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Table of contents S tudent Guide (FSE) SI PL ACE X Series and X4I Edition 01/2009 EN 6 4.5.1.3 Function Description .............. ................. ................ ................ ................ ................ ...…

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Table of contents
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN
5
3.3 Room for Your Sketches and Notes.................................................................................................. 93
4 Communication and Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
4.1 Overview.............................................................................................................................................. 95
4.1.1 Networking Overview ............................................................................................................................ 96
4.2 Networking Address........................................................................................................................... 97
4.2.1 Checking the Network Addresses......................................................................................................... 97
4.2.1.1 Station Computer Box PC................................................................................................................... 97
4.2.1.2 Vision Computer Box PC .................................................................................................................... 98
4.3 CAN Bus ............................................................................................................................................ 100
4.3.1 General Structure................................................................................................................................ 101
4.3.2 CAN Bus Protocol ............................................................................................................................... 102
4.3.2.1 11 Bit Identifier.................................................................................................................................. 102
4.3.2.2 CAN Bus Arbitration.......................................................................................................................... 103
4.3.2.3 Errors on the CAN Bus ..................................................................................................................... 104
4.3.3 CAN Bus Structure.............................................................................................................................. 104
4.3.3.1 CAN Bus Concept Siplace X2 .......................................................................................................... 105
4.3.3.2 CAN Bus Concept SiplaceX3 ........................................................................................................... 106
4.3.3.3 CAN Bus Concept SiplaceX4 ........................................................................................................... 107
4.3.3.4 CAN Bus Concept Siplace X4I ......................................................................................................... 108
4.3.3.5 CAN-Bus Concept with One Wire Bus for SIPLACE X4I.................................................................. 109
4.3.3.6 CAN-Bus Concept with One Wire Bus e.g. SiplaceX3 ..................................................................... 110
4.3.4 CAN Bus Processor Board C&P Head ............................................................................................... 111
4.3.4.1 CAN Bus-Controlled Functions on the C&P20A Head ..................................................................... 111
4.3.4.2 CAN Bus-Controlled Functions on the CPP Head............................................................................ 112
4.3.4.3 CAN Bus-Controlled Functions on the Twin Head............................................................................113
4.3.5 CAN Bus Communication with Axis Controller ................................................................................... 114
4.3.6 Communication SIPLACE Vision ........................................................................................................ 115
4.3.6.1 Communication During Image Acquisition........................................................................................ 116
4.3.7 Communication DP Drives, C&P20A and CPP Head ......................................................................... 117
4.3.8 Communication CPP Head ................................................................................................................. 118
4.3.8.1 Communication to the DP Drives...................................................................................................... 118
4.3.8.2 CAN Bus Communication to the DP Drives...................................................................................... 118
4.3.8.3 EEPROMs on CPP Head ................................................................................................................. 119
4.3.8.4 Data Transfer.................................................................................................................................... 119
4.3.9 X Feeder - Communication ................................................................................................................. 120
4.3.10 CAN I/O Module (SLIO) SIPLACE X................................................................................................... 121
4.3.10.1 DIP Switch on Main and Subdistributor (for Version -03) .................................................................122
4.3.10.2 I/O Module, Main Distributor (Inputs) [new from B323: 03046225-01] ............................................. 123
4.3.10.3 I/O Module for Main Distributor (Outputs)......................................................................................... 124
4.3.10.4 I/O Module, Subdistributor (Inputs) [new: 03046226-01] ..................................................................125
4.3.10.5 I/O Module, Subdistributor (Outputs) ................................................................................................ 126
4.3.11 Tape Cutter and Nozzle Changer - Communication ........................................................................... 127
4.4 Axis Control....................................................................................................................................... 129
4.4.1 Position Measuring System ................................................................................................................ 129
4.4.1.1 Track Signals and Axis Zero Pulse Signal ........................................................................................ 129
4.4.1.2 Zero Pulse at the Track Signal Encoder ........................................................................................... 131
4.4.2 Axis Dynamic Basics........................................................................................................................... 132
4.4.3 Axis controller ..................................................................................................................................... 137
4.4.3.1 Axis Controller A364 ......................................................................................................................... 137
4.4.3.2 Servo Amplifier TBS .. and SDS ... ................................................................................................... 138
4.4.3.3 SIPLACE Diagnosis Adapter A364 [03051220-01]........................................................................... 139
4.5 One Wire Bus .................................................................................................................................... 140
4.5.1 One Wire Bus - Structure.................................................................................................................... 140
