Description
F7130 Digital input module HIMA
F7130 Digital input module HIMA
Module Clips Drive controller servo motor
Contact: Mr. Lai
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Coordinate system: A position indicator system used in a robot or space to determine the position and posture of a robot.
The coordinate system includes:
1. Base Coordinate System
2. World Coordinate System
3. Tool Coordinate System F7130 Digital input module HIMA
4. Work Object Coordinate System
Introduction to the Coordinate System of Industrial Robots
1. Tool coordinate system
? The robot tool coordinate system is composed of the tool center point TCP and the coordinate orientation.
? TCP is required when the robots are running together.
1) Reorient repositioning motion: The TCP position of the robot remains unchanged, and the robot tool rotates along the coordinate axis to change its posture.
2) The posture of the Linear Motion Robot tool remains unchanged, and the robot TCP moves linearly along the coordinate axis.
? The robot program supports multiple TCPs and can change based on the current working state.
? After the robot tool is replaced and TCP is redefined, it can be run directly without changing the program.
Introduction to the Coordinate System of Industrial Robots F7130 Digital input module HIMA
Introduction to the Coordinate System of Industrial Robots
1.1. Method for defining the tool coordinate system:
1. N (N>=4) point method/TCP method – The robot TCP collides with a certain point through N different postures, obtaining multiple sets of solutions. By calculating the corresponding positions of the current TCP and the robot wrist center point (tool0), the coordinate system direction is consistent with tool0.
2. TCP&Z method – Based on the N-point method, the Z-point is connected to a fixed point in the Z-direction of the coordinate system.
3. TCP&X, Z method – Based on the N-point method, the line connecting point X and a fixed point is in the X direction of the coordinate system, and the line connecting point Z and a fixed point is in the Z direction of the coordinate system.
Introduction to the Coordinate System of Industrial Robots
2. Workpiece coordinate system
? The robot workpiece coordinate system is composed of the workpiece origin and coordinate orientation.
? The robot program supports multiple Wobj and can be transformed based on the current working state.
? After replacing the external fixture and redefining Wobj, the program can be run directly without changing it.
? By redefining Wobj, it is easy to complete a program that is suitable for multiple robots.
2.1. Method for defining the workpiece coordinate system:
? Three point method – The line connecting point X1 and point X2 forms the X-axis, and the vertical line drawn through point Y1 towards the X-axis is the Y-axis.
1、 Equipment and environmental factors
In a sense, electromechanical equipment generally refers to large-scale production equipment with electrical control, which is a combination of machinery and electricity, such as lathes, milling machines, air compressors, packaging machines, freezers, and other equipment. Moreover, because every electromechanical device is subject to changes in external environmental parameters during actual use, it affects the lifespan of the device. Therefore, in order to ensure better operation and improve work efficiency of the equipment, only by maintaining a good operating environment in actual use can the service life of the equipment be extended.
1. The temperature of the environment. The environmental temperature of the electromechanical equipment room is usually required to be around 18 ℃ to 25 ℃. Because excessively high temperatures can lead to unstable operation of the equipment, which can easily accelerate the aging process of the equipment.
2. The humidity of the air. If the humidity in the environment where the device is used is too high, it is easy to reduce the insulation performance of the circuit inside the electronic device, leading to abnormal circuit operation.
3. Vibration caused by external factors. Due to the frequent vibration of many devices during operation, it is easy to cause poor contact between circuit connections that are in contact with mechanical equipment
4. Dust in the air. A large amount of dust in the environment can enter the internal circuit boards and electronic components of the equipment through the heat dissipation pores or fans, or absorb dust from the air onto the components through the static electricity of the equipment, which is most likely to change the input resistance of high impedance circuits and the normal operation of high-voltage working circuits. It will seriously affect the stability and reliability of mechanical and electrical equipment operation.
2、 Maintenance of mechanical and electrical equipment
1. Maintenance of the power environment. The power environment of electromechanical systems generally includes: grid voltage, grid interference, and fluctuations. Power supply is the source of power for all mechanical and electrical equipment. In addition to ensuring power supply at all times, we must also know how to manage the power supply environment. UPS power supply is a power supply device invented for this purpose. The maintenance of the power supply system requires regular inspections of low-voltage distribution cabinets, power lines, and other power facilities, strengthening the management of power supply lines, and promptly addressing any issues found.
