Interface 6AXX Multicomponent Sensor Instruction Manual

Iyo seti ye6AXX Multicomponent Sensors inosanganisira matanhatu akazvimirira masimba masensa ane dhizaini geji. Uchishandisa zvikwangwani zvitanhatu zvinonzwa, mutemo wekuverenga unoshandiswa kuverenga masimba ari mukati mematemo matatu uye nguva nhatu dzakavatenderedza. Iyo yekuyera huwandu hweiyo multicomponent sensor inotemerwa:

nechiyero chezviyero zvezvitanhatu zvakazvimirira simba masensa, uye
neiyo geometrical kurongeka kwematanhatu masimba masensa kana kuburikidza nedhayamita ye sensor.

Iwo masaini ega ega kubva kune matanhatu masimba masensa haagone kubatanidzwa zvakananga neaspecific simba kana chinguva nekuwanza nechiyero chechinhu.

Mutemo wekuverenga unogona kunyatsotsanangurwa mumashoko emasvomhu nemuchinjika chigadzirwa kubva kune calibration matrix nevector yezvitanhatu sensor masaini.

Iyi inoshanda nzira ine inotevera advantages:

Kunyanya kuoma kwakanyanya,

Kunyanya kupatsanurwa kunoshanda kwezvikamu zvitanhatu ("low cross-talk").

Calibration matrix

Iyo calibration matrix A inotsanangura kubatana pakati pezviratidziro zvinobuda U yechiyero amplifier pamatanho 1 kusvika ku6 (u1, u2, u3, u4, u5, u6) uye zvikamu 1 kusvika 6 (Fx, Fy, Fz, Mx, My, Mz) yemutoro wevector L.

Kuyerwa kukosha: masaini anobuda u1, u2, ...u6 pachiteshi 1 kusvika 6	kubuda chiratidzo U
Kuverengera kukosha: masimba Fx, Fy, Fz; nguva Mx, Zvangu, Mz	Rodha vector L
Kuverengera mutemo: Cross chigadzirwa	L = A x U

Calibration matrix Aij inosanganisira zvinhu makumi matatu nematanhatu, zvakarongwa mumitsara mitanhatu (i=36..6) uye makoramu matanhatu (j=1..6).
Chikamu chezvikamu zvematrix iN/(mV/V) mumitsara 1 kusvika ku3 yematrix.
Chikamu chezvikamu zvematrix iNm/(mV/V) mumitsara 4 kusvika ku6 yematrix.
Iyo calibration matrix inotsamira pane zvivakwa zve sensor uye iyo yechiyero amplifier.
Inoshanda kune iyo BX8 kuyerwa amplifier uye kune vese ampma lifiers, anoratidza masaini ekubuda kwebhiriji mumV/V.
Iwo matrix zvinhu zvinogona kudzokororwa mune mamwe mayuniti neyakajairwa chinhu kuburikidza nekuwanda (uchishandisa "scalar chigadzirwa").
Iyo calibration matrix inoverengera nguva dzakatenderedza kwakabva pasi peiyo coordination system.
Mabviro eiyo coordination system iri panzvimbo iyo z-axis inopindirana neiyo yakatarisana pamusoro pe sensor. 1) Kwakatangira uye kutaridzika kwemasanhu kunoratidzwa nekunyora pane yakatarisana pamusoro pe sensor.

1) Nzvimbo yekwakabva inogona kusiyana nemhando dzakasiyana dze6AXX sensor. Kwakabva kwakanyorwa mupepa rekugadzirisa. EG mabviro e6A68 ari pakati pe sensor.

ExampLe ye calibration matrix (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 muN/mV/V	-217.2	108.9	99.9	-217.8	109.2	103.3
F muN/mV/V	-2.0	183.5	-186.3	-3.0	185.5	-190.7
Fz muN/mV/V	-321.0	-320.0	-317.3	-321.1	-324.4	-323.9
Mx muNm / mV/V	7.8	3.7	-3.8	-7.8	-4.1	4.1
Yangu muNm / mV/V	-0.4	6.6	6.6	-0.4	-7.0	-7.0
Mz muNm / mV/V	-5.2	5.1	-5.1	5.1	-5.0	5.1

Simba riri mu x-direction rinoverengerwa nekuwanza nekuita hwerengedzo yezvinhu zvematrix zvemutsara wekutanga a1j nemitsara yevhekita yezvinobuda zviratidzo 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

