FANUC A20B-2002-0711/06CR程序運(yùn)行后，實(shí)際測(cè)得角度控制的穩(wěn)態(tài)誤差在±0.005 7 rad，速度控制的動(dòng)態(tài)誤差在±0.013 1 rad/s，具有較高的精度和穩(wěn)定性。在實(shí)際使用中，可以采用先進(jìn)算法編制控制程序，進(jìn)一步提高系統(tǒng)的控制性能。

作為比較，將相同的控制算法在PC上實(shí)現(xiàn)，通過(guò)全數(shù)字直流伺服驅(qū)動(dòng)器上驅(qū)動(dòng)電機(jī)，測(cè)得角度控制的穩(wěn)態(tài)誤差是±0.004 rad，速度控制的動(dòng)態(tài)誤差是±0.008 rad/s?？梢?jiàn)本系統(tǒng)的控制精度與伺服驅(qū)動(dòng)器的控制精度接近，而成本低于后者，具有很大優(yōu)勢(shì)。

FANUC A20B-2002-0711/06CR

MTS Automation FLX Series Servo Amplifer Rack W/PS

Glassman PS/MK03P00.1XG1 High Voltage 3KV Power Supply

SIEMENS MOORE 15736-64 BDC GATEWAY DATALINK MODULE

 Acrison MD-2-90 MDII 400 Series Display Board

Westinghouse MCP23480R Motor Circuit Breaker

 GE 6KCV300INS A3408 RS-300 Module

Allen-Bradley 7300-UPP-2 Processor Interface Board

Allen-Bradley 7300-UAF-2 CNC Control Board

 Allen-Bradley 102829 Rev. 04 Regulator Board

 SICK C400 MICRO C41S-0701AA300 TRANSMITTER

Nikki Denso Actus Power PFB-10 AC Servo Control Unit

 GE Fanuc IC600YB929 A 10-50 VDC Sink Output Module

 GE 6EKE$3PCU AF-300 E$ Drive Copy Module

Adept Tech 10300-11200 Rev. W Joint Interface Board

Control Instruments PRB109 FFA Sentron Alarm Board

Siemens TI 325-07 CPU Module

MTS 400679C Servo Control Board

Nikki Denso Actus Power NPSA-2.5-64 AC Servo Amplifier

Middex-Electronic WK 1T 110V Sensor Controller WK1T

Honeywell 51304584-200 Rev. G EPDGP I/O Control Board

Modicon AS-884A-211 Controller Module

Reliance Electric 0-52840-44A CCC Drive Module

 ABB Drives SAPC 35 PAC Control Board 58132284

MTS Automation FLX Series Servo Amplifer Rack W/PS

 Square D SYMAX 8005 LTV-101 Module

Westinghouse NL-325 Numa-Logic Lamp Buffer Driver Board

Westinghouse NL-343 Numa-Logic 4 Input OR Module

Westinghouse NL-302 Numa-Logic HEX AC Input Module

Westinghouse NL-340 Numa-Logic 4 Input Module

Siemens TI 500-2109 Distributed Base Controller Module

FANUC A20B-2902-0060/03A Axis Control Module

ABB 3HAB2211-1/1 DSQC 256A S3 Robotic Sensor Module

ABB YB560103-CH/10 DSQC 239 Robotic Remote I/O Module

FANUC A20B-2902-0350/01A Control Module

FANUC A20B-2902-0290/07C Digital Axis Control Module

Bailey Controls NASM02 Infi 90 Analog Slave Module

FANUC A20B-2902-0223/01A Spindle Control Module

FANUC A20B-2902-0290/01A Digital Axis Control Module

 Atlas Copco K-259952M-15 Cable Assembly

FANUC A16B-1211-0860/04A CPU Control Board

FANUC A20B-0008-0240/02/02A Orientation Control Board

 Atlas Copco K-259952M-15 Cable Assembly

Allen-Bradley 7300-UCE-3 CNC Control Board

FANUC A87L-0001-0016 11H Bubble Memory Board BMU 64-2