00196044-05 - sg x und x4i fse_en.pdf - 第393页
Twin Head Axis Control of Twin Head Z Axis Axis Control S tudent Guide (FSE) SIPL ACE X Series and X4I Edition 01/2009 EN T win Head 393 9.6.4.4 Checking the Force Sensor Function SITEST X Select TWIN Head ==> Axis fu…
Twin Head
Axis Control Axis Control of Twin Head Z Axis
Student Guide (FSE) SIPLACE X Series and X4I
Twin Head Edition 01/2009 EN
392
Twin head - Z axis in free space (downwards)
Legend
Target position: 54200 digits); = camera focus range
Positioning type: absolute waiting period: 100 ms
Twin head - Z axis in free space (downwards)
Legend
1 Torque-forming motor current 500 mV/20 ms 3 Positioning time approx. 57 ms
2 Position deviation 500 mV/20 ms
1 Position deviation 500 mV/20 ms 3 Positioning time approx. 57 ms
2 Torque-forming motor current 500 mV/20 ms
Twin Head
Axis Control of Twin Head Z Axis Axis Control
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN Twin Head
393
9.6.4.4 Checking the Force Sensor Function
SITEST
X Select
TWIN Head
==>
Axis functions
X Position the gantry over the conveyor edge. ==>
Select segment
==>
Z axis
==>
Axis dynamics
==> edit and accept values:
Travel profile down: 5 (2 N), 7 (5 N and 10 N), 25 (15 N) travel profile up: always 2
Waiting period up/down: 500 ms
Force down: 2, 5, 10, or 15 N
X Press the START button if required.
Evaluation of oscillograms:
The placement force is calculated from several factors, such as the Z axis weight, a motor constant,
linear guidance friction and the torque-forming motor current. The spring pretension and force sensor
values also influence the placement force.
This means that, if these values are not entered correctly, it will not be possible to reach the set
placement forces.
By using the oscillograms, the torque-forming motor current value during the end position signal can be
used as a reference point for the placement force.
If the placement force is 5 N, the oscillogram should show a torque-forming motor current value
(measured against GND) of near 500 mV, after the end position signal (1 V = 1 A). The factors specified
above are not considered here, leading to relatively high tolerances.
Twin head - view of Z axis with 1 N placement force (downwards)
Legend
1 Torque-forming motor current 500 mV/20 ms 3 Position deviation 5 V/20 ms
2 Amplitude approx. 100 mV 4 Positioning time approx. 78 ms
Twin Head
Axis Control Axis Control of Twin Head Z Axis
Student Guide (FSE) SIPLACE X Series and X4I
Twin Head Edition 01/2009 EN
394
Twin head - view of Z axis with 2 N placement force (downwards)
Legend
Twin head - view of Z axis with 5 N placement force (downwards)
Legend
1 Torque-forming motor current 500 mV/20 ms 3 Position deviation 5 V/20 ms
2 Amplitude approx. 200 mV 4 Positioning time approx. 78 ms
1 Position deviation 5 V/20 ms 3 Amplitude approx. 500 mV
2 Torque-forming motor current 500 mV/20 ms 4 Positioning time approx. 78 ms