GY GZ axis setup with Jetter Motors

Autoflow MK4 GY&GZ axis setup with Jetter Motors

Difficulté

Medium Moyen

Durée

2 hour(s) heure(s)

Autoflow MK4, GY&GZ axis, Jetter Motors, Jetter GY_GZ_axis_setup_with_Jetter_Motors_GZAxis.jpg

Introduction

WARNING:

The Jetter motor on the GZ axis has a brake. Releasing the brake without control could be harmful/dangerous.

Use the Air Counterbalance rig to assist if necessary.

This assumes that the motors are connected to the Beckhoff drive and are free to move.

Étape 1 - Initial Preparation

Ensure that the profile support arm is held out of the way to avoid marking the blue infeed arm.

Étape 2 - GY Axis:

Check that proximity arm is in between the proximity sensor.

You should be able to turn the leadscrew by hand to move it.

Do not move the GY axis if the counterbalance is active.

Étape 3 - GZ Axis

Check that proximity arm is in between the proximity sensor

This has a brake and you can only  turn the leadscrew by hand if the counterbalance is fitted.

Étape 4 - Counterbalance

Counterbalance fitted under the carriage.

Adjust the pressure until you can turn the leadscrew of the GZ axis by hand. (6 bar)

Do not move the GY axis if the counterbalance is active

.

Étape 5 - CX5203 Firmware Upgrade

The firmware on the CX5203 must be high enough to be supported under Drive manager 2.

Because you have to remove and add drives back into a project, create a new project just to update the drives.

1. Expand I/O -> Devices-> Device (EtherCAT), Double click and open the Online tab.
2. Update the Twincat3 folder firmware from \\mainserver\Data\Design\TwinCAT3\Firmware
3. Check the Drive you are going to update is in OP state and right mouse click on it.
4. Select FIRMWARE UP. Navigate to the location of the firmware. Normally C:\TwinCAT\Functions\TE5950-Drive-Manager-2\Firmware\AX5000
5. Do the same process for the EEROM matching the version number.
6. Check that you have the XML definition file for the version of firmware in C:\TwinCAT\3.1\Config\Io\EtherCAT\Beckhoff AX5xxx
7. With this done you should be able to delete the drives and add them back and check under drive manager 2

Étape 6 - Drive Manager 2 and Support Jetter Files

Ensure Drive Manager 2 is installed (Version 1.1.60.0 minimum)

Copy the files from :

G:\Design\TwinCAT3\Other Motor Definition Files

GY Jetter JHN2-0028-18 SyncRot.dmmotor

GZ Jetter JHN2-0075-027 SyncRot.dmmotor

to C:\TwinCAT\Functions\TE5950-Drive-Manager-2\Database\Motors

Étape 7 - Basic Assumptions

The Motors are connected to an AX5203 Drive

GY on the A channel

GZ on the B channel

The Drive is labelled GY & GZ

The channels are mapped to AXIS with appropriate names

A Driver Manager 2 Project exists with the Drives in it.

Étape 8 - GY setup Motor

1. Double click on GY axis (Ch A ) in drive manager 2 . You will not see the information highlighted yet.
2. For the Motor, press Select then select the filter options.
3. Select Import.
4. Move to the folder C:\TwinCAT\Functions\TE5950-Drive-Manager-2\Database\Motors
5. Select the GY and Open
6. The parameters should all match the screen shots.

Étape 9 - GY Setup FeedBack

1. From the Manager Screen, press Select to "Feedback 1"
2. Under filter Select as shown (Hiperface being the important one)
3. Expand Sick#SKx and select SKM36- HFA0-S05 and OK

Étape 10 - GY Setup Scaling

1. Select the Scaling Tab
2. Adjust the settings Highlighted.
3. When checking the INVERT boxes you will get a request to activate it straight away. Do not bother as you have to activate all settings done later.
4. Before you save the NC Parameters look at the values in red. If the new value is different to the Online value of the screen shot de-tick this selected box so that it does not update.

Étape 11 - GY Setup Tuning

1. Select the Tune Drive tab
2. Set Kp = 0.02
3. Set Kp=85.2
4. Set Kv=25
5. Set Tn=3.0
6. Set Tn 0.8

...When entering the values type the number and press Ctrl+Enter to save the value. If the value is RED then it has not been saved.

Étape 12 - GY Setup Commutation step 1 P-0-150

1. Select th Advance tab
2. Select Parameter List
3. In search Type P-0-150
4. Check the settings
5. You may have to change the Feedback direction to Negative
6. If you change it remember to press download after the change
7. Expand the "Parameter channel"
8. Make sure that Commutation mode = Adjustable mechanical offset.
9. Make sure Adjust commutation offset (Mechanical) is 0.0 deg
10. Go to P-0-0057 Electrical commutation offset and set a value of 340 deg

Étape 13 - GY Setup Commutation angles(if necessary to change)

There are two forms of commutation set up, Mechanical and Electrical.

Mechanical is going to be 0 degrees and we are going to adjust the Electrical using the command P-0-0166

Étape 14 - GZ Setup

Repeat as for GY with the following changes:

1) Motor Set up - select the GZ jetter file

2) Feedback set to Sick#SKS36-HFA0-S05 (Single turn...)

3) Brake parameters should be as per image

4) Scaling as per GY

5) Tune drive settings as per image.

6) Commutation P-0-150 as per Image

7) P-0-0057 Electrical commutation offset and set a value of 69 deg

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