SiplaceX4_en.pdf - 第423页
1 - 35 S tudent Guide SIPLACE X Edition 09/2005 6 Collect&Place-Head 20 35 6.3 Axis control C&P 20 6.3.1 Overview Axis contro l St ar-, Z- and DP-Axes The closed-loop control system fo r control of the head axes …
1 - 35
Student Guide SIPLACE X
Edition 09/2005 6 Collect&Place-Head 20
35
6.3 Axis control C&P 20
6.3.1 Overview Axis control Star-, Z- and DP-Axes
The closed-loop control system for control of the head axes consists of the following parts. Bet-
ween the head axes, some differences which will be explain later in this chapter.
– Axis card with VC 3 Controller (on free axis the VC 3 controller may are missing)
– Servo card (SDS)
– Motor
– Measuring system (Incremental- scale and -encoder)
Fig. 6.3 - 1 Example: Axis control Star axis
Axis card A363 with VC 3 Controller (VC = Velocity Commutation)
Control signals I
nom "W" and I nom "U"
LED‘s on the Servo amplifier:
– Power supply ON
– Servo enable, if the the enable signal from the axis board available.
– Display R.M.S. current limiter shorter than 2,5 s.
– Error: Overvoltage, -current, -temperature or Nominal current-overstep-
ping longer than 2,5 sec.
Servo board control directly the motor.
3 Phase AC motor.
Between the motor and the incremental encoder exist a fixed mechanical
combination.
Incremental encoder: transmit the exact position of the axis via the track
signals.
1 - 36
Student Guide SIPLACE X
6 Collect&Place-Head 20 Edition 09/2005
36
6.3.1.1 Overview positioning time 12 segment C&P head
for completness. 6
6.3.1.2 Overview positioning time 6 segment C&P head
For completness. 6
6.3.1.3 Overview positioning time 20 segment C&P head
6
Attention
If you want to check the axis dynamic on the C&P 20 head z-axis, you have to move the gantry to
the calibration tool pocket.
Axis Mode / Distance Positioning time
Star Axis continuous run / 1 Star step 46ms +/-3ms
Z absolute, free space / 685 digits 24ms, -1ms
Z Light barrier bottom, into Calibration tool pocket / ca. 685 digits 24ms +/-3ms
DP 100 digits 13ms +/-3ms
DP 3600 digits 43ms +/-3ms
Table 6.3 - 1 Positioning time 12 segment C&P head DLM2
Axis Mode / Distance Positioning time
Star
Axis continuous run / 1 Star step 70ms +/-3ms
Z absolute, free space / 685 digits 30ms +/-3ms
Z Light barrier bottom, into calibration tool pocket / ca. 685 digits 30ms +/-3ms
DP 200 digits 38ms +/-3ms
DP 7200 digits 85ms +/-3ms
Table 6.3 - 2 Positioning time 6 segment C&P head DLM2
Axis Mode / Distance Positioning time
Star
Axis continuous run / 1 Star step 18° 28,5ms +/-0,5ms
Z absolute, free space / 20000Digits, 10000µm nom. 16ms
DP not controlled from Axis controller ---
Table 6.3 - 3 Positioning time C&P 20 head