05_Gantry_Siplace D4_en

1、Siplace D4 Gantry,2,Date,.Mathias Michel,Content,Description Gantry Pneumatic Connections on the Gantry Description Reference Run Description Travel Range Axis Board A364 Anticrash Function Gantry Head Distributor Gantry Distributor Vision Board Adapter Card for A364 Control Loop for Drives Dynamic

2、Main Axes,Contents,3,Date,.Mathias Michel,Gantry:,(1) Precision-cast gantry (2) Head holder (3) Incremental encoder (Read unit) for Y-axis scale (4) Primary part Y-linear motor (5) Motor bracket (6) Thrust bearing (7) X-motor unit (8) Toothed belt (9) Deflection unit (10) Y-axis friction bloc at opp

3、osite side (11) Y-axis friction bloc at gantry bearing side,1. Description Gantry,1. Description Portal,4,Date,.Mathias Michel,(1) Head holder (2) X-axis brake (3) Digital PCB camera with optical system (4) Incremental encoder (Read unit) for X-axis (5) 2x linear guide rails, each with a linear bear

4、ing (6) X-axis incremental scale (7) Elastomer spring 25x10.5x50 (8) Y-axis friction bloc (opposite side),1. Description Gantry,1. Description Portal,5,Date,.Mathias Michel,Gantry: X-axis With the help of a toothed belt drive, the rotary movement of the X-axis motor is directly converted into a leng

5、thwise movement of the placement head, in the X-direction. The linear guide rails under the X-axis guide the head assembly plate and the placement head along the X-axis. The X-motor is cooled by a fan at the Y-axis pickup position and the motor temperature is also monitored by a sensor. Y-axis A lin

6、ear motor positions the entire gantry (X-axis, head assembly plate and placement head) in the Y-axis direction. This linear motor consists of a primary and secondary part. The secondary part consists of permanent magnets, which are fastened lengthwise (Y direction) to the machine frame. The primary

7、part consists of inductors (motor windings), which are directly fastened to the gantry, in a casing. To accurately position the axes, the machine uses incremental scales (metal), which are attached between the linear guide rails (X-axis or under the secondary part, by the Y-axis). A read unit scans

8、the increments and transfers the data to the axis cards, for determination of the axis positions and regulation of the motors. Position monitoring - Monitoring the track signals (spacing between counter edges) - Monitoring position to the hardware switches, taking the speed into account - Monitoring

9、 the two Y-axes in one placement area - Each axis also has hardware end stops with bumpers.,1. Description Portal,1. Description Gantry,6,Date,.Mathias Michel,2. Pneumatikanschlsse am Portal,2. Pneumatic Connectors on the Gantry,The placement head is supplied with 5.0 bar compressed air from the pne

10、umatic unit. The 7-fold pneumatic hose is also used to cool the Y-axis motor. The X-axis motor is cooled by the traverse fan.,Input,7- fold Pneumatic hose (PK5) at the rear side feed in from top.,From Trailing cable / trailing hose,Silencer for exhaust air,Input:,Exhaust Air from the place-ment head

11、 Ventury system,Pneumatic hose (PK12),To C&P 12/6 Head,Front view (from the right side of the placement head),7,Date,.Mathias Michel,Reference run of main axes with the A364,3. Description Reference Run,General: When performing a reference run with bumper detection, proximity switch queries are no l

12、onger used. Instead, the reference run continues until the mechanical end stop (bumper) is reached. With the travel profil ref_home“ the axes recognize the end position for a defined time and change their direction and then a reference pulse is searching in a predefined range of the incremental scal

13、e. Starts reference run for main axes at all 4 gantries: 1. Reference motor commutation 2. Reference measurement system. After detecting the end position bumper, the axis searches for the zero pulse in a specific range. If the axis detects several or no zero pulses, it will stop and an error message

14、 will be issued. 3. Moving the zero point correction value. 4. Ends the reference run for the main axes and starts the Head height reference run.,3. Description reference run,8,Date,.Mathias Michel,3. Description Reference Run,Details of the reference run main axes with the A364,Description: 1. At f

15、irst the linear motor get power of all three phases and moves in a direction, depend on the magnetic field of the magnetic plates (north- and south pole). 2. Then switch off the current (Power) and change the phasing to 90and the motor is steady state. 3. Check, if there enough space to able to do t

