Commissioning a Beckhoff Axis

How to test the function of a Beckhoff axis during commissioning

Difficulté

Medium Moyen

Durée

2 hour(s) heure(s)

Axis, axes, Beckhoff, commissioning, Drive Commissioning_a_Beckhoff_Axis_servo_drives_axxxxx.jpg

Introduction

...Any stepper motor drives will need the EP7041 drive to be programmed first

Étape 1 - Set any stepper motor drives

Any stepper drives connected using an EP7041 will need to be set up according to the procedure.

Étape 2 - Check Axis IDs

Ensure the axis.mul file is set up with the same axis Ids as the TwinCAT project

Second number in axes.mul file

Étape 3 - Software

The following software setup needs to be done

• TwinCAT project setup with all io and axes linked
• Estop system reset
• Air on
• winMulti running in setup mode

Étape 4 - Ensure axis is enabled

• All 3 Enable signals
• 100% Override
• Axis Ready

Étape 5 - Set Rough Absolute position

On the functions tab, set the absolute position by eye.

This ensures the axis is in the correct place for test positioning

** Diagram for axis directions and distances **

Étape 6 - Check Axis Direction - move slowly and short distance

X and SX axis - positive is out of machine towards outfeed

Y axis - positive towards rear

Z axis - positive is up

R axis - positive is rotation downwards when looking from front of machine

SR Axis - positive is always anticlockwise looking from top

SY Axis - positive is

Relative move on axis slowly plus and minus to test direction

Direction changed in axes.mul, the parameter after the scaling factor

...Exit winmulti before changing direction in axes.mul. Save aes.mul then restart winMulti

Étape 7 - Check Scaling

There is a possibility that the scaling factor could be different on the machine. this depends on how similar the setup was on the machine that the axes.mul was copied from.

Changes in gearboxes or motors will affect the scaling factor#

Simply mark the axis, move it a known distance and ensure it is correct.

Scaling changed using the formula

new scaling factor = old scaling * distance moved / distance required

Étape 8 - Ensure the movement is clear

• X and SX - No tools left in track overnight
• Z axis supports removed and air balanced
• V - X axis beam outside the machining centre

Étape 9 - Reversing move - High Speed

Reversing move on axis.

Set speed to the maximum for each axis

Target positions to stay well within the limitations (you have only guessed the actual position)

Étape 10 - Move all axes in reversing mode

Shakedown to ensure all axes move smoothly at full speed

Étape 11 - Set the drive special parameters

https://stuga.dokit.app/wiki/Specialised_Settings_for_Beckhoff_Drives

Étape 12 - Test Datum Direction

• By hand, move every axis to roughly the middle of its possible travel or at least off the datum switch. This does not apply to the V axis on a ZX5 which works in reverse i.e the axis is 'home' when the switch is not made.
• In the drives tab on the service screen in WinMulti press 'Home' on the first axis. Keep a close eye on the direction of travel. If it is travelling away from the datum switch then it is moving in the wrong direction and needs to be stopped quickly.
• Repeat for the rest of the axes in turn. Wait for one axis to finish before starting another one.
• Make a note of which axes are homing in the wrong direction. These will need to be changed in the TwinCAT project.

Étape 13 - Changing the Datum Direction

• Close WinMulti and open the TwinCAT project.
• In the Motion tab in the TwinCAT project navigate to the Axes tab (1).
• Refer to the list you made earlier of the axes that are datuming in the wrong direction. Select the first axis that was wrong and navigate to the 'Enc' tab (2).
• Open the Parameters tab (3) and scroll down to 'Homing' (4)
• There are two parameters in there called 'Invert Direction for Calibration Cam Search' and 'Invert Direction for Sync Inputs Search'
• In order to change the homing direction 'Invert Direction for Calibration Cam Search' needs to be swapped from True to False or from False to True depending on what it is already on.
• In order to change it, use the drop down menu in the 'Offline value' column. When changed, the 'Online value' will change and turn red. Click download to turn it blue again.
• Whatever 'Invert Direction for Calibration Cam Search' is, 'Invert Direction for Sync Inputs Search' needs to be the opposite. Otherwise, the axis will continue to move in the same direction once the switch is made.

...More than one parameter cannot be changed at the same time so change one, click 'Dowload' then change another and click 'Dowload' again.

Étape 14 - Changing Reference Mode

• When using a Beckhoff system the GX, Y, Z, SX and SR Axes need to be set to 'Software Sync'. This is a more accurate method of datuming, meaning that the datum will be more consistent as when set to other reference methods, the datum can change by up to 10mm depending on the physical position of the datum switch.
• To change this, stay in the same 'Parameters' tab in the 'Homing' section and follow the same process as above, this time changing the 'Reference mode' (1) to 'Software Sync'.
• Repeat for all the above axes
• Save all' and 'Activate configuration'.
• Reopen WinMulti and test the homing directions again to double check.

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