4.5.1.1 Basic Structure ................................................................................................................................. 140
4.5.1.2 One Wire Bus in the SIPLACE X ...................................................................................................... 141
Table of contents
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN
6
4.5.1.3 Function Description ......................................................................................................................... 142
4.5.1.4 One Wire Bus Components .............................................................................................................. 143
4.5.2 Function Control and Troubleshooting for Service Work .................................................................... 145
4.5.2.1 Subsystem Query in PA1.................................................................................................................. 145
4.5.2.2 Function Control with Caccia ............................................................................................................ 150
4.5.3 One Wire Bus SIPLACE X Machine ................................................................................................... 154
4.5.3.1 One Wire Communication................................................................................................................. 154
4.5.3.2 Overview of One Wire Bus Initialization............................................................................................ 155
4.6 Board IDs........................................................................................................................................... 156
4.6.1 What are Board IDs? .......................................................................................................................... 156
4.6.1.1 Why Have We Introduced Board IDs? .............................................................................................. 156
4.6.1.2 Function ............................................................................................................................................ 156
4.6.1.3 Error Description for Missing IDs: ..................................................................................................... 156
4.6.2 Reading the Board IDs out of the EEPROM....................................................................................... 159
4.6.2.1 Reading Out the Board Type ID via the Gripper Menu..................................................................... 159
4.6.2.2 Reading and Writing the Board IDs with CAN Commands............................................................... 163
4.6.3 Troubleshooting If Two Board Type IDs are Missing ..........................................................................165
4.6.4 CAN Commands for Reading and Writing the Board IDs ................................................................... 166
4.6.4.1 Error Messages TQM Module (Excerpt) ........................................................................................... 167
4.7 Room for Your Sketches and Notes................................................................................................ 168
5 Energy and Compressed Air Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
5.1 Overview............................................................................................................................................ 171
5.2 Power supply..................................................................................................................................... 172
5.2.1 Naming Convention of Connectors and Cables.................................................................................. 173
5.2.2 Main distributor (X series from Ma. No. B326).................................................................................... 174
5.2.3 Subdistributor (X series from Ma No. B326) ....................................................................................... 175
5.2.4 Power supply ...................................................................................................................................... 175
5.2.4.1 Voltages at the Main Power Supply.................................................................................................. 177
5.2.4.2 Input Voltage..................................................................................................................................... 178
5.2.4.3 Transformer 1 ................................................................................................................................... 179
5.2.4.4 Transformer T2 ................................................................................................................................. 180
5.2.4.5 Voltages in the Power Supply Unit After Switching On.....................................................................181
5.2.4.6 DC/DC Converter in Main Power Supply .......................................................................................... 182
5.2.5 Power Supply for Box PC Unit............................................................................................................ 183
5.2.6 Power Supply for Axis Unit ................................................................................................................. 184
5.2.7 DC/DC Converter Vision Section 2 ..................................................................................................... 185
5.2.7.1 Power Supply Tape Cutter................................................................................................................ 185
5.2.7.2 Voltage Supply for Hood Fans.......................................................................................................... 186
5.2.8 Safety and Signaling Circuit................................................................................................................ 187
5.2.8.1 Emergency STOP Circuit (Safety Circuit) ......................................................................................... 187
5.2.8.2 Control Loops ................................................................................................................................... 188
5.2.8.3 How Does the Emergency STOP Circuit Function? ......................................................................... 190
5.2.9 Protective Contactor Combination K6 (SSK) ...................................................................................... 191
5.2.9.1 About SSK K6................................................................................................................................... 191
5.2.9.2 How is SSK K6 Energized? .............................................................................................................. 192
5.2.9.3 Pressing the ON Button .................................................................................................................... 192
5.2.9.4 How Does the Protective Contactor Combination (SSK) Latch? ...................................................... 192
5.2.10 Various Signals................................................................................................................................... 193
5.2.10.1 Software Release (Software Enabled).............................................................................................. 193
5.2.10.2 OK Signal Safety Loop ..................................................................................................................... 193
5.2.10.3 Control On Signal ............................................................................................................................. 194
5.2.11 Power Distribution............................................................................................................................... 194
5.3 Pneumatic System............................................................................................................................ 196