16、he reference run (second gantry or buffer) 4. Now the axis board send nominal values and get back actual signals from the incremental encoder. If the nominal position and actual position the same, the Axis board send the next nominal value and so on. When the axis cant reached the position, so the S

17、W is waiting if there dont come higher actual values to the axis board. Now the Axis is on the bumper and change their direction.,3. Description Reference Run,9,Date,.Mathias Michel,3. Description Reference Run,Searching zero pulse,Description: 1. After the axis changed his direction, comes the area

18、 where is not allowed to search the zero pulse. 2. Then the incremental encoder looks for the zero pulse and check in an area of +/- 2,5mm is it the right zero pulse. 3. End refernce run,3. Description Referenzlauf,10,Date,.Mathias Michel,3. Description Reference Run,3. Description Reference Run,(1)

19、 Incremental encoder (Read unit) (2) Test plug for track signals (analog) (3) Incremental scale (4) Increments on the scale (1m resolution) (5) Zero pulse (6) Connection cable to gantry distributor/gantry head distributor,Incremental encoder on the X/Y axes: The new read units for the incremental sc

20、ales are much less sensitive to contaminants, since the increment reading window is larger and can therefore compensate contaminants on the scale up to 5mm. Benefit: Less maintenance (clean approx. once a month).,11,Date,.Mathias Michel,The travel range of the X and Y axes is automatically determine

21、d with the help of the SITEST program. This means that, during travel range calibration, the axis concerned moves as far as possible towards the minimum or maximum position, until it touches the hardware end switch (bumper) with the travel profile stand still control. To guarantee an appropriate saf

22、ety distance before the hardware end switch is touched, a certain distance is deducted from the set travel range. This enables the axis to brake in time, even when errors occur.,4. Description Travel Range,1. The end of the X-axis travel range is + or - 0.5 mm before the software end switch, which i

23、s itself 1.5mm before the bumper. A safety distance of 2.0 mm to the bumper is adequate, when the X- axis moves into this area with excessive speed. 2.The end of the Y-axis travel range is + or - 2.0 mm before the software end switch. The Y-axis travel range for a particular placement area is monito

24、red in one direction by the software end switch and a bumper. In the other direction, there is a permanent exchange of communication between the axes and their positions, via the SPI Bus. (see Description Anti crash Function),4. Description Travel Range,12,Date,.Mathias Michel,4. Description Travel

25、Range,4. Description Travel Range,Sector 3,Sector 2,Sector 4,Sector 1,Gantry 1,Gantry 4,Gantry 3,Gantry 2,Travel range X Travel range Y Minimum safety distance of 4mm between the gantries,1. This means that, during travel range calibration, the X-axis moves as far as possible towards the minimum or

26、maximum position, until it touches the hardware end switch (bumper) with a defined force (current). The travel ranges are calculated taking into account the relevant safety distance. 2. In placement areas 1 and 2 gantry 1/3 moves to the minimum position and gantry 4/2 to the maximum position, for ca

27、lculation of the Y-axis travel range. 3. The minimum safety distance between the gantries, during placement, is 4mm.,13,Date,.Mathias Michel,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 mean

28、s that the proximity switches used to monitor the travel range and the sensor for monitoring the gantry spacing are no longer required. Tasks a) Monitoring the travel ranges for the X and Y axes. b) Monitoring the distance of both Y-axes in a placement area c) Monitoring axis counter errors Evaluati

29、on of the actual axis position in the direction of the bumper, taking the speed into account. Evaluation of the actual positions of the own and partner gantries during gantry crash monitoring. Time-based monitoring of the counter pulses received (edge control).,5. Axis board A364 Anti crash function

30、,5. Axis Board A364 Anti-crash function,14,Date,.Mathias Michel,Anti crash Monitoring for the A364 The anti crash function is activated after the X/Y axes have been referenced. When the gantry axes are referenced for the first time, anti-crash monitoring will not be active, which is not so important

31、, due to the slow reference speed. After this, the actual positions of the partner gantry is exchanged via the SPI Bus. The following information is exchange between the Y axes: - Actual position of own gantry - Status information (reference state, anti crash monitoring state - active). A “gantry cr

32、ash” error is established by calculating the position difference and speed difference for both axes. A gantry crash error is signaled via the axis board and the CAN Bus. The servo is released for both axes and needs to be referenced again. Count error: If the axis board detects a “Fatal count error,

