Interface 6AXX Multicomponent Sensor Instruction Manual

Seti ya 6AXX Multicomponent Sensors imakhala ndi masensa asanu ndi limodzi odziyimira pawokha okhala ndi ma geji ovuta. Pogwiritsa ntchito ma sensa asanu ndi limodzi, lamulo lowerengera limagwiritsidwa ntchito kuwerengera mphamvu mkati mwa nkhwangwa zitatu zozungulira ndi mphindi zitatu zozungulira. Muyezo wa multicomponent sensor umatsimikiziridwa:

potengera miyeso ya masensa asanu ndi limodzi odziyimira pawokha, ndi
ndi makonzedwe a geometric a masensa asanu ndi limodzi amphamvu kapena kudzera m'mimba mwake.

Zizindikiro za munthu aliyense kuchokera ku masensa asanu ndi limodzi a mphamvu sizingagwirizane mwachindunji ndi mphamvu yeniyeni kapena mphindi pochulukitsa ndi makulitsidwe.

Lamulo lowerengera litha kufotokozedwa mwatsatanetsatane m'masamu ndi chinthu chamtanda kuchokera ku matrix owerengera ndi vekitala ya ma sensa asanu ndi limodzi.

Njira yogwirira ntchitoyi ili ndi advan yotsatirayitages:

Kukhazikika kwambiri,

Kupatukana kothandiza makamaka kwa zigawo zisanu ndi chimodzi ("otsika-nkhani").

Calibration matrix

Matrix a calibration A amafotokoza kulumikizana pakati pa ma siginecha omwe awonetsedwa U wa muyeso ampLifier pa tchanelo 1 mpaka 6 (u1, u2, u3, u4, u5, u6) ndi zigawo 1 mpaka 6 (Fx, Fy, Fz, Mx, My, Mz) za vekitala ya L.

Mtengo woyezedwa: zotulutsa zikwangwani u1, u2, ...u6 pamayendedwe 1 mpaka 6	chizindikiro cha U
Mtengo wowerengeka: mphamvu Fx, Fy, Fz; mphindi Mx, Mai, Mz	Lowetsani vector L
Lamulo lowerengera: Kuphatikizika kwazinthu	L = A x U

Calibration matrix Aij imaphatikizapo zinthu 36, zokonzedwa m'mizere 6 (i=1..6) ndi mizati 6 (j=1..6).
Chigawo cha matrix element ndi N/(mV/V) mumizere 1 mpaka 3 ya matrix.
Chigawo cha matrix element ndi Nm/(mV/V) m’mizere 4 mpaka 6 ya matrix.
Matrix a calibration amatengera mphamvu ya sensa ndi muyeso wake ampwopititsa patsogolo ntchito.
Imagwira muyeso wa BX8 ampwopulumutsa ndi kwa onse ampma lifiers, omwe amawonetsa ma sign a mlatho mu mV/V.
Zinthu za matrix zitha kusinthidwanso m'magawo ena ndi chinthu chofanana ndikuchulutsa (pogwiritsa ntchito "chopangidwa ndi scalar").
Masanjidwe a calibration amawerengetsera mphindi kuzungulira chiyambi cha dongosolo logwirizanitsa.
Chiyambi cha dongosolo logwirizanitsa lili pamalo pomwe z-axis imadutsana ndi nkhope ya sensa. 1) Zoyambira ndi mawonekedwe a nkhwangwa zimawonetsedwa ndi chojambula pamawonekedwe a sensor.

1) Malo oyambira amatha kusiyanasiyana ndi mitundu yosiyanasiyana ya 6AXX sensor. Zoyambira zalembedwa papepala loyesa. EG chiyambi cha 6A68 chiri pakatikati pa sensa.

Example ya matrix calibration (6AXX, 6ADF)

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

Mphamvu mu njira ya x imawerengeredwa mwa kuchulukitsa ndi kuchulukitsa zonse za matrix a mzere woyamba a1j ndi mizere ya vekitala ya siginecha yotulutsa 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

Za example: pazitsulo zonse 6 zoyezera ndi u1 = u2 = u3 = u4 = u5 =u6 = 1.00mV/V zowonetsedwa. Ndiye pali mphamvu Fx ya -13.7 N. Mphamvu mu njira ya z imawerengedwa molingana ndi kuchulukitsa ndi kufotokozera mwachidule mzere wachitatu wa matrix a3j ndi vector ya voliyumu yosonyezedwa.tagndi 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 a 6AXX / 6ADF masensa