(1) Power supply line inspection. Mainly check whether all important power supply lines are in good condition, whether there is damage from rodents, external factors, etc. If any problems are found, they should be dealt with promptly.
(2) Distribution cabinets and boxes. Mainly check whether the air switches in the distribution cabinet and distribution box are in good condition, and whether there are any charring or carbonization phenomena, in order to detect and handle problems early and avoid accidents.
2. Equipment maintenance program management. The maintenance of electromechanical equipment is mainly based on the usage requirements of various types of equipment, and targeted maintenance should be carried out. Here are some maintenance precautions.
(1) Regularly clean the racks and casings of electromechanical equipment. The cleaning work on the surface of major equipment such as consoles and machine tools is easy to complete, but the cleaning work inside the equipment must be regularly carried out by dedicated maintenance personnel.
(2) Regularly clean, lubricate or replace easily worn parts of electromechanical equipment to maintain normal operation of the equipment.
(3) Regularly charge and discharge the power supply system for maintenance work, and regularly discharge the UPS battery before charging to maintain its good performance. At the same time, test the working time it can maintain in the event of a power outage to ensure normal operation.
(4) Regularly maintain the system of electromechanical equipment to avoid system performance degradation caused by prolonged operation.
(5) Regularly check whether the air conditioning equipment in the computer room is in good condition.
3、 Maintenance and daily management methods for electromechanical equipment
Some devices, even with good maintenance, will inevitably encounter problems. Therefore, when mechanical and electrical equipment malfunctions, it is crucial to quickly and accurately locate the fault point and determine the type of fault for troubleshooting.
1. Use all human sensory organs to determine whether the device is abnormal. It requires us to pay attention to observing the appearance and shape of the equipment for any abnormalities during maintenance and repair. Firstly, it is necessary to observe whether the equipment is the same as before the fault occurred, and whether there are any bending, deformation, discoloration, breakage, looseness, wear, smoke, oil leakage, corrosion, sparks, etc; Secondly, it is normal to smell through the nose. Generally, a slight odor is normal. When a person cannot tolerate it, it indicates that the current is too high and should be adjusted or protected; Once again, there are abnormalities in auditory, vocal, vibrational, and timbre; The fourth is to test by hand, of course, to touch the insulated parts for any heating or overheating, and to test the joints for looseness by hand; To determine the operational status of the equipment and the nature and extent of the malfunction.
2. Reset the equipment that has been operating for a long time, that is, restart it. After a long period of uninterrupted operation, mechanical and electrical equipment malfunctions are inevitable. However, some fault situations are only caused by the internal control unit of the device working disorderly for a long time or external environmental interference, and the device itself is not damaged. At this point, it is only necessary to restart and power on the running device to restore normal operation.
3. Compare two identical devices together to identify and eliminate problems. This is a commonly used method during system maintenance. However, when troubleshooting, special attention should be paid to the parameter settings of the equipment during system use using the comparison method, and equipment failures caused by incorrect parameter settings should be eliminated.
4、 Equipment on-site safety management
1. Strengthen on-site supervision and improve safety service awareness. Strengthening on-site equipment management is the concept of safety production services, and eliminating potential equipment hazards and safety operation accidents is the top priority of embryonic equipment management. Therefore, it is not enough to rely solely on the safety and quality of equipment management. The focus of equipment management must be on the management of the operators” own quality, strengthen the execution management of operators” compliance with rules and regulations, standardized operation, timely maintenance and inspection of equipment, and regular inspection of equipment operation and filling in equipment operation records, and timely rectification of problems found.
2. Strengthen equipment on-site management and develop operating and maintenance procedures for various equipment. Inspect and guide each management unit to correctly use and maintain equipment, effectively carry out equipment “cross” (cleaning, lubrication, adjustment, tightening, anti-corrosion) operations, strengthen equipment lubrication management, and do a good job in lubrication “five fixed” (fixed point, fixed quality, fixed quantity, fixed personnel, and regular) work.
3. Regularly organize safety inspections of equipment integrity every month, including equipment safety in daily inspections, regular inspections, and irregular spot checks. The focus of the inspection is on equipment electricity safety, equipment operation safety, equipment daily maintenance safety, equipment repair quality, etc.
4. Strengthen the basic information work of equipment management, establish and improve the equipment information management system of our unit, improve equipment archives, inspect and supervise each management unit to fill in equipment operation records, and provide accurate data sources.