For example: pamatanho matanhatu ekuyera ari u6 = u1 = u2 = u3 = u4 =u5 = 6mV/V inoratidzwa. Zvadaro pane simba Fx re -1.00 N. Simba riri munzira z rinoverengwa maererano nekuwedzera uye kupfupisa mutsetse wechitatu wematrix a13.7j nevector yevolta yakaratidzwa.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 ye6AXX / 6ADF sensors

Paunenge uchishandisa "Matrix Plus" calibration maitiro, maviri emuchinjikwa zvigadzirwa zvinoverengerwa: matrix A x U + matrix B x U *

Huyero huyero: zvinobuda masaini u1, u2, ... u6 atchannels 1 kusvika 6	kubuda zviratidzo U
Huyero huyero zviratidzo zvinobuda sezvigadzirwa zvakasanganiswa: u1u2, u1u3, u1u4, u1u5, u1u6, u2u3 yemachaneli 1 kusvika 6.	kubuda zviratidzo U*
Ukoshi hwakaverengerwa: Forces Fx, Fy, Fz;Moments Mx, My, Mz	Rodha vector L.
Kuverengera mutemo: Cross chigadzirwa	L = A x U + B x U*

ExampLe ye 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 muN / (mV/V)²	-0.204	-0.628	0.774	-0.337	-3.520	2.345
Fy muN /(mV/V)²	-0.251	1.701	-0.107	-2.133	-1.408	1.298
Fz muN / (mV/V)²	5.049	-0.990	1.453	3.924	19.55	-18.25
Mx muNm /(mV/V)²	-0.015	0.082	-0.055	-0.076	0.192	-0.054
Yangu muNm / (mV/V)²	0.050	0.016	0.223	0.036	0.023	-0.239
Mz muNm / (mV/V)²	-0.081	-0.101	0.027	-0.097	-0.747	0.616

Simba riri mu x-direction rinoverengwa nekuwanda nekupfupikisa zvinhu zvematrix Aof the first row a1j nemitsara j yevhekita yezvinobuda zviratidzo uj plus matrix element B yemutsetse wekutanga a1j nemitsara j yevhekita ye iyo misanganiswaquadratic yakabuda masaini:

Exampye 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

Exampye 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
Chenjerera: Kuumbwa kweakasanganiswa mazwi equadratic anogona kuchinja zvichienderana ne sensor.

Offset yemavambo

Masimba asina kushandiswa mukutanga kweiyo coordination system anoratidzwa neanindicator nenzira yeMx, Yangu uye Mz nguva zvichienderana neruwoko rwerevhisi.

Kazhinji kutaura, mauto anoshandiswa ari chinhambwe z kubva pakatarisana nechiso che sensor. Nzvimbo yekufambisa kwesimba inogonawo kuchinjwa mu x- uye zdirections sezvinodiwa.

Kana mauto akaiswa chinhambwe x, y kana z kubva kwakatangira iyo coordination system, uye nguva dzakatenderedza nzvimbo yekutsikisa simba rekutapurirana dzinoda kuratidzwa, kururamisa kunotevera kunodiwa:

Nguva dzakagadziriswa Mx1, My1, Mz1 inotevera shanduko mukutepfenyura kwesimba (x, y, z) kubva kwayakatangira

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

Cherechedza: Iyo sensor inooneswa zvakare kune iyo nguva Mx, Yangu uye Mz, ine nguva Mx1, My1 uye Mz1 inoratidzwa. Nguva dzinotenderwa Mx, Yangu neMz haifanirwe kudarika.

Kuwedzera kwecalibration matrix

Nekureva matrix zvinhu kuyuniti mV/V, iyo calibration matrix inogona kuiswa kune inowanikwa. amplifiers.

Iyo calibration matrix ine N/V uye Nm/V matrix zvinhu zvinoshanda kune iyo BSC8 kuyerwa. amplifier ine yekunzwa yekupinza ye2 mV / V uye inobuda chiratidzo che5V ine 2mV/V chiratidzo chekupinza.

Kuwanda kwezvinhu zvese zvematrix nechikamu che 2/5 kuyera matrix kubva kuN/(mV/V) neNm/(mV/V) painobuda ye5V pakunzwa kwekupinza kwe2 mV/V (BSC8).

Nekuwanza zvinhu zvese zvematrix nechikamu che3.5/10, Matrix inoyerwa kubva kuN/(mV/V) uye Nm/(mV/V) yechiratidzo chinobuda che10V pakunzwa kwekupinza kwe3.5 mV/V (BX8). )

Iyo unit yechinhu ndeye (mV/V)/V
Iyo unit yezvinhu zveiyo mutoro vector (u1, u2, u3, u4, u5, u6) ari voltages muV

Exampye fx

Analog inobuda neBX8, yekupinda senitivity 3.5 mV / V, inobuda chiratidzo 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 ye6AXX sensors

Nemasensa 6A150, 6A175, 6A225, 6A300 zvinogoneka kushandisa 6 × 12 matrix pachinzvimbo chea6x6 matrix muripo wekukanganisa.

Iyo 6 × 12 matrix inopa yakanyanya kurongeka uye yakaderera crosstalk, uye inokurudzirwa masensor kubva ku50kN simba.

Muchiitiko ichi, masensa ane huwandu hwegumi nemaviri ekuyeresa chiteshi uye maviri anobatanidza. Imwe neimwe yekubatanidza ine magetsi akazvimirira simba-torque sensor ine 12 sensor masaini. ampchipfuro BX8.

Panzvimbo pekushandisa 6 × 12 matrix, iyo sensor inogona zvakare kushandiswa chete ine chinongedzo A, kana chete chine chinongedzo B, kana neaviri majoini ekuyera kuyerwa. Muchiitiko ichi, 6 × 6 matrix inopiwa kune yekubatanidza A uye yekubatanidza B. Iyo 6 × 6 matrix inopiwa seyero.

Iko kuwiriraniswa kweiyo yakayerwa data inogona kuve semuenzaniso nerubatsiro rwetambo yekuyananisa. For amplifiers neEtherCat interface kuwiriranisa kuburikidza nemitsara yeBUS inogoneka.

Masimba Fx, Fy, Fz uye nguva Mx, Yangu, Mz inoverengerwa muBlueDAQ software. Ikoko gumi nemaviri ekuisa nzira u12…u1 anowanzwa ne12 × 6 matrix A kuwana matanhatu ekubuda machanera eiyo load vector L.

Nzira dzekubatanidza "A" dzakagoverwa kumagetsi 1 ... 6 muBlueDAQ software.. Nzira dzekubatanidza "B" dzakagoverwa kumagetsi 7 ... 12 muBlueDAQ software.
Mushure mekurodha uye kumisa matrix 6 × 12 muBlueDAQ software, masimba uye nguva zvinoratidzwa pachiteshi 1 kusvika 6.
Zviteshi 7…12 zvine data rakasvibira rekubatanidza B uye harina basa kuti riwedzere kuongororwa. Aya machaneli (ane zita rekuti "dummy7") ku "dummy12") anogona kuvanzwa anogona kuvanzwa Paunenge uchishandisa iyo 6 × 12 matrix, masimba uye nguva zvinoverengerwa chete nesoftware, sezvo inoumbwa nedata kubva pakuyera kuviri kwakasiyana. amplifiers.

Zano: Paunenge uchishandisa BlueDAQ software, iyo inogadzirisa uye yekubatanidza kune iyo 6 × 12 matrix inogona kuitwa ne "Chengetedza Session". uye "Open Session" inodzvanywa. kuitira kuti iyo sensor uye chiteshi gadziriso inongofanirwa kuitwa kamwe chete.

Kuoma Matrix

Example yekuoma matrix

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

Kana yakatakura 5kN mu x-direction, shanduko ye5 / 93.8 mm = 0.053 mm mu x direction, uye twist ye5 kN / 3750 kN = 0.00133 rad inoguma mu y-direction.
Kana yakatakurwa ne15kN muz-direction, shanduko ye15 / 387.9 mm = 0.039 mm munzira z (uye isina twist).
Kana Mx 500 Nm kumonyoroka kwe0,5kNm / 505,2kNm = 0.00099 rad inobuda mu x-axis, uye ashift kubva ku0,5kNm / -3750 kN = -0,000133m = -0,133mm.
Kana yakatakurwa neMz 500Nm inomonyoroka mhedzisiro ye0,5kNm / 343.4 kNm = 0.00146 rad nezve z-axis (uye hapana shanduko).

