LINMOT two-axis linear-rotary servo motor
By moving the 'ROT POSITION' and 'LIN POSITION' sliders, we change the position of the 'AXIS_2' coordinate system by rotating it in the Z axis and 'AXIS_1', moving it vertically also in the Z axis.
The rotational coordinate system AXIS_2 is connected with a system that moves in the Z axis:
The composite movement of these systems is the resultant movement of a pivot with a grapple attached to it.
By moving the 'SPEED%' slider, we change the speed of movement from 0% to 100% of the maximum speed set at the MAX VEL input.
The limit switches are activated in the limit positions of each axis, the signal from which is available on the MAX_Limit and MIN_Limit outputs.
The IN POSITION output is active when the position of the specified axis is equal to the position set at the DEMAND POS input.
After downloading and opening the project file, first run the simulation in the 3D visualization window, and then on the function block diagram:
Download the project file
The model uses two types of ready-made function blocks for basic machine parts: a rotary servo drive block and a linear module.
Description of the linear-rotary module model function blocks and a link to download the function blocks themselves.