5. Regularly organize inspection and evaluation activities for equipment management in our unit,. Develop corresponding assessment methods, cooperate with the equipment management department to promote the testing of new products, technologies, and processes, and actively promote the application of modern equipment management methods such as equipment status detection.
6. Widely carry out mass job training activities with the main content of “three good” (good management, good use, and good maintenance) and “four skills” (good use, good maintenance, good inspection, and good troubleshooting), as well as various forms of equipment maintenance management knowledge and skill competition activities, and do a good job in operating key and critical equipment training, striving to improve the technical quality of employees.
5、 Putting People First to Promote Safe Operation of Equipment
To firmly establish a people-oriented approach, we must closely revolve around the management concepts of “Four Determinations” and “Four Understandings and Three Proficiency”. We must fully utilize employees” innovative talents, establish their sense of ownership, improve their value concept in the enterprise, set an example and benchmark awareness of catching up with others. Through the construction of corporate culture, we must create a business philosophy of integrity, standardization, harmony, and win-win, as well as a resilient, pragmatic, refined, and efficient corporate style, in order to be the first to others The innovative spirit of the enterprise has strengthened the production and operation management of the “four supplies and one industry”, as well as the dynamic and stable operation of property equipment and facilities. This has contributed to the development of the Shunbei Block of the Tahe Oil and Gas Field, which has innovated again in the cold winter, and served the annual production and operation goals of the Northwest Oilfield Branch well.
In short, strengthening the management of base property, strengthening safety education, improving safety quality, and maintaining and managing mechanical and electrical equipment are long-term tasks. By scientifically and reasonably arranging inspections and maintenance, we can truly achieve the goal of “prevention first”, which not only serves our production effectively, but also eliminates the occurrence of major equipment accidents, thus enabling enterprises to achieve sustainable economic development.
1.Has been engaged in industrial control industry for a long time, with a large number of inventories.
2.Industry leading, price advantage, quality assurance
3.Diversified models and products, and all kinds of rare and discontinued products
4.15 days free replacement for quality problems
ABB — AC 800M controller, Bailey, PM866 controller, IGCT silicon controlled 5SHY 3BHB01 3BHE00 3HNA00 DSQC series
BENTLY — 3500 system/proximitor, front and rear card, sensor, probe, cable 3500/20 3500/61 3500/05-01-02-00-001 3500/40M 176449-01 3500/22M 138607-01
Emerson — modbus card, power panel, controller, power supply, base, power module, switch 1C31,5X00, CE400, A6500-UM, SE3008,1B300,1X00,
EPRO — PR6423 PR6424 PR6425 PR6426 PR9376 PR9268 Data acquisition module, probe, speed sensor, vibration sensor
FOXBORO — FCP270 FCP280 FCM10EF FBM207 P0914TD CP40B FBI10E FBM02 FBM202 FBM207B P0400HE Thermal resistance input/output module, power module, communication module, cable, controller, switch
GE —- IS200/215/220/230/420 DS200/215 IC693/695/697/698 VMICPCI VMIVME 369-HI-R-M-0-0-E 469 module, air switch, I/O module, display, CPU module, power module, converter, CPU board, Ethernet module, integrated protection device, power module, gas turbine card
HIMA — F3 AIO 8/4 01 F3231 F8627X Z7116 F8621A 984862160 F3236 F6217 F7553 DI module, processor module, AI card, pulse encoder
Honeywell — Secure digital output card, program module, analog input card, CPU module, FIM card
MOOG — D136-001-007 Servo valve, controller, module
NI — SCXI-1100 PCI – PXIE – PCIE – SBRIO – CFP-AO-210 USB-6525 Information Acquisition Card, PXI Module, Card
Westinghouse — RTD thermal resistance input module, AI/AO/DI/DO module, power module, control module, base module
Woodward — 9907-164 5466-258 8200-1300 9907-149 9907-838 EASYGEN-3500-5/P2 8440-2145 Regulator, module, controller, governor
YOKOGAWA – Servo module, control cabinet node unit
Main products:
PLC, DCS, CPU module, communication module, input/output module (AI/AO/DI/DO), power module, silicon controlled module, terminal module, PXI module, servo drive, servo motor, industrial display screen, industrial keyboard, controller, encoder, regulator, sensor, I/O board, counting board, optical fiber interface board, acquisition card, gas turbine card, FIM card and other automatic spare parts
