I. Introduction
Wrapper machine is mainly used in textile industry and is an important part of loom. Its function is to collect the fabric in an orderly manner after weaving. After the fabric is removed from the loom by the wrapper roll, it is wound on the wrapper roll by the guide roll to form a fabric wrapper. With the development of weaving, the coil diameter will gradually increase. In order to keep the coil circumferential linear velocity constant, the diameter of the coil roll should decrease with the increase of the coil diameter. In order to improve the quality of coil, the tension of cloth should be kept constant during the wrapper process. The application of servo driver and servo motor on the coiler is to tighten, flatten and crimp the cloth to form the finished product.

 
Characteristic of wrapper machine:
1. Electronic side-to-side device is used to make the edges of cloth uniform after wrapper, and soft or hard rolls can be selected according to the type of cloth.
2. It is equipped with automatic control device of code meter, which can accurately measure the length of cloth and automatically control it.
3. The wrapper speed can be steplessly adjusted, high production efficiency, manpower saved, and convenient operation of single person.
4. Twist coil can be adjusted between 20 and 70 degrees.
5. Use stainless steel cloth barrel, never rust, avoid staining cloth.
6. This machine is a set of equipment with fully automatic slitting and bundling machine.
II. Technical Requirements
The coiler consists of eight sets of servo drivers and servo motors. Four sets of servo systems are used on the tensioning rollers. The functions are to tighten the cloth, smooth it through the guide roll to the expanding roll cloth, and then enter the wrapper roll (there is a pressure roll on the wrapper roll which can adjust the pressure, press it on the top of the wrapper roll to increase the pressure. Two sets of active guide rolls under the wrapper roll are the same as the original power rolls. Rotating speed in the same direction drives the wrapper roll to crimp.   Fig. 1:

Picture.1
III. System Construction
The upper computer is controlled by PLC and HMI interface. It is connected with servo driver control terminal. The control mode is position mode, pulse + direction, and internal enabling. The upper computer sends position instructions to the servo driver to complete the specified operation. The control terminal wiring is defined as follows:

PLC	GA3230BA	GA3210B
P+	32	32
P-	33	33
D+	34	34
D-	35	35

 
 
IV. Application and Debugging of OREE Servo System
1. Servo Driver and Motor Configuration

Product Item
Servo driver model	GA3230BA	GA3210B
Servo motor model	130ST-M15025	80MO4025

 
 
2. Relevant parameter setting
Control mode setting, position mode selection, speed loop PI parameter setting, position loop P parameter adjustment.
By adjusting the parameters, OREE servos can realize the control of the coiler well, the tension is suitable, the edge of the coiler is neat and uniform, and the efficiency is high.