Microline withTwinCAT3 Setup Notes

Notes on issues encountered with Microline transfer to TwinCAT3 setup

In_OCUT1 / LOADD

The infeed 2007 does not have a LOADD sensor.

Confusion over how the code can handle this. It must have worked ok on other infeeds like this (eg Z046).

When investigating in the code, errors found on function blocks fbMotorConvey on inputs to

iArrayError

bNoSensorsCovered

iMeasureErrorMsg

These normally connect to fbArrayMeasure function block, but this does not exist in MHInfeed_2007

Alarms

Disabled alarm for Ipull out - this was a misleading error when it is loading to gripper

Tuning X axis drive

Following error on X axis stopped the axis on loading

When tuning took place, the bar was not clamped

Tried a reversing move with clamps on.

At Speed 10, following error was 0.2

At speed 50, following error was 1

At speed 100, the following error was 2mm

This shows a proportional increse in following error as spee increases

Tried changing drive P-Gain, no effect

Changed 3.02 Kff Gain (feed forward. Was on zero

Following error dropped proportionally to ff gain 0-100%

Set at 100%. Seems to easy
en none 0

Draft