Prepreg Head connection with UR16

Technical Questions
1

Hello,
We are in the process of using this UR16, attaching the robotic arm with a Prepreg Head. We observed that a CDHD2 stepper/ servo motor is attached to the Prepeg head. Does the Univeral robots controller box (inbuilt) come with a servo controller to control the servo/ stepper motor? How can we connect the Prepreg Head with the Prepeg head?
Thanks.

2

The robot does not have a way of controlling a stepper motor directly, no. Neither a servo, though this could be supplied directly from the robot (if the specifications are correct).

But you will need to find a motor driver/controller and connect it to the robot controller. And then communicate to it via MODBUS, Ethernet/IP, TCP Socket, Analog 4-10mA/0-10V or just digital outputs.

I don’t know what a Prepreg head is, and I can’t find it on Google. But there is a CDHD2 servo motor controller. This should work with the motor. You will have to verify if it’s a stepper or a servo motor - they’re very different regarding controlling. :slight_smile:

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3

Thank you for the information. The Prepreg head is used for automatic fiber replacement, and we are attaching it to the UR16 robot. Just want to clarify that it does have a Servo motor.

4

Alright. You should definitely get a motor controller nevertheless. :slight_smile:

5

We have to connect a madler moto with slipping clutch 24 V/ min with UR16 controller box. We connected the power supply of the controller box(Horizontal power supply box 24V). Since it’s connected to a direct power source, we are not able to control the motor speed. Could you give us a suggestion on where we can connect the 24v supply madler moto so that we can control the motor speed from the teach pendant?
Do we need to connect it with the configurable input /output or digital input/output?
Thank you.

6

First, make sure your motor does not draw more than 2A. That’s the limit for the 24V from the controller box. :slight_smile:

You cannot control the speed through the 24V in the controller or anywhere else. As I said earlier, you will need a motor controller.

Here’s a Mädler motor controller that should be able to do the job for you. But you will have to verify the specifications yourselves with the motor you have:

You will connect the motor to the motor controller. Then the motor controller needs:

  • 24V and GND for power
  • 0-10V DC from analog output to control the speed
  • Digital output to start and stop the motor

EDIT: Have you tried talking to the seller of the prepreg head? They should know of a compatible motor controller.

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7

Thank you for your suggestion. Yes, we already talked to the seller and they have suggested one servo controller for the prepreg head. But didn’t mention anything about the other 24 V DC Medler motor controllers, which are separate from the servo motor. We are trying to control it through the UR Control box. As I mentioned, from digital output, we can connect the medler motor and operate it (ON/0FF) but can’t control the motor. I’m just thinking now: do we need another controller to connect with the 24 V DC Medler motor(not the Servo motor ), or can we connect the servo controller device?
Thank you

8

I’m a little confused here; do you have two motors?

It’s simple really. If you want to control the speed of a motor, you will need a servo drive/controller. :slight_smile:
If you just want to turn the motor ON/OFF, and the motor is below 48W (24V/2A) of power (also start up current below 2A), then you can use a digital output. :slight_smile: