Measurements of drive system properties of the "Magnetic SpeedLine" ultra-fast robot prototype for IML labeling

Tests of the drive system of the ultra-fast robot "SpeedLine magnetic" for labeling with the IML method were carried out in order to analyze the influence of the operating parameters of the drive system on the correctness and quality of the drive system.
Linear synchronous motors with permanent magnets were used to drive the main axis of the robot. The tests were carried out for several characteristic sets of parameters influencing the robot's duty cycle. Measurements were made for the following sets of robot duty cycle parameters:

Parameter

#1

#2

#3

#4

#5

#6

#7

#8

#9

speed[m/s]

4,9

4,9

4,9

4,5

4,5

4,5

4,9

4,9

4,9

acceleration [m/s2]

60

45

60

45

60

30

30

45

45

deacceleration [m/s2]

60

45

60

45

60

30

30

45

45

jerk [m/s3]

400

400

500

400

400

400

400

300

500

For the given parameters, the results of the main drive operation were recorded using the Sysmac Studio software controlling the linear motor drive. During the tests, the following waveforms were recorded: speed (Actual Speed), set power (Force instruction), voltage on the DC bus (Voltage between P and N) and position error (Encoder position following error). The tests were performed using the Sysmac Studio software (version 1.31) that controls the OMRON R88D-KN75F-ECT-L drive.
The accuracy of the measurements results from the class of transducers used in the OMRON R88D-KN75F-ECT-L drive and the accuracy of the linear encoder.
The research was carried out as part of the “Ultraszybki robot do technologii IML” (Ultra-fast robot for IML technology) (POIR.01.01.01-00-1177 / 17)