Torque controlled buffer wheels

Epic designs and builds motion controls to control the torque of an AC motor driving buffer wheels using a servo controlled slide.
The customer wanted a way to compensate for the wear of the buffer wheels over time and have a constant buffing force. Buffer force is proportional to the rotational torque of the buffer wheels. The buffer torque feedback is fed into the Siemens 1214 PLC torque regulator. The buffer wheels are mounted on a slide which moves in and out to apply the correct force on the part held by the robot. If the buffer wheel torque is less than set point, the servo motor controlled slide moves in, if more than set point the slide moves away from part. As the buffer wheel wears down, the slide will compensate to keep same force on part. As the robot turns the part and the distance changes, the slide will keep constant force.

Buffer wheel force control video