The robotic arm is an early industrial robot and an early modern robot. It can replace the heavy labor of manual labor, make its production mechanized and automated, and can operate in harmful environments and protect personal safety. It is widely used in machinery. Manufacturing, metallurgy, electronics, light industry, atomic energy and other industries.

Stepper motor is an open-loop control element that converts pulse signal into angular displacement or linear displacement. When there is no overload, the speed and stop position of the motor are determined by the frequency and number of pulses of the pulse signal, but are not affected by the load change, that is, the pulse signal is added to the motor, and the motor torque is one step. The existence of this linear relationship, coupled with the fact that the stepper motor has only periodic error, no cumulative error and so on. Thus, the control of the speed, position, etc. of the stepper motor becomes very simple.

Although stepper motors have been widely used, stepper motors are not like ordinary DC motors, but generally use AC motors. The control system can adopt the control system composed of double-loop pulse signal, power drive and so on. Therefore, it is not easy to use a good stepping motor, which involves a variety of professional knowledge such as machinery, motors, electronics, and computers.

Application of stepper motor in industrial manipulator:

An industrial manipulator is a mechatronics automation device that imitates the actions of human hands and operates according to established procedures, trajectories and requirements, rather than grasping, transporting workpieces or manipulating tools by human hands.

Stepper motor is an actuator that converts pulse signal into linear displacement or angular displacement. The output displacement of the stepping motor is proportional to the number of input pulses, the output displacement is proportional to the number of pulses input per unit time (ie, the pulse frequency), and its direction is related to the phase sequence of the pulses allocated in the stepping motor. Therefore, as long as the number of command pulses, frequency of the stepper motor and the phase sequence given by the motor are controlled, the output displacement, speed and direction of the stepper motor can be controlled.

The stepper motor has good control performance, and its starting, stopping, reversing and other operation modes can be changed in a very small pulse range, and can achieve high control accuracy, so it is widely used.

PLC is used to generate control pulses in the control system, output a certain number of square wave pulses through PLC programming, control the rotation angle of the stepping motor to control the feed amount of the servo mechanism, and at the same time control the pulse frequency through programming to control the feed speed of the servo mechanism . The ring pulse distributor distributes the control pulses output by the programmable controller to the corresponding windings according to the power-on sequence of the stepper motor.

Ring pulse distributor can be divided into software ring distributor and hardware ring distributor. The software loop divider, that is, the PLC realizes the output signal in turn through software programming. Power stepper motors require tens to hundreds of volts and a driving capacity of several to ten amps, so a driver should be used to amplify the output pulse. PLC is used to control the three-phase stepping motor, which is simple and reliable. PLC controls the process of stepper motor, making it very convenient to change the control parameters. Just simply modify the corresponding part of the PLC program.

Today, the editor of the stepper motor manufacturer introduced the application of stepper motor in industrial manipulators. It can be used for stepper motors of any number of phases. , which can not only reduce the workload of PLC in the stepper motor control system, but also greatly shorten the development cycle, save the development cost, improve the flexibility and reliability of the control system, and have a good promotion and application value.