00194440-10_SM_X-Series_Customer_en.pdf - 第312页

Settings Axis Control 5.2.5 TwinHead 312 Service Manua l SIPLACE X Series TwinHead - Z axis with 2N placeme nt force (downwards) 1. Torque- forming m otor curre nt 500 m V/20 ms 2. Amplitude approx . 200 mV 3. Position d…

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Settings
5.2.5 TwinHead Axis Control
Service Manual SIPLACE X Series 311
Checking the Force Sensor Function
SITEST
► Select TwinHead ==> Axis functions
► Position the gantry over the conveyor edge. ==> Select segment
==> Select 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
► 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, lin-
ear guidance friction and the torque-forming motor current. The spring pretension and force sensor val-
ues also influence the placement force.
This means that, if these values are not entered correctly, it will not be possible to reach the set place-
ment 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 (meas-
ured 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.
TwinHead - Z axis in free space (upwards)
1. Position deviation 500 mV/20 ms
2. Torque-forming motor current 500 mV/20 ms
3. Positioning time approx. 57 ms
TwinHead - Z axis with 1N placement force (downwards)
1. Torque-forming motor current 500 mV/20 ms
2. Amplitude approx. 100 mV
3. Position deviation 5 V/20 ms
4. Positioning time approx. 78 ms
Settings
Axis Control 5.2.5 TwinHead
312 Service Manual SIPLACE X Series
TwinHead - Z axis with 2N placement force (downwards)
1. Torque-forming motor current 500 mV/20 ms
2. Amplitude approx. 200 mV
3. Position deviation 5 V/20 ms
4. Positioning time approx. 78 ms
TwinHead - Z axis with 5N placement force (downwards)
1. Position deviation 5 V/20 ms
2. Torque-forming motor current 500 mV/20 ms
3. Amplitude approx. 500 mV
4. Positioning time approx. 78 ms
TwinHead - Z axis with 10N placement force (down-
wards)
1. Torque-forming motor current 500 mV/20 ms
2. Amplitude approx. 1000 mV
3. Position deviation 5 V/20 ms
4. Positioning time approx. 65 ms
Settings
5.2.5 TwinHead Axis Control
Service Manual SIPLACE X Series 313
5.2.5.4
5.2.5.4 Axis Control of TwinHead D Axis
Axis Control of TwinHead D Axis
TwinHead - Z axis with 15N placement force (down-
wards)
1. Torque-forming motor current 500 mV/20 ms
2. Amplitude approx. 1500 mV
3. Position deviation 5 V/20 ms
4. Positioning time approx. 70 ms
The D-axis is driven by a 2-phase AC motor, fed from
60 V DC voltage. Axis control is via 2 control signals from
the VC3 controller (phase shift 90°) I nom "W" and I nom
"U".
1. Axis controller board A363 with VC3 controller (VC =
Velocity Commutation) or A 364
2. Control signals
3. Servo amplifier
4. LEDs on servo amplifier:
5. 2 Phase AC motor.
6. Between the motor and the incremental encoder
there is a fixed mechanical connection.
7. Read unit: transmits the exact position of the axis
(track signals).
The servo board controls the AC motor directly.