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
Spindles
invert300Hz=1
InverterOkHigh=1
Input In_InvOk mapped to 90 and configured in alarms
ringType=Mk3with DP
Draft
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