5.3.1 Pneumatic Unit.................................................................................................................................... 196
5.3.2 Overview Pneumatic System .............................................................................................................. 198
Table of contents
Student Guide (FSE) SIPLACE X Series and X4I
Edition 01/2009 EN
7
5.3.3 Switch On Sequence Pneumatic Units ............................................................................................... 199
5.3.4 Main Valve X59 for Machine Components.......................................................................................... 200
5.3.5 Proportional Valve, Proportional Regulator X58 ................................................................................. 201
5.3.6 Safety Valve X60 ................................................................................................................................ 202
5.3.7 Compressed Air Supply to Tape Cutter .............................................................................................. 202
5.3.8 Compressed Air Supply to the Conveyor............................................................................................ 203
5.3.9 Compressed Air Supply to the Docking Unit (Changeover Table)...................................................... 203
5.3.10 Bulk Case System and Nozzle Changer............................................................................................. 203
5.3.11 Compressed Air Supply to the C&P20A ............................................................................................. 204
5.3.11.1 Z Axis Safety Mode........................................................................................................................... 204
5.3.12 Compressed Air Supply CPP.............................................................................................................. 205
5.3.13 Compressed Air Distribution Twin Head ............................................................................................. 205
5.3.14 Cooling the X Axis Motors................................................................................................................... 206
5.3.15 Cooling the Y Axis Motors for Placement Area 1/2............................................................................. 206
5.4 Room for Your Sketches and Notes................................................................................................ 207
6 Gantry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209
6.1 Overview............................................................................................................................................ 209
6.1.1 Mechanical Structure of X and Y Axes ............................................................................................... 210
6.1.1.1 Description........................................................................................................................................ 211
6.2 Gantry Reference Run (with A364).................................................................................................. 211
6.2.1 Reference Run Sequence at X and Y Axis (A364) ............................................................................. 211
6.2.2 Searching for the X and Y Commutation Position (A364)................................................................... 212
6.2.3 Reference Run at X and Y Axis (A364) .............................................................................................. 212
6.3 Settings.............................................................................................................................................. 213
6.3.1 Travel Ranges and Speed Monitoring ................................................................................................ 213
6.3.2 PCB Boards on the Gantry ................................................................................................................. 214
6.3.2.1 Head Interface C500......................................................................................................................... 215
6.3.2.2 Vision Board (Digital Version 02)...................................................................................................... 217
6.3.2.3 CAN Processor Board 16 Bit ............................................................................................................ 218
6.3.2.4 Check the DIP Switches ................................................................................................................... 219
6.3.3 Anticrash Function for the A364 Axis Card......................................................................................... 220
6.3.3.1 Anticrash Function for the A364 ....................................................................................................... 220
6.3.3.2 Anticrash Monitoring for the A364 .................................................................................................... 220
6.3.3.3 Error "Gantry Crash" ......................................................................................................................... 220
6.3.3.4 Count Error: ...................................................................................................................................... 220
6.3.3.5 Anticrash Function ............................................................................................................................ 221
6.3.4 Mechanical Adjustment of the Incremental Encoder...........................................................................221
6.4 Track Signals and Zero Pulse.......................................................................................................... 222
6.4.1 Checking the Zero Pulse Signal.......................................................................................................... 222
6.4.1.1 Measuring the Analog Zero Pulse Signal ......................................................................................... 222
6.4.1.2 Measuring the Digital Zero Pulse Signal........................................................................................... 224
6.4.2 Checking the Track Signals ................................................................................................................ 226
6.4.2.1 Analog Track Signals........................................................................................................................ 226
6.4.2.2 Digital Track Signals ......................................................................................................................... 227
6.5 Axis Control....................................................................................................................................... 228
6.5.1 Axis Control Assemblies ..................................................................................................................... 228
6.5.2 Checking the X Axis Dynamics........................................................................................................... 228
6.5.2.1 Measurement Setup with SAT Box and A364 ..................................................................................229
6.5.2.2 Comparison of X Axis Travel Profile for C&P20A, CPP and Twin Heads......................................... 230
6.5.2.3 Travel Time Table for C&P20A X Axis.............................................................................................. 231
6.5.2.4 Travel Time Table for CPP X Axis .................................................................................................... 231
6.5.2.5 Travel Time Table for Twin Head X Axis .......................................................................................... 231
6.5.3 Checking the Y Axis Dynamics........................................................................................................... 232
6.5.3.1 Measurement Setup ......................................................................................................................... 232