Mukamagwiritsa ntchito ma calibration "Matrix Plus", zinthu ziwiri zodutsa zimawerengedwa: matrix A x U + matrix B x U *

Miyezo miyezo: zotuluka chizindikiro u1, u2, ... u6 atchannels 1 mpaka 6	zizindikiro zotuluka U
Miyezo yoyezedwa ndi zizindikiro zotuluka monga zinthu zosakanikirana: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 wa tchanelo 1 mpaka 6.	zizindikiro zotuluka U*
Mtengo wowerengeredwa: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Lowetsani vekitala L.
Lamulo lowerengera: Kuphatikizika kwazinthu	L = A x U + B x U*

Exampchizindikiro cha calibration matrix "B"

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

Mphamvu mu njira ya x imawerengeredwa mwa kuchulukitsa ndi kuwerengera mwachidule zinthu za matrix Aof mzere woyamba a1j ndi mizere j ya vekitala ya ma siginali otuluka uj kuphatikiza zinthu za matrix B za mzere woyamba a1j ndi mizere j ya vekitala ya zizindikiro za mixquadratic output:

Exampndi 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

Exampndi 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
Chenjerani: Kapangidwe ka mawu osakanikirana a quadratic angasinthe kutengera sensor.

Kusintha kwa chiyambi

Mphamvu zomwe sizikugwiritsidwa ntchito poyambira njira yolumikizira zimawonetsedwa ndi anindicator mu mawonekedwe a Mx, My ndi Mz mphindi potengera mkono wa lever.

Nthawi zambiri, mphamvuzo zimagwiritsidwa ntchito patali z kuchokera kumtunda wa sensor. Malo otumizira mphamvu amathanso kusinthidwa mu x- ndi zdirections pakufunika.

Ngati mphamvuzo zikugwiritsidwa ntchito patali x, y kapena z kuchokera komwe kumayambira njira yolumikizira, ndipo nthawi zozungulira malo otumizira mphamvu ziyenera kuwonetsedwa, zowongolera zotsatirazi zimafunikira:

Nthawi zokonzedwa Mx1, My1, Mz1 kutsatira kusintha kwamphamvu (x, y, z) kuchokera koyambira

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

Zindikirani: Sensa imawonekeranso mphindi Mx, My ndi Mz, ndi mphindi Mx1, My1 ndi Mz1 zowonetsedwa. Nthawi zovomerezeka Mx, My ndi Mz siziyenera kupyola.

Kuchulukitsa kwa matrix a calibration

Potengera zinthu za matrix ku unit mV/V, matrix owerengera atha kugwiritsidwa ntchito kuti apezeke. ampopulumutsa.

Calibration matrix yokhala ndi matrix a N/V ndi Nm/V imagwira ntchito pa kuyeza kwa BSC8. ampLifier yokhala ndi mphamvu yolowera ya 2 mV / V ndi chizindikiro chotulutsa cha 5V chokhala ndi siginecha yolowera ya 2mV/V.

Kuchulutsa kwa zinthu zonse za matrix ndi gawo la 2/5 masikelo a matrix kuchokera ku N/(mV/V) ndi Nm/(mV/V) kuti atulutse 5V pamphamvu ya 2 mV/V (BSC8).

Pochulukitsa zinthu zonse za matrix ndi gawo la 3.5/10, Matrix amasinthidwa kuchokera ku N/(mV/V) ndi Nm/(mV/V) kuti atulutse chizindikiro cha 10V potengera mphamvu ya 3.5 mV/V (BX8). )

Gawo la factor ndi (mV/V)/V
Chigawo cha zinthu za vector katundu (u1, u2, u3, u4, u5, u6) ndi vol.tagndi V

Exampndi fx

Kutulutsa kwa analogi ndi BX8, kukhudzika kwa 3.5 mV / V, chizindikiro cha 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 kwa masensa a 6AXX

Ndi masensa 6A150, 6A175, 6A225, 6A300 ndizotheka kugwiritsa ntchito 6 × 12 masanjidwewo m'malo mwa matrix a6x6 pakubweza zolakwika.

Matrix a 6 × 12 amapereka kulondola kwambiri komanso kutsika kwambiri, ndipo amalimbikitsidwa kwa masensa ochokera ku 50kN mphamvu.

