00194614-08 Trainingsdoku. SG X-Serie_X4i SW70x (AL2)_EN - 第186页

Gantry Mechanical Structure of X and Y Axes Overview Student Guide SIPLACE X-Serie and X4I SW70x (AL2) 186 Mechanical structure "Gantry" Legend Description 6.1.1.1 Description The head mounting plate with the p…

Gantry

Overview Mechanical Structure of X and Y Axes

185 Student Guide SIPLACE X-Serie and X4I SW70x (AL2)

Gantry

6Gantry

Overview

6.1 Overview

The gantries of the SIPLACE X machines consist of one X and one Y axis. Both axes are driven by a

linear motor which is equipped with an integrated temperature sensor. These temperature sensors only

monitor the motor coils. Viewed from the direction of transport, the Y motors move from the right to the

left, in a more positive direction (new coordinate system) and the X motors move from the input conveyor

to the output conveyor, in a more positive direction. The coordinate origin is exactly in the center of the

machine. The placement heads are mounted on the head plates of the respective X axis.

Position of the gantries in the X4I machine

Legend

Mechanic al Structure of X and Y A xes

6.1.1 Mechanical Structure of X and Y Axes

Please Note: X and Y Axes have the same basic mechanical parts.

X X axis – positive direction of travel Y Y axis – positive direction of travel

1 Gantry 1 in placement area 1 3 Gantry 3 in placement area 2

X1 X axis, gantry 1 X3 X axis, gantry 3

Y3 Y axis, gantry 1 G3 Y axis, gantry 3

2 Gantry 2 in placement area 2 4 Gantry 4 in placement area 1

X2 X axis, gantry 2 X4 X axis, gantry 4

Y2 Y axis, gantry 2 Y4 Y axis, gantry 4

T Transport direction 5 Coordinate origin

Gantry

Mechanical Structure of X and Y Axes Overview

Student Guide SIPLACE X-Serie and X4I SW70x (AL2) 186

Mechanical structure "Gantry"

Legend

Description

6.1.1.1 Description

The head mounting plate with the placement head is moved in the X direction by the linear guidances,

which are mounted above and below the secondary part of the linear motor. The Y axis moves the entire

X axis gantry with the placement head.

1 X gantry made of carbon fiber 6 PCB camera mounted under the gantry

2 Head mounting plate with integrated

primary part of X axis linear motor

7 Boards (head interface with Vision board

below - vertical - the head adapter board)

3 Incremental scale 8 X trailing cable

4 Linear guidances for X axis (above/

below)

9 Temperature sensors

5 Secondary part X axis (magnet)

NOTICE

To improve placement accuracy, the temperature sensors compensate the offset between the

PCB camera and the nozzle, based on the temperature of the head mounting plate.

Gantry

Gantry Reference Run (with A364) Reference Run Sequence at X and Y Axis (A364)

187 Student Guide SIPLACE X-Serie and X4I SW70x (AL2)

For X and Y axis position recognition we use incremental metal scales. These are positioned above the

secondary part for the X axis and below the secondary part of the Y axis. An incremental encoder reads

the increments, which are then sent to the axis controller boards, for determination of the axis positions

and for motor control.

Each X and Y axis has a rubber bumper as hardware stop at its ends.

Gantry Reference Run (with A364)

6.2 Gantry Reference Run (with A364)

Reference Run Sequence at X and Y Axis (A364)

6.2.1 Reference Run Sequence at X and Y Axis (A364)

Searchin g for the X and Y Commut ation Pos ition (A364)

6.2.2 Searching for the X and Y Commutation Position (A364)

A commutation position search for the 3 phases AC-drives on the gantry starts right after the head axes

reference run is succesfully finished.

1. Commutation position search during initial reference run:

Preconditions and function:

▪ Axis reference run must be successfully completed at the relevant placement heads.

Reference run sequence

After the commutation search, the motor is in an

undefined position for the control system. When

referencing with bumper recognition (hardware end

stops), the axis moves successively against the

bumpers. For this purpose, fixed target values are set by

the axis controller, which are increasingly nearer to the

mechanical end stop.

After a certain time, this approach function reaches a

state in which the set target position is no longer reached

(actual position ≠ target position, the axis is at the

hardware end stop (bumper)).

After a certain time (approx. 10 ms) and after reaching a

certain motor current, the direction of travel is reversed

and the axis searches for the zero pulse within a specified

range. This zero pulse must be found within a predefined

travel range. If the zero pulse has been found in this area,

further zero pulses will be searched for in an area of

approx. 2.5 mm

After reaching and checking the zero pulse, the axis is in

a defined position.

The reference run for the main axes is started

simultaneously at all 4 gantries.