00195193-02 SG D4 FSE en (1).pdf - 第6页
S tudent Guide SIPLACE D4 (FSE) EN 09/2006 6 6 Services to the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 6.1 Overview .... ................ ................. …
Student Guide SIPLACE D4 (FSE)
EN 09/2006
5
4.3.2.3 Errors on the CAN bus..................................................................................................................... 78
4.3.3 CAN Bus Structure SIPLACE D4.......................................................................................................... 79
4.3.4 CAN Bus Processor Board C&P Head ................................................................................................. 79
4.3.4.1 CAN BUS-Controlled Functions on the C&P12 Head...................................................................... 79
4.3.5 CAN Bus Terminator............................................................................................................................. 80
4.3.6 CAN I/O Module (SLIO) - SIPLACE D4 ................................................................................................ 81
4.3.6.1 I/O module, main distributor (inputs)................................................................................................ 83
4.3.6.2 I/O Module for Main Distributor (Outputs)........................................................................................ 84
4.3.6.3 I/O Module, Subdistributor (Inputs).................................................................................................. 85
4.3.6.4 I/O Module, Subdistributor (Outputs) ............................................................................................... 86
4.3.7 CAN Bus Communication with Axis Controller ..................................................................................... 87
4.3.8 Communication Siplace Vision ............................................................................................................. 88
4.3.8.1 Communication during a image acquisition ..................................................................................... 89
4.4 Board type recognition....................................................................................................................... 89
4.4.1 What does it mean board type recognition? ......................................................................................... 89
4.4.1.1 Why we integrate the board type recognition? ................................................................................ 89
4.4.1.2 Functional description...................................................................................................................... 90
4.4.1.3 Error description: ............................................................................................................................. 90
4.4.1.4 PCB‘s with board type ID‘s .............................................................................................................. 92
4.4.2 Reading the Board IDs out of the EEPROM ......................................................................................... 92
4.4.2.1 Read out the Board type ID via the menu Gripper........................................................................... 93
4.4.2.2 Reading and Writing the Board IDs with CAN Commands.............................................................. 96
4.4.3 Troubleshooting, if are missing two board type ID‘s ............................................................................. 99
4.4.4 CAN Commands for Reading and Writing the Board IDs ..................................................................... 99
4.4.4.1 Error Messages for TQM Module .................................................................................................. 100
5 Reference run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
5.1 Overview Reference Run.................................................................................................................. 103
5.2 Reference Run Gantry ...................................................................................................................... 104
5.2.1 Reference Run Sequence at X and Y-axis ......................................................................................... 104
5.2.2 X and Y commutation position search ................................................................................................ 104
5.2.3 Reference run of X- and Y- axes ........................................................................................................ 105
5.3 Reference Run C&P12 ...................................................................................................................... 105
5.3.1 Overview Head Reference Run .......................................................................................................... 106
5.3.2 Initialization of the Stepper Motors...................................................................................................... 107
5.3.2.1 Initialization of Valve Positioning Drives for Pickup/Placement and Reject Positions ................... 107
5.3.2.2 Initialize Valve Drive at DP-station................................................................................................. 108
5.3.3 Reference Run for Z and Star Axes.................................................................................................... 109
5.3.4 Preparation for z-axis reference run ................................................................................................... 110
5.3.5 Reference run at star-axis................................................................................................................... 110
5.3.6 Completion of the Z-axis reference run............................................................................................... 111
5.3.7 Reference Run at Dp-axis................................................................................................................... 111
5.3.8 Sequence vacuumcheck..................................................................................................................... 112
5.3.9 Determining the Vacuum and Threshold Values ................................................................................ 112
5.3.10 Measuring Nozzle Lengths for Component Recognition by the Component Sensor.......................... 113
5.3.11 Height reference run ........................................................................................................................... 114
Student Guide SIPLACE D4 (FSE)
EN 09/2006
6
6 Services to the machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.1 Overview ............................................................................................................................................ 115
6.2 Power Supply Unit ............................................................................................................................ 115
6.2.1 Naming Convention of Connectors and Cables.................................................................................. 117
6.2.2 Assemblies in Sector 1 ....................................................................................................................... 118
6.2.3 Assemblies in Sector 2 ....................................................................................................................... 119
6.2.4 Assemblies in Sector 3 ....................................................................................................................... 119
6.2.5 Assemblies in Sector 4 ....................................................................................................................... 120
6.2.6 Input voltage ....................................................................................................................................... 120
6.2.7 Transformer 1 ..................................................................................................................................... 121
6.2.8 Voltages in the Power Supply Unit After Switching On....................................................................... 121
6.2.9 Power Pack 24 V ................................................................................................................................ 122
6.2.10 Power Pack 5 V .................................................................................................................................. 123
6.2.11 Power Supply for Axis Unit ................................................................................................................. 123
6.2.12 Voltage Supply for SIPLACE Vision Illumination ................................................................................ 124
6.2.13 Power Supply Tape Cutter.................................................................................................................. 124
6.2.14 Safety and Signaling Circuit................................................................................................................ 125
6.2.14.1 Emergency Stop Circuit (Safety Loop) .......................................................................................... 125
6.2.14.2 Control Circuits .............................................................................................................................. 126
6.2.15 Protective Combination Device (Relay K1)......................................................................................... 130
6.2.15.1 Via PCC K1.................................................................................................................................... 131
6.2.15.2 How is the PCC K1 Enabled?....................................................................................................... 131
6.2.15.3 Pressing the Start Button............................................................................................................... 131
6.2.16 Various Signals................................................................................................................................... 132
6.2.16.1 Software Release (Software Enabled)........................................................................................... 132
6.2.16.2 Safety Loop OK signal ................................................................................................................... 132
