00193631-0602.pdf - 第17页
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 move d completely to the so ftware limit switches and an erro r message appea rs o…
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.
3 Construction and mode of operation Adjustment Instructions MTC 2
3.3 Initial setup 12/2007 Edition
18
3.3 Initial setup
The MTC 2 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 MTC 2 has been delivered, the following steps must be performed before the first time
the machine is used:
Check the basic height and if necessary set it (see the User Manual).
Check that the power supply has been set correctly (see section 6 "Converting the power sup-
ply").
Check that all axes can move freely.
Check the toothed belt for correct tension and damage: see
section 4.1 "Belt tension" for the lifting axes or
section 5.1 "Belt tension" for the feed axes
If there is evidence of damage to the toothed belt, it must be replaced (see the Service Instruc-
tions).
Prepare the SIPLACE station (see the Modification Instructions).
Dock the MTC 2 to the SIPLACE station (see the User Manual).
Switch on the SIPLACE station and the MTC 2.
Log on to the station computer software at the Service access level.
Start SITEST.
In the basic view, switch to the menu for the MTC 2.
Perform a reference run on the MTC 2.
Perform a reference run on the SIPLACE station.
Perform a functional test on the safety equipment by carrying out each of the following actions
individually during subsequent reference runs:
Press the EMERGENCY STOP button.
Open the protective doors.
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.
Undo the relevant action and confirm the error message.