Visual zeroing method based on multiple Fplc fusion halcon algorithm

Abstract

The invention discloses and provides a visual zeroing method based on a multiple-Foplc fusion halcon algorithm, which can achieve a high-precision zeroing effect, and the repeated zeroing precision is within 1 mu m. According to the invention, a method of fusing PLC zeroing and visual positioning is adopted, multiple visual zeroing can be carried out according to a zeroing precision threshold so as to improve the zeroing precision, a logic process of visual positioning and moving to a positioning position and then setting a shaft position is added on the basis of the original PLC zeroing, the zeroing precision is adjustable, and the accuracy of the zeroing is improved. And the zeroing precision range can be dynamically adjusted according to the zeroing precision threshold. The method is applied to the technical field of visual zeroing methods.

Description

technical field [0001] The invention relates to a zero return method, in particular to a visual zero return method based on Beckhoff PLC fusion halcon algorithm. Background technique [0002] Returning to zero is a necessary link before establishing a coordinate system for servo motors, linear motors, stepper motors, and voice coil motors. Commonly used zero return methods can be composed of 37 zero return methods by positive limit, negative limit, origin, and Z pulse. Since the positive limit, negative limit, and origin mostly adopt groove-shaped photoelectricity, the difference between the common zero return methods can be divided into the following types: [0003] 1. Slot type photoelectric return to zero [0004] Advantages: The method of returning to zero is simple and convenient, and it is suitable for the environment where the general positioning accuracy is not high. [0005] Disadvantages: The zero return accuracy is not high. After a lot of tests, the repeat zer...

AI Technical Summary

Problems solved by technology

[0005] Disadvantages: The precision of zero return is not high. After a lot of tests, the precision of repeated zero return can only be around 20um-50um at the same zero return speed when using slot-type photoelectric zero return.

[0008] Disadvantages: The zero return method is more complicated. It needs to call the driver for zero return and limit, and the origin is connected to the driver, and it is limited by the motor must have Z pulse output. At the same time, the zero return speed must be consistent to reduce the repeated zero return accuracy.

[0011] The disadvantage is: the zero return method is relatively complicated, and it needs to interact with the internal parameters of the drive and do PLC program processing, and the limit and origin must also be connected to the drive

At the same time, the zero return speed must be consistent to reduce the repeat zero return accuracy.

[0012] It can be seen that the PLC zero return is the slot-type photoelectric zero return. Although the zero return method is simple and convenient, it only needs to directly connect the hardware upper limit and the origin to the PLC IO. The PLC IO is connected by crimping, but the zero return accuracy is not good. High, only about 20um-50um

Z pulse and probe return to zero. Although the zero return accuracy is high, the software needs to interact with the PDO and SDO of the driver, which is more complicated to implement.

In terms of hardware, it is necessary to connect the limit origin to the IO of the driver. Since the IO of the driver is integrated with the DB head, soldering is required during wiring. As a result, in the case of a large number of axes, the wiring workload is heavy, and it is extremely difficult to troubleshoot. convenient

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