6.3 Pneumatic System ............................................................................................................................ 132
6.3.1 Vacuum Generation at C&P Heads - General Information ................................................................ 132
6.3.2 Overview Pneumatic System .............................................................................................................. 133
6.3.3 Pneumatic unit .................................................................................................................................... 134
6.3.3.1 Manometer Arrangement............................................................................................................... 135
6.3.3.2 Switch on Sequency Pneumatic Units ........................................................................................... 135
6.3.3.3 Main Valve X89 for Regulation of Compressed Air ....................................................................... 136
6.3.3.4 Monitoring the Compressed Air ..................................................................................................... 136
6.3.3.5 Safety Valve................................................................................................................................... 137
6.3.4 Pneumatic Supply to Tape Cutter....................................................................................................... 138
6.3.5 Bulk Case System and Nozzle Changer............................................................................................. 138
7 Axis dynamic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.1 Position measuring system ............................................................................................................. 139
7.1.1 Track signals and Zero pulse signal ................................................................................................... 139
7.1.2 Zero pulse at the position encoder...................................................................................................... 140
7.2 Parts for the axis control.................................................................................................................. 142
7.2.1 Axis controller ..................................................................................................................................... 143
7.2.2 Servo amplifier TBS .. and SDS ........................................................................................................ 143
7.3 Axis dynamic basics......................................................................................................................... 144
7.4 Axis control gantry ........................................................................................................................... 149
7.4.1 Track signals and Zero pulse.............................................................................................................. 149
7.4.1.1 Check the zero pulse signal........................................................................................................... 149
7.4.1.2 Check the track signals.................................................................................................................. 154
7.4.2 Check dynamic X-axis ........................................................................................................................ 155
Student Guide SIPLACE D4 (FSE)
EN 09/2006
7
7.4.2.1 Test setup with axis testbox........................................................................................................... 156
7.4.2.2 Measurement Setup with SAT Box................................................................................................ 157
7.4.2.3 X-axis Travel Profiles for C&P12 ................................................................................................... 158
7.4.2.4 X-axis Travel Time Table............................................................................................................... 158
7.4.3 Check dynamic Y- axis ....................................................................................................................... 159
7.4.3.1 Test set up ..................................................................................................................................... 159
7.4.3.2 Y-axis Travel Profiles for C&P12 ................................................................................................... 159
7.4.3.3 Y-axis Travel Time Table............................................................................................................... 159
7.5 Axis control C&P head axes ............................................................................................................ 160
7.5.1 Overview Axis control Star-, Z- and DP-Axis ...................................................................................... 160
7.5.1.1 Overview positioning time 12 segment C&P head......................................................................... 161
7.5.2 Track signals head axes ..................................................................................................................... 161
7.5.2.1 Communication Overview.............................................................................................................. 161
7.5.2.2 Test set up ..................................................................................................................................... 162
7.5.2.3 Preparing Track Signals for Control of Star Axis (Example).......................................................... 163
7.5.3 Axis control Star Axis .......................................................................................................................... 164
7.5.3.1 Check the star axis dynamics. ....................................................................................................... 164
7.5.4 Axis control Z-Axis .............................................................................................................................. 168
7.5.4.1 Check the dynamic Z-Axis ............................................................................................................. 168
7.5.5 Axis control Dp-Axis............................................................................................................................ 170
7.5.5.1 Check the dynamic DP-Axis .......................................................................................................... 170
8 Gantry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
8.1 Overview ............................................................................................................................................ 173
8.1.1 Mechanical Structure of X and Y Axes ............................................................................................... 174
8.1.2 Pneumatic connectors on the gantry .................................................................................................. 176
8.2 Settings.............................................................................................................................................. 176
8.2.1 Travel Ranges and Speed Monitoring at the D4................................................................................. 176
8.2.2 Axis Board A364 Anticrash Function .................................................................................................. 178
8.2.2.1 Anticrash Function for the A364 .................................................................................................... 178
8.2.2.2 Anticrash Monitoring for the A364 ................................................................................................. 178
8.2.2.3 Error "Gantry Crash"...................................................................................................................... 178
8.2.2.4 Count Error: ................................................................................................................................... 178
8.2.2.5 Anticrash Function - Procedure ..................................................................................................... 179
8.2.3 Description of the PCB boards on the Gantry..................................................................................... 179
8.2.3.1 Gantry head distributor .................................................................................................................. 180
8.2.3.2 Vision board (digital) ...................................................................................................................... 182
8.2.3.3 CAN 16 bit Processor Board (TQ module) .................................................................................... 183
8.2.4 Check the DIP Switches ..................................................................................................................... 184
8.2.4.1 DIP Switch on Gantry Head Distributor ......................................................................................... 184
8.2.4.2 DIP switch on Vision board............................................................................................................ 185
8.2.5 Mechanical adjustment of the incremental encoder............................................................................ 185
9 C&P12 Placement Head. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.1 Overview ............................................................................................................................................ 187
9.1.1 Technical Data - C&P12 ..................................................................................................................... 187
9.1.2 Camera modularity at the C&P12 Head.............................................................................................. 188
9.1.3 Position and function of the individual star stations ............................................................................ 188
9.1.4 Overview parts on the C&P12 Head................................................................................................... 189
9.1.5 Compressed Air Supply - C&P Head.................................................................................................. 191
9.1.5.1 Vacuum generator ......................................................................................................................... 191