Pankhaniyi, masensa ali ndi njira zonse zoyezera 12 ndi zolumikizira ziwiri. Cholumikizira chilichonse chimakhala ndi sensor yodziyimira payokha yamagetsi yokhala ndi ma sensor a 6. Chilichonse mwa zolumikizira izi chimalumikizidwa ndi kuyeza kwake. ampZithunzi za BX8.

M'malo mogwiritsa ntchito matrix a 6 × 12, sensa imatha kugwiritsidwanso ntchito ndi cholumikizira A, kapena cholumikizira B, kapena zolumikizira zonse ziwiri pakuyezera mowonjezera. Pankhaniyi, matrix 6 × 6 amaperekedwa kwa cholumikizira A ndi cholumikizira B. Matrix 6 × 6 amaperekedwa ngati muyezo.

The kalunzanitsidwe wa deta anayeza kungakhale mwachitsanzo mothandizidwa ndi kalunzanitsidwe chingwe. Za ampzowongolera ndi mawonekedwe a EtherCat kulumikizana kudzera pamizere ya BUS ndikotheka.

Mphamvu Fx, Fy, Fz ndi mphindi Mx, My, Mz zimawerengedwa mu pulogalamu ya BlueDAQ. Kumeneko mayendedwe 12 olowetsa u1…u12 amachulukitsidwa ndi 6 × 12 matrix A kuti apeze njira 6 zotulutsa za vector L.

Njira zolumikizira "A" zimaperekedwa ku tchanelo 1…6 mu pulogalamu ya BlueDAQ. Njira zolumikizira "B" zimaperekedwa kumayendedwe 7…12 mu pulogalamu ya BlueDAQ.
Mukatsitsa ndikuyambitsa matrix 6 × 12 mu pulogalamu ya BlueDAQ, mphamvu ndi mphindi zimawonetsedwa pamayendedwe 1 mpaka 6.
Makanema 7…12 ali ndi data ya cholumikizira B ndipo sizoyenera kuunikanso. Makanema awa (omwe amatchedwa "dummy7") mpaka "dummy12") amatha kubisika mukamagwiritsa ntchito matrix a 6 × 12, mphamvu ndi mphindi zimawerengedwa ndi pulogalamu yokhayo, popeza imapangidwa ndi data kuchokera ku miyeso iwiri yosiyana. ampopulumutsa.

Langizo: Mukamagwiritsa ntchito pulogalamu ya BlueDAQ, kasinthidwe ndi kulumikizana ndi matrix 6 × 12 zitha kuchitika ndi "Save Session". ndipo "Open Session" imakanidwa. kotero kuti kasinthidwe ka sensa ndi njira ziyenera kuchitika kamodzi.

Kulimba Matrix

Exampndi stiffness matrix

6A130 5kN/500Nm

Fx	Fy	Fz	Mx	My	Mz
93,8 kN/mm	0,0	0,0	0,0	3750kn pa	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	505,2km pa	0,0	0,0	phix
3750kn pa	0,0	0,0	0,0	505,2km pa	0,0	phi
0,0	0,0	0,0	0,0	0,0	343,4km pa	phiz

Mukanyamula 5kN mu x-mbali, kusintha kwa 5 / 93.8 mm = 0.053 mm kumbali ya x, ndi kupindika kwa 5 kN / 3750 kN = 0.00133 rad kumabweretsa y-direction.
Mukadzaza ndi 15kN mu z-direction, kusintha kwa 15 / 387.9 mm = 0.039 mm kumbali ya z (ndipo palibe kupindika).
Pamene Mx 500 Nm kupotoza kwa 0,5kNm / 505,2kNm = 0.00099 rad kumabweretsa x-axis, ndi ashift kuchokera ku 0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Mukadzaza ndi Mz 500Nm zotsatira zokhota za 0,5kNm / 343.4 kNm = 0.00146 rad pafupi ndi z-axis (ndipo palibe kusintha).

Calibration Matrix ya 5AR Sensors

Masensa amtundu wa 5AR amalola kuyeza kwa mphamvu Fz ndi mphindi Mxand Wanga.
Masensa 5AR atha kugwiritsidwa ntchito kuwonetsa mphamvu zitatu za orthogonal Fx, Fy, ndi Fz, pomwe ma torque omwe amayezedwa amagawidwa ndi lever arm z (kutalika kwa kugwiritsa ntchito mphamvu Fx, Fy of theorigin of the coordinate system).

	ch1	ch2	ch3	ch4
Fz mu N / mV/V	100,00	100,00	100,00	100,00
Mx mu Nm / mV/V	0,00	-1,30	0,00	1,30
Wanga mu Nm / mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

Mphamvu yolowera z imawerengeredwa ndikuchulukitsa ndi kuwerengera mwachidule zinthu zam'mizere yoyamba A1J ndi mizere ya vector ya zotulutsa uj.

