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Twin Head Axis Control Twin Head Axis Dynamics S tudent Guide (FSE) SI PL ACE X Series and X4I T win Head Edition 01/2009 EN 382 Oscillograms for V arious Force Levels This shows typical oscillograms for Z axis positioni…
Twin Head
Twin Head Axis Dynamics Axis Control
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN Twin Head
381
Oscillogram of a Nozzle Changeover
9-23: Nozzle pickup, Z axis down
The current flow adjustment marked as (1) shows the moment when the nozzle engages with the nozzle
interface with increased force and subsequent unloading.
During Positioning with Travel Profiles in SITEST
The following travel times can be determined via SITEST or by measuring the Z axis travel profiles at
placement (with a defined force).
Detailed function: > Description > Result Malfunction: > Description > Cause/Repair
Positioning to absolute positions:
Z axis moved to programmed target position. End
position signal is issued when the target corridor is
reached.
Z axis unable to reach target position.
The axis shows an oscillating, permanent deviation of
position. The end position signal is not set within the timeout
time.
1. Possible cause:
Electrical defect in servo amplifier => replace servo
amplifier.
2. Possible cause:
>Axis swings up due to electrical or mechanical defects in
head => replace head.
Typical travel times indicating correct Z axis function:
Placement with 2 N – standard 95 - 105 ms
Placement with 1 N 170 - 180 ms (placement time not decisive)
Placement with 5 N 90 - 100 ms
Placement with 10 N 80 - 90 ms
Placement with 15 N – highest force of standard Twin 85 - 95 ms
Twin Head
Axis Control Twin Head Axis Dynamics
Student Guide (FSE) SIPLACE X Series and X4I
Twin Head Edition 01/2009 EN
382
Oscillograms for Various Force Levels
This shows typical oscillograms for Z axis positioning with force sensor mode (as in placement) at
various force levels.
The specified time ranges for positioning are values from travel tests with new heads.
9-24: Placement with 1 N
9-25: Placement with 2 N
9-26: Placement with 10 N
Twin Head
Twin Head Axis Dynamics Axis Control
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN Twin Head
383
9.6.1.2 D Axis
During the Reference Run
Initial statements about the correct head function can be made from the individual procedures during the
reference run.
During Nozzle Changeover
Function errors during nozzle changeover are not based on head axis function errors.
During Positioning with Travel Profiles in SITEST
9-27: D axis 180° positioning
Detailed function: > Description > Result Malfunction: > Description > Cause/Repair
Axis reference run:
1. Search for phase current commutation
2. Positioning at zero point correction (ZPC) target
position:
The D axis is at 0°/180° position. Further processes are
nozzle scanning, vacuum check and height
measurement.
D axis unable to reach target position.
Trailing cable distance error due to motor phase failure.
Stiffness due to defect rotary part
=> replace head
Detailed function: > Description > Result Malfunction: > Description > Cause/Repair
Nozzle pickup:
D axis rotates to place down position.
The D axis rotates around the nozzle in the garage, to
lock.
D axis unable to reach target position.
Cause:
X/Y position of nozzle changer not correctly calibrated.
Detailed function: > Description > Result Malfunction: > Description > Cause/Repair
Positioning to absolute positions:
D axis moved to programmed target position. End
position signal is issued when the target corridor is
reached.
Threshold value:
A 180° positioning may only take max. 230 ms.
Heavy (over 30 gr.) and extremely large components
may exceed this threshold.
Z axis unable to reach target position.
The axis shows an oscillating, permanent deviation of
position. The end position signal is not set within the 130
ms.
Cause:
Electrical defect in servo amplifier
=> replace servo amplifier.
Axis swings up due to electrical or mechanical defects in
head => replace head.