Subsystem version

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Subsystem description

Programming languages

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Scrapers Dafne Layout

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Hardware Layout

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Hardware Front-end

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The motors are controlled by drives called "MOTION SYSTEM INTERFACE DEVICE" assembled by "RAMTRON Computing".
The box is equipped with two Technosoft drives IDM240-5EI or IDM640-8EI , to operate 2 Stepper Motors

Motor description

2009/2011 series : SloSyn motor with incremental differential Encoder (400 steps/round)

2013 series : MAE motor with incremental differential Encoder HEDS 5645 (200 steps/round)

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Fig. SloSyn Motor connections

Mechanical description

"Encoder" view

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"Bolt" view

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ATTENTION! All scrapers have a mechanical gearbox (20:1.5); every 20 turns of the axis the Scraper moves by 1.5 mm.

Operations on Scrapers assembly with RAMTRON drive 

For relative movements, the positive steps (by Technosoft Software, Manual-Controller Labview, or Low-Level Devil) the Scraper must enter the chamber.

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Relative movement : positive Steps → Scraper IN

DCS Window description

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New features:

[ 1 ] "Ctrl On" function

[ 2 ] "By-Pass" function

[ 3 ] "Init" procedures

[ 4 ] "Bad communication" indicator

Operative mode

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Before making any movement, it is necessary to put the axis in Operational Mode using the "Oper" key Image Removed.
Oper key (similarly to the magnet control); this operation allows to give current to the phases of the single motor. 
It also guarantees safety on any unwanted movements once the set has been found.
"Flags for all elements" allows operation on all axes simultaneously.

Two operating modes can be used without distinction. One called Absolute Movement and one called Relative Movement (optimized for fine movement).

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Absolute Movement

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Relative Movement

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Enter the value and press "IN" or "OUT" in the desired direction

Single-axis homing

The "Home" button is positioned in the Advanced Display as shown in the figure.

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During the Homing phase, the Scrapers performs an automatic procedure that brings it into a completely open state, followed by a reset of the relative encoder,

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36 Name: cRIO1-for-DAFNE-orbit Image Added Slot 1 - NI 9205 S/N 01F231D7 ±10 V, 250 kS/s, 16-Bit, 16 differential/32 single-ended channels C Series Voltage Input Module The NI‑9205 performs single-ended or differential analog inputs, with four programmable input ranges for each. Slot 2 - NI 9209 S/N 01ED75D6 ±10 V, 500 S/s, 24-Bit, 16 differential/32 single-ended channels C Series Voltage Input Module The NI‑9209 performs single-ended or differential analog input. Test wiring Bergoz cable NI 9205 NI 9209 TEST A AI 0 ES207 B AI 1 PL201 C AI 2 TEST D AI 0 ES208 E AI 1 PL202 F AI 2 Position DAFNE hall, platform, crate 070
Expansion Module for CompactRIO For TSN (Time Sensitive Networking), 802.1AS network synchronization.	cRIO-9805 4-Port, 802.1AS Ethernet Switch Expansion Module for CompactRIO that provides additional ports with 802.1AS network synchronization capability over the 1000 Base-TX network interface. This module supports TCP/IP and UDP network protocols in DHCP + link-local, DHCP, static, and link-local network IP configurations.
Temporary development machine	NUC IP: 192.168.197.115 Remote Desktop user: developer Remote Desktop password: ***
Development machine	Windows Virtual Machine vwdantedev003 IP: 192.168.198.166 Remote Desktop user: dante Remote Desktop password: ***

Programming languages

DCS

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After the procedure, which takes a maximum of 2 minutes, see if the situation has been reached as shown in the figure:

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Otherwise contact the Control Group.

Save, load, and apply configurations

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To recover a configuration (it will be inserted in the Saved column [mm])

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Per recuperare una configurazione (verrà inserita nella colonna Saved[mm] )

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To apply the set in the Saved column [mm] to all the axes simultaneously.

End-run

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Devil Description "Dante Control System" (DCS)

The system was born to operate with scrapers that have the machine name SCHXXYYY, but the class that manages them is the MOV class,

therefore it has the following MOVXXYNY nomenclature.

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Classes: MOV, SER (not implemented; see "Note")

Devils : 689, 699

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Class 

Database record

DCS Commands

Performs the initialisation procedure

Performs the reset procedure

Moves the axis IN or OUT of the number of steps sent as a parameter

Moves the axis IN or OUT of the millimeters sent as a parameter

Writes passed value as a parameter to its register

Writes passed value as a parameter to its register

General purpose command

DCS Devil prefs

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At devil start-up put all the axis ON and then OFF

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Technosoft IDM module programming

EasyMotion Studio is an integrated development environment for the setup and motion programming of Technosoft intelligent drives and motors.

The output of EasyMotion Studio consists of a set of setup data and a motion program, which can be downloaded to the EEPROM of your Technosoft intelligent drive / intelligent motor,

or saved onto your PC for later use.

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Link for user manual : Easy Motion Studio by Technosoft

ATTENTION! Please, choose IDM240-5EI or IDM640-8EI > STEPPER > OPEN LOOP > With Incremental Encoder, in the picture below.

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IDM240-5EI or IDM640-8EI

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References

cRIO-9805 splash page

Designing Distributed TSN Ethernet-Based Measurement Systems

TSN Frequently Asked Questions (more links at the bottom of this page)

Manuals

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Analogue and Digital I/O connections

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Axis ID / Address configuration.

Cabling diagram of the Scrapers subsystem

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Example from the BTF Scraper System (May 2018) for one axis only.

End Run and Emergency cabling

We used a standard to easily identify the wiring for the end-run and emergency microswitches.

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References

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