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

Example: pazitsulo zonse 6 zoyezera ndi u1 = u2 = u3 = u4 = 1.00 mV/V zowonetsedwa. Kenako aforce Fz zotsatira za 400 N.

Calibration matrix A ya 5AR sensor ili ndi miyeso 4 x. 4
Vector u wa zizindikiro zotuluka za kuyeza ampLifier ili ndi miyeso 4 x. 1 Vector ya zotsatira (Fz, Mx, My, H) ili ndi mawonekedwe a 4 x. 1 Pazotulutsa za ch1, ch2 ndi ch3 mutagwiritsa ntchito masanjidwewo, mphamvu Fz ndi mphindi Mx ndi My zimawonetsedwa. Pa Channel 4 linanena bungwe H nthawi zonse kuwonetsedwa 0V ndi mzere wachinayi.

Kusintha kwa sensor

Pulogalamu ya BlueDAQ imagwiritsidwa ntchito kuwonetsa mphamvu ndi mphindi. The BlueDAQsoftware ndi zolemba zofananira zitha kutsitsidwa kuchokera ku webmalo.

Khwerero	Kufotokozera
1	Kukhazikitsa pulogalamu ya Blue DAQ
2	Lumikizani kuyeza ampLifier BX8 kudzera pa doko la USB; Lumikizani sensor 6AXX pakuyezera ampmpulumutsi. Yatsani kuyeza ampwopititsa patsogolo ntchito.
3	Koperani chikwatu chokhala ndi calibration matrix (choperekedwa ndi ndodo ya USB) pagalimoto yoyenera ndi njira.
4	Yambitsani pulogalamu ya Blue DAQ
5	Zenera lalikulu: Button Add Channel; Sankhani mtundu wa chipangizo: BX8 Sankhani mawonekedwe: mwachitsanzoample COM3Sankhani njira 1 mpaka 6 kuti mutsegule Button Connect
6	Zenera lalikulu: Button Special Sensor Sankhani XNUMX axis sensor
7	Zenera "Six-axis sensor sensa: Button Add Sensor
8	a) Button Change Dir Sankhani chikwatu ndi files Nambala ya seri.dat ndi nambala ya seri. Matrix. b) batani Sankhani Sensor ndikusankha nambala ya seri c) Button Auto Rename Channels d) ngati kuli kofunikira. Sankhani kusamutsidwa kwa malo ogwiritsira ntchito mphamvu. e) Batani Chabwino Yambitsani Sensor iyi
9C	Sankhani zenera la Recorder Yt, yambani kuyeza;

Kukhazikitsa kwa sensor ya 6 × 12

Mukatumiza sensa ya 6 × 12, njira 1 mpaka 6 zoyezera ampLifier atconnector "A" iyenera kuperekedwa ku zigawo 1 mpaka 6.

Njira 7…12 ya kuyeza ampLifier pa cholumikizira "B" amapatsidwa magawo 7 mpaka 12.

Mukamagwiritsa ntchito chingwe cholumikizira, zolumikizira zazikazi za 25-pin SUB-D (zachimuna) kumbuyo kwa ampLifier amalumikizidwa ndi chingwe cholumikizira.

Chingwe cholumikizira chimalumikiza madoko no. 16 ya kuyeza amplifiers A ndi Bwith wina ndi mzake.

Za ampLifier A port 16 imakonzedwa kuti ikhale yotulutsa ntchitoyo ngati mbuye, chifukwa ampLifier Bport 16 imakonzedwa kuti ikhale yolowetsa ntchito ngati kapolo.

Zokonda angapezeke pansi "Chipangizo" Advanced Setting" Dig-IO.

Langizo: Kusintha kwa ma frequency a data kuyenera kuchitika pa "Master" komanso pa "Kapolo". Kuchuluka kwa kuyeza kwa mbuye sikuyenera kukhala kokwera kuposa kuchuluka kwa kuyeza kwa kapolo.