Calibration Matrix ye5AR Sensors

Masensa emhando 5ARtendera kuyerwa kwesimba Fz uye nguva Mxand Yangu.
Masensa 5AR anogona kushandiswa kuratidza 3 orthogonal mauto Fx, Fy, uye Fz, kana akayerwa torques akakamurwa nerever arm z (chinhambwe chesimba rekushandisa Fx, Fy ye theorigin yeiyo coordination system).

	ch1	ch2	ch3	ch4
Fz muN/mV/V	100,00	100,00	100,00	100,00
Mx muNm / mV/V	0,00	-1,30	0,00	1,30
Yangu muNm / mV/V	1,30	0,00	-1,30	0,00
H	0,00	0,00	0,00	0,00

Simba riri munzira z rinoverengwa nekuwanda nekupfupikisa matrix emumutsara wekutanga A1J nemitsara yevevector yezviratidziro uj.

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

Example: pamatanho matanhatu ekuyera ari u6 = u1 = u2 = u3 = 4 mV/V inoratidzwa. Wobva wasimbisa Fz mhedzisiro ye1.00 N.

Iyo calibration matrix A ye5AR sensor ine zviyero 4 x. 4
Iyo vector u yezvinobuda zviratidzo zvekuyera amplifier ine zviyero 4 x. 1 The result vector (Fz, Mx, My, H) ine chiyero che 4 x. 1 Pazvinobuda zve ch1, ch2 uye ch3 mushure mekushandisa calibration matrix, simba reFz uye nguva Mx neMy zvinoratidzwa. PaChannel 4 inobuda H inogara ichiratidzwa 0V nemutsara wechina.

Kugadziriswa kwe sensor

Iyo BlueDAQ software inoshandiswa kuratidza akayerwa masimba uye nguva. Iyo BlueDAQsoftware uye mabhuku ane hukama anogona kutorwa kubva ku website.

Danho	Tsanangudzo
1	Kuiswa kweBlue DAQ software
2	Batanidza kuyerwa amplifier BX8 kuburikidza ne USB port; Batanidza sensor 6AXX pakuyera amplifier. Batidza kuyera amplifier.
3	Kopa dhairekitori ine calibration matrix (inopihwa USB tsvimbo) kune yakakodzera dhiraivha uye nzira.
4	Tanga Blue DAQ software
5	Window huru: Bhatani Wedzera Channel; Sarudza rudzi rwemudziyo: BX8 Sarudza chimiro: che example COM3Sarudza chiteshi 1 kusvika 6 kuvhura Bhatani Batanidza
6	Window huru: Bhatani Special Sensor Sarudza matanhatu axis sensor
7	Hwindo "Six-axis sensor marongero: Bhatani Wedzera Sensor
8	a) Bhatani Shandura Dir Sarudza dhairekitori ne files Serial nhamba.dat uye Serial nhamba. Matrix. b) Bhatani Sarudza Sensor uye sarudza Serial nhamba c) Bhatani Auto Rename Channels d) kana zvichidiwa. Sarudza kubviswa kwenzvimbo yekushandisa simba. e) Bhatani OK Gonesa iyi Sensor
9C	Sarudza Recorder Yt” hwindo, tanga kuyerwa;

Kutumirwa kweiyo 6 × 12 sensor

Paunenge uchiraira iyo 6 × 12 sensor, chiteshi 1 kusvika 6 yekuyera amplifier atconnector "A" inofanira kugoverwa kuzvikamu 1 kusvika ku6.

Zviteshi 7…12 zvekuyera amplifier pane chinongedzo "B" anopihwa zvikamu 7 kusvika 12.

Paunenge uchishandisa tambo yekuwiriranisa, iyo 25-pini SUB-D yevakadzi yekubatanidza (chirume) kuseri kwe amplifier yakabatana netambo yekuyananisa.

Iyo yekuwiriranisa tambo inobatanidza madoko kwete. 16 yekuyera amplifiers A uye B pamwe chete.

For amplifier Chiteshi chegumi nenhanhatu chinogadziriswa sechinobuda chebasa setenzi, ye amplifier Bport 16 inogadziriswa seyekupinza yebasa semuranda.

Izvo zvigadziriso zvinogona kuwanikwa pasi pe "Chishandiso" Advanced Setting" Dig-IO.

Zano: Kugadziriswa kweiyo data frequency kunofanirwa kuitwa pa "Tenzi" pamwe ne "Muranda". Iyo yekuyera frequency yatenzi haifanire kunge yakakwira kupfuura yekuyera frequency yemuranda.