33、 the axis concerned will be released and the anti crash function disabled. The other axis is informed of this in the status information and will also disable the anti crash function. The released axis now needs to be referenced again, after which the anti crash function will be re-enabled for both a

34、xes.,5. Axis Board A364 Anti-crash function,5. Axis board A364 Anti crash function,15,Date,.Mathias Michel,5. Axis Board A364 Anti-crash function,5. Axis Board A364 Anticrash Function,16,Date,.Mathias Michel,6. Gantry Head Distributor,6. Gantry Head Distributor,View from above (connections),X18 step

35、per motor DP axis X19 stepper motor pick up position X20 stepper motor reject position X13/X14 flat cable to C&P head X11 Test connector for CAN Bus, SPI Bus, RS232 X30/X31 Flat cable to P&P head for D1 (D4 not in use) X5/X6 connector for 16 Bit processor (TQM) X24 Test connector for digital track s

36、ignals for X-axis“ X29 connector for Vision board X10 connector for vacuum measurement board X12 Motor DP axis X16 Reference proximity switch (not in use) X17 End position proximity switch for X-axis (not in use) X22/X21 One Wire Bus (not in use) X26 connector for CO sensor,17,Date,.Mathias Michel,6

37、. Gantry Head Distributor,6. Gantry Head Distributor,View from below (trailing cable connections),X1 Ribbon cable X2 Ribbon cable X3 Ribbon cable X4 not connected X15 connector for X-axis track signals X9 Ribbon cable,18,Date,.Mathias Michel,6. Gantry Head Distributor,6. Gantry Head Distributor,19,D

38、ate,.Mathias Michel,6. Gantry Head Distributor,6. Gantry Head Distributor,20,Date,.Mathias Michel,6. Gantry Head Distributor,6. Gantry Head Distributor,8-fold DIP switch on gantry head distributor,Key P0 gantry ID0 address switch 1 - gantry P1 gantry ID1 address switch 2 - gantry (3) S1 switch for D

39、LM head (delay switching on LB down Z-axis) (4) BL Enable bootstraploader for serial port (5) Reset CAN processor 16 Bit (TQM module) (6) C0 currently NO function C1 currently NO function S2 switch for DLM head (no current function),21,Date,.Mathias Michel,7. Gantry Distributor,7. Gantry Distributor

40、,Gantry distributor connections,X1/X2/X3 flat cable X4 motor Y-axis (U,V,W) X5 motor X-axis (U,V,W) X6 Temperature sensor for X-axis motor (need connect motor Temperature wire) X7 End position proximity switch for Y-axis (not in use) X8 Reference proximity switch for Y-axis (not in use) X9 Anticrash

41、 sensor (not in use) X10 Connector for track signals for Y-axis X11Test connector for Y-axis track signals X12 Temperature sensor for Y-axis (Not need connect motor Temperature wire, use board jumper),22,Date,.Mathias Michel,8. Vision Board,8. Vision Board,X8 connector for illumination and PCB camer

42、a video signals X3 connector for illumination and CO camera video signals LED Vcc 15V voltage supply for Vision board 8-fold DIP switch CAN processor 16 Bit (TQM module) Connector X22-X24 connection for video signals to trailing cable,23,Date,.Mathias Michel,8. Vision Board,8. Vision Board,8-fold DI

43、P switch on vision board,Key Boot mode - CAN processor 16 Bit via connector X11 Reset - CAN processor 16 Bit to subboard (3) P0 - address switch 1 - gantry (4) P1 - address switch 2 - gantry (5) WPE - Write protect enable (current disabled) (6) CAN R - switch for terminating resistance of CAN Bus Te

44、st 1 -CAN 1MBit/s - ON Test 0 - CAN IDs - ON,24,Date,.Mathias Michel,9. Adapter Card for A364,9. Adapter Card for A364,The A364 axis board has two processors (module 1 and module 2). This means that one processor control two axes. Module 1: Axis 1/2 Module 2: Axis 3/4,10,Bootstrap mode m1=module1/m2=module2 Diagnosis connector X6 Connection X3 SIPLACE axis tester Connection X2 axis test box Connection X1 to A364 Switch for 7 segment display between modules 1 and 2 Switch, selection module 2 axis 3 and 4 Switch, selection module 1 axis 1 and 2 CAN Bus connector (Sub-D) - BNC sockets Vnom. 1/