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Interfacing a PUMA 560 Robot with a PC-based Controller

Interfacing a PUMA 560 Robot with a PC-based Controller. Josh Chao Francis Fernandes Denny Lie Jackson Tanis April 20 th 2009 Georgia Institute of Technology College of Engineering School of Electrical and Computer Engineering. Project Changes. Problems

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Interfacing a PUMA 560 Robot with a PC-based Controller

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  1. Interfacing a PUMA 560 Robot with a PC-based Controller Josh Chao Francis Fernandes Denny Lie Jackson Tanis April 20th 2009 Georgia Institute of Technology College of Engineering School of Electrical and Computer Engineering

  2. Project Changes • Problems • CompactLogix L43 supports up to 4 axes • CompactLogix L45 supporting up to 8 axes could not be obtained Solution NI PCI-7356 Controller was used instead Core of project Interfacing PUMA motors with a PC-based controller

  3. Technical Objectives • Interface the motor and control system • Control the motor’s position and speed • Provide GUI tracking motor’s movement • Establish groundwork for future ECE project • Control motor’s movement with load • Control multiple axes simultaneously

  4. System Interface Diagram Controller Input Command Signal +/- Motor Driver ENABLE Input FAULT Output +24V +5V Motor +/- Supply Motor Encoder A,B, Index and Pot Signals

  5. Motor Specification

  6. Voltage vs. RPM 10 V/kRPM 28 V/kRPM

  7. Motor Driver Motor Driver Motor P.S. (+24V) P.S. (+5V) Trust Automation TA115 Controller Voltage Mode (Velocity) Current Mode (Torque) Logic Optoisolation

  8. NI PCI - Controller Support 6-axis Quick Installation Onboard Processor LabView Interface

  9. Bench Setup

  10. Hardware-Software Interaction Application Development Environment: NI LabView Driver Software: NI Motion Motion Controller: PCI 7356

  11. User Interface

  12. Software Implementation Hardware Initialization Error Handling • Fast While Loop: • Output voltage control • Encoder reading • Analog input reading • Slow While Loop • (1 loop/sec): • Motor speed calculation

  13. Demonstration When: April 28th at 5:00 pm Where: Room 113 in Van Leer Home Position Calibration Parameter Display Motor Movement

  14. Problems • Delay in Parts Delivery • From Rockwell to NI • New Cables and Breakout Boards • Connector for Motors 1-3 • Encoder Index

  15. Schedule

  16. Budget & Cost Analysis

  17. Future Group Task Lists • Wire and Interface all 6 Motors • Change Program to Control all 6 Axis • Add Limit Switches Software Side • Install Motors into the Robot • Build Closed Loop PID Control System • Program Forward and Inverse Kinematics

  18. Questions? TEAM YELLOW PUMA

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