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MTC2 Installation MTC 2 Construction and mode of operation S tudent Guide (FSE) SIPL ACE X Series and X4I Edition 01/2009 EN MTC2 557 14.2.4 Installation MTC 2 The MTC2 ca n only be run in conjunc tion with a SI PLACE st…
MTC2
Construction and mode of operation Reference position run
Student Guide (FSE) SIPLACE X Series and X4I
MTC2 Edition 01/2009 EN
556
14.2.3 Reference position run
When the MTC2 is switched on, a reference position run needs to be performed for the servo axes, as
for the SIPLACE station. If the MTC2 remains switched on when the SIPLACE station is switched off and
back on, it will report that it has already been referenced.
During the reference position run, both towers move into their reference positions simultaneously. The
two feed axes are moved first and then the two lifting axes.
Each axis first moves to its physical home position then checks the position of the two software limit
switches and finally stops in the software zero position (this corresponds to the relevant zero offset of
the physical home position). The positions adopted by the axes are then defined as reference and
calibration positions.
The reference run for an individual axis is performed as follows:
The current zero offset is sent to the Masterdrive.
The controller queries the "neutral position" of the light barrier and waits for a rising edge.
If the axis is already positioned in the light barrier, it issues a "HIGH" signal. The axis moves in a
positive direction until the light barrier delivers a falling edge. The axis then moves in the negative
direction again.
If the axis is not positioned in the light barrier, it issues a "LOW" signal. The axis moves in a negative
direction.
The axis moves in the negative direction until the light barrier delivers the necessary rising edge and
the first rotor zero position (index) has been found.
This procedure is necessary, since the zero pulses of the resolver angular encoder are repeated with
each revolution and thus appear several times within the possible travel range.
The axes move to both software limit switches in the maximum and minimum positions to within a
few millimeters, to check the saved data.
Finally, they move to the current zero offset.
When the axes have moved to all four reference positions, the SIPLACE station searches for the two
fiducials on the feed axes. The position which is found is used later to define the pick-up position of
components. The fiducials must be available in the MVS file of the line computer.
ATTENTION:
If the axes are not moved completely to the software limit switches and an error message
appears on the screen for the motor controllers (master drive), one of the axes must be
calibrated again.
MTC2
Installation MTC 2 Construction and mode of operation
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN MTC2
557
14.2.4 Installation MTC 2
The MTC2 can only be run in conjunction with a SIPLACE station and not as an independent machine.
The settings (machine data) are saved in the battery backed memory of the machine controller and are
only valid for this particular machine.
When the MTC2 has been delivered, the following steps must be performed before the machine is used
for the first time:
X Check the basic height and if necessary set it (see the User Manual).
X Check that the power supply has been set correctly (see Chapter 13.3.14 or Adjustment Instruction).
X Check that all axes can move freely.
X Check the toothed belt for correct tension and damage: See settings guide
X If there is evidence of damage to the toothed belt, it must be replaced (see the Service Instructions).
X Prepare the SIPLACE station (see Chapter 13.2.6).
X Dock the MTC2 onto the SIPLACE station (see the User Manual).
X Switch on the SIPLACE station and the MTC2.
X Log on to the station computer software at the Service access level.
X Start SITEST.
X In the basic view, switch to the menu for the MTC2 .
X Perform a reference run on the MTC2 .
X Perform a reference run on the SIPLACE station.
X Perform a functional test on the safety equipment by carrying out each of the following actions
individually during subsequent reference runs:
X Press the EMERGENCY STOP button.
X Open the protective doors.
X Leave the tower locking mechanism open before the reference run.
There must be an EMERGENCY STOP and a corresponding error message must be output on the
screen.
X Undo the relevant action and confirm the error message.
MTC2
Construction and mode of operation Modules of the controller
Student Guide (FSE) SIPLACE X Series and X4I
MTC2 Edition 01/2009 EN
558
14.2.5 Modules of the controller
14.2.5.1 C167 controller board
The controller program (firmware) on the C167 controller board is saved in a flash EPROM. The version
number can be queried from the SITEST program.
The machine data and the set-up are saved in RAM. After the machine is switched off, the data is held
by a buffer battery (buffer time approx. 3.5 years), which is also located on the C167 controller board. In
addition, an electrolytic capacitor ("Goldcap") with a capacity of 1 F is fitted. This saves the data for
approximately 8 hours when the backup battery is changed.
The "neutral position" light barriers and the software limit switches are wired to the Masterdrives and are
made available there via the CAN bus of the controller.
Tasks:
Communicating with the station computer of the SIPLACE station
Controlling the machine via the firmware
Exchanging data with the axis controllers
Saving the firmware (flash EPROM)
Saving the machine data and the set-up (battery-buffered RAM)
Saving machine-specific parameters, such as serial numbers (in the EEPROM)
Providing a realtime clock
Inputs for sensors
Displaying operating statuses and error statuses via LEDs
Two RS232 interfaces (maximum transfer rate: 115.2 kBaud/s)
COM 1: Test interface for debugging service
COM 2: Free
14-24: Modules of the controller
Legend
1. C167 controller board
2. Masterdrives (shown for tower 1)
3. 24V power supply (behind the combination
circuit breakers)
4. Electronics board
5. Mounting plate