英威腾玻璃精雕机 高性能EtherCAT总线伺服方案

发布时间:2022-12-20  


一、项目背景

玻璃精雕机以自身所具有的技术优势,加上合理的价格,已成为我国消费类电子零配件制造、小型准确模具制造、五金制品、家具制造、手机玻璃等行业重要的设备工具。随着该设备应用领域的不断拓展,其市场规模也不断扩大,技术的不断成熟与合理的价格,其性价比逐渐得到业界的认可,市场快速扩大。

二、客户需求

玻璃精雕机作为数控机床的一种,应用于超薄玻璃的精细加工。在东莞市的某机械企业,其要求产品具有防护等级高、精度高、响应快等特性,且提升生产效率和使用寿命。

三、方案

由此,英威腾为客户制定DA200玻璃精雕机专用伺服方案。方案是在EtherCAT总线型DA200系列高性能伺服系统的基础上,通过改进防护等级来提升可靠性能,最终满足客户需求。其具有如下优势:

1. 采用EtherCAT总线控制方式:总线周期最小可达250μs。

2. 速度响应频率高:速度响应高达2kHz。

3. 高精度定位:配套23位高分辨率编码器,分辨率高达8,388,608。

4. 高刚性:在陷波滤波器功能的条件下,伺服的刚性可设为20以上。

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