00195166-0402_SM_D4_EN - 第214页
Settings Gantry Anticrash Function for the A364 Axis Card 214 Serv ice Manual SIPLACE D4 6.2.2.2 Anticra sh Monitoring for the A364 The anticras h function is activated after the X/Y axes have been refere nced. When the …
Settings
Anticrash Function for the A364 Axis Card Gantry
Service Manual SIPLACE D4
213
6.2.2 Anticrash Function for the A364 Axis Card
6.2.2.1 Anticrash Function for the A364
The anticrash function is no longer provided by the anticrash board but instead by the A364 software
(application 1). This means that the proximity switches used to monitor the travel range and the
sensor for monitoring the gantry spacing are no longer required.
Tasks:
– Monitoring the X and Y axis travel ranges
Evaluation of the actual position of the respective axis in the direction of the bumper, based on
the speed.
– Monitoring the distance of both Y axes in a placement area
Evaluation of the actual position of the own gantry and the partner gantry plus the respective
speed at gantry crash monitoring.
– Axis count error
Monitoring incoming count pulses (edge control) over time.
6-2: Travel range for X and Y axes (D4 and X4 shown here)
Legend
1. During travel range calibration, the X axis
moves as far as possible towards the
minimum or maximum position, until it touches
the bumper.
The travel ranges are calculated, taking into
account the relevant safety gap.
2. In placement areas 1 and 2, gantry 1/2 moves
to the minimum position and gantry 4/3 to the
maximum position, for calculation of the Y axis
travel range .
3. The minimum safety distance between the
gantries, during placement: minimum 4 mm.
Settings
Gantry Anticrash Function for the A364 Axis Card
214 Service Manual SIPLACE D4
6.2.2.2 Anticrash Monitoring for the A364
The anticrash function is activated after the X/Y axes have been referenced. When the gantry axes are
referenced for the first time, anticrash monitoring will not be active, which is not so important, due to the
low reference speed.
After this, the bit is set for the anticrash monitoring function and the actual position for the relevant
partner gantry is continuously communicated via the SPI Bus.
The following information is exchanged between the Y axes:
Actual position of the own gantry
Gantry speed
Status information (reference state, anticrash monitoring state ).
6.2.2.3 Error "Gantry Crash"
A “gantry crash” error is established by calculating the position difference and speed difference for both
axes. A gantry crash error is signaled via the axis card and the CAN Bus. The servo is released for both
axes and both need to be referenced again.
6.2.2.4 Count Error:
If the axis board detects a "fatal count error", the axis concerned will be released and the anticrash
function disabled. The other axis is informed of this in the status information and will also disable the
anticrash function. The released axis now needs to be referenced again.
after which the anticrash function will be re-enabled for both axes.
Settings
Anticrash Function for the A364 Axis Card Gantry
Service Manual SIPLACE D4
215
6.2.2.5 Anticrash Function - Procedure
6-3: Example of the sequence for the anticrash function in placement area 1