus ntawv: BX8 Xaiv interface: rau example COM3Select channel 1 txog 6 kom qhib Khawm Txuas
6	Lub qhov rais loj: khawm Tshwj xeeb Sensor Xaiv rau axis sensor
7	Qhov rai “Six-axis sensor settings: Khawm Ntxiv Sensor
8	a) Khawm Hloov Dir Xaiv cov npe nrog rau files Serial number.dat thiab Serial tooj. Matrix. b) Khawm Xaiv Sensor thiab xaiv Serial tooj c) Khawm Auto Rename Channels d) yog tias tsim nyog. Xaiv qhov hloov chaw ntawm lub zog thov point. e) Khawm OK Pab kom lub Sensor no
9C	Xaiv Recorder Yt”qhov rais, pib ntsuas;

Kev ua haujlwm ntawm 6 × 12 sensor

Thaum commissioning 6 × 12 sensor, raws 1 txog 6 ntawm qhov ntsuas amplifier atconnector "A" yuav tsum tau muab rau cov khoom 1 txog 6.

Channel 7…12 ntawm kev ntsuas amplifier ntawm connector "B" raug xa mus rau Cheebtsam 7 txog 12.

Thaum siv lub synchronization cable, 25-pin SUB-D poj niam connectors (txiv neej) nyob rau tom qab ntawm lub amplifier txuas nrog lub synchronization cable.

Lub synchronization cable txuas cov chaw nres nkoj no. 16 ntawm kev ntsuas amplifiers A thiab B nrog ib leeg.

Rau amplifier Ib qhov chaw nres nkoj 16 tau teeb tsa ua cov zis rau kev ua haujlwm raws li tus tswv, rau amplifier Bport 16 tau teeb tsa raws li cov tswv yim rau kev ua haujlwm ua qhev.

Cov chaw tuaj yeem pom nyob rau hauv "Device" Advanced Setting" Dig-IO.

Lus Cim: Kev teeb tsa ntawm cov ntaub ntawv zaus yuav tsum tau ua ntawm "Master" thiab ntawm "Slave". Qhov ntsuas zaus ntawm tus tswv yuav tsum tsis txhob siab tshaj qhov ntsuas zaus ntawm tus qhev.