00196044-05 - sg x und x4i fse_en.pdf - 第221页

Gantry Mechanical Adjustment of the Incremental Encoder Settings S tudent Guide (FSE) SIPL ACE X Series and X4I Edition 01/2009 EN Gantry 221 6.3.3.5 Anticrash Function 6-11: Example of the anticrash f unction sequence i…

Gantry

Settings Anticrash Function for the A364 Axis Card

Student Guide (FSE) SIPLACE X Series and X4I

Gantry Edition 01/2009 EN

220

6.3.3 Anticrash Function for the A364 Axis Card

6.3.3.1 Anticrash Function for the A364

 The anticrash function is no longer provided by the anticrash board but instead by the A364 software

(application 1). This means that the proximity switches used to monitor the travel range and the

sensor for monitoring the gantry spacing are no longer required.

 Tasks:

– Monitoring the X and Y axis travel ranges

Evaluation of the actual position of the respective axis in the direction of the bumper, based on

the speed.

– Monitoring the distance of both Y axes in a placement area

Evaluation of the actual position of the own gantry and the partner gantry at gantry crash

monitoring.

– Count error monitoring of the gantry axis

Monitoring incoming count pulses (edge control) over time.

6.3.3.2 Anticrash Monitoring for the A364

The anticrash function is activated after the X/Y axes have been referenced. When the gantry axes are

referenced for the first time, anticrash monitoring is not active, which does not matter, due to the low

reference speed.

After this, the bit is set for the anticrash monitoring function and the actual position for the relevant

partner gantry is continuously communicated via the SPI Bus.

The following information is exchanged between the Y axes:

 Actual position and speed of its own gantry

 Status information (reference state, anticrash monitoring state ).

6.3.3.3 Error "Gantry Crash"

A “gantry crash” error is established by calculating the position difference and speed difference for both

axes. A gantry crash error is signaled via the axis card and the CAN Bus. The servo is released for both

axes and both need to be referenced again.

6.3.3.4 Count Error:

If the axis board detects a "fatal count error", the axis concerned will be released and the anticrash

function disabled. The other axis is informed of this in the status information and will also disable the

anticrash function. The released axis now needs to be referenced again,

after which the anticrash function will be re-enabled for both axes.

Gantry

Mechanical Adjustment of the Incremental Encoder Settings

Student Guide (FSE) SIPLACE X Series and X4I

Edition 01/2009 EN Gantry

221

6.3.3.5 Anticrash Function

6-11: Example of the anticrash function sequence in placement area 1

6.3.4 Mechanical Adjustment of the Incremental Encoder

The incremental encoders (read units) on the X and Y axis are adjusted mechanically to a distance of

0.4 mm +/- 0.1 mm to the incremental scale.

After this adjustment of the incremental encoder you have to check the zero pulse and track signals.

NOTE:

To set this distance, use one or more feeler gauges (small plastic disks) with a total thickness

of 0.4 mm.

Gantry

Track Signals and Zero Pulse Checking the Zero Pulse Signal

Student Guide (FSE) SIPLACE X Series and X4I

Gantry Edition 01/2009 EN

222

6.4 Track Signals and Zero Pulse

6.4.1 Checking the Zero Pulse Signal

The zero pulse must be reliably and clearly recognized by the read head. To ensure this, you can check

both the analog and the digital zero pulse. Electronically controlled settings can not be performed on the

incremental length measurement system.