00193631-0602.pdf - 第16页
3 Construction and mode of operation Adjustment Instructions MTC 2 3.2 Reference position run 12/2007 Edition 16 3.2 Reference position run When the MTC 2 is switched on, a reference pos ition run needs to be perform ed …
Adjustment Instructions MTC 2 3 Construction and mode of operation
12/2007 Edition 3.1 Incorporating the MTC in the SIPLACE station
15
3.1.3 EMERGENCY STOP interface
The MTC 2 is incorporated in the safety circuit of the SIPLACE station. This provides feedback in
the form of a protective circuit voltage of 24 V. This protective circuit voltage switches the relevant
combination circuit breaker and thus the 400 V of the inverters for the Masterdrives.
The contactors switch off the servo voltage (400 V) and also immediately switch off the power
supply to the brake.
The signaling contact (make contact) of the EMERGENCY STOP button is connected to the input
of the SIPLACE safety signalling system. The break contact interrupts the 24 V protective circuit
voltage of the SIPLACE machine.
If the EMERGENCY STOP circuit in a machine is interrupted (EMERGENCY STOP button), the
Masterdrives of the MTC 2 trip. Both systems are then not under power.
When one of the two protective doors of the MTC 2 is opened, only the control voltage of the
relevant tower falls.
3 Construction and mode of operation Adjustment Instructions MTC 2
3.2 Reference position run 12/2007 Edition
16
3.2 Reference position run
When the MTC 2 is switched on, a reference position run needs to be performed on the servo
axes, as for the SIPLACE station. If the MTC 2 remains switched on when the SIPLACE station
is switched off and back on, it reports 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.
Adjustment Instructions MTC 2 3 Construction and mode of operation
12/2007 Edition 3.2 Reference position run
17
NOTE
If the axes are not moved completely to the software limit switches and an error message appears
on the screen for the motor controllers (Masterdrive), one of the axes must be calibrated again.
- Calibrating the zero offset of the relevant axis: see
section 4.2.5 "Calibrating the zero offset" for the lifting axes or
section 5.2.5 "Calibrating the zero offset" for the feed axes
- Calibrating the end positions of the axis: see
section 4.3.2 "Checking and calibrating the end positions" for the lifting axes or
section 5.3.2 "Checking and calibrating the end positions" for the feed axes.
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.