| Table of Contents | ||
|---|---|---|
|
Subsystem version
| Developer | Document Owner | Version | Release date | Update | Status | ||||
|---|---|---|---|---|---|---|---|---|---|
2020.2 |
|
|
Subsystem Description
| Type | Description | |
|---|---|---|
| CPU type (Low-Level demon) | Windows Virtual Machine | |
| CPU name (Low-Level demon) | ___ | |
| Communication lines | BTF1 Moxa Line : 192.168. | __.__ (Rack __) - (SWITCH name ______ port __)190.29 - (port 1) |
| BTF1 | TB01 Vertical (2 Axis), TB02 Horizontal (2 Axis), TB03 Vertical (2 Axis), TB04 Horizontal (2 Axis), TB05 Horizontal ((2 | Axis - not under controlAxis), TGT001 (1 Axis) |
| BTF2 | TB06 Horizontal (2 Axis | - not under control)), TGT002 (1 Axis) |
(characterization 20-21 April 2021)
Line's characteristic | PID | Enc. Rel. | Encoder Pot. | Note | |||||
Scraper Name | Axis | R[ohm] | L[mH] | Kp | Ki | Corsa [mm] | Out [V] | In [V] | |
SLT TB 005 L | 20 | 0.91 | 3.35 | 4.36 | 0.47 | 39.04 | 6.33 | 2.36 | (1) |
SLT TB 005 R | 21 | 0.98 | 3.45 | 4.40 | 0.47 | 39.51 | 6.33 | 2.36 | (1) |
SLT TB 006 L | 25 | 1.02 | 4.41 | 4.31 | 0.47 | 40.00 | 6.61 | 2.52 | (2) |
SLT TB 006 R | 24 | 1.00 | 3.37 | 4.27 | 0.46 | 39.23 | 6.37 | 2.34 | (2) |
TGT TB 002 | 22 | 0.91 | 3.22 | 4.17 | 0.45 | 99.57 | 7.39 | 1.13 | (2) |
(1) BTF Line 1
(2) BTF Line 2
Programming languages
| Language | Required Add ons/Plugings/Extensions/Libraries |
|---|---|
| LabVIEW 2010 (64-bit) - Windows | TML Lib (Technosoft Motion Library) |
Hardware layout
BTF line 1 scraper value
| Scraper | TB4-R | TB4-L | TB2-R | TB2-L | TB3-U | TB3-D | TB01-U | TB01-D | TGTTB001 | TB5-L | TB5-R |
|---|---|---|---|---|---|---|---|---|---|---|---|
| Axis number | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 20 | 21 |
| Multiplicative Compensation Factor (3) |
| 20 | 20 | 20 | 20 | 1 | 1 | 1 | 1 | 1 | 1 | 1 | |
| mm/rev | 1,5 | 1,5 | 1,5 | 1,5 | 1 | 1 | 1 | 1 | 1 | 1,5 | 1,5 |
| Encoder Lines | 800 | 800 | 800 | 800 | 1600 | 1600 | 1600 | 1600 | 1600 | 16384 | 16384 |
| Range | 28,3 | 23,8 | 26,25 | 28,05 | 26,1 | 26,25 | 25,3 | 24,1 | 150 | 39,04 | 39,52 |
| Max Speed | 200 | 200 | 200 | 200 | 100 | 100 | 50 | 50 | 100 | 100 | 100 |
BTF line 2 scraper value
| Scraper | TGTTB002 | TB6-R | TB6-L |
|---|---|---|---|
| Axis number | 22 | 24 | 25 |
| Multiplicative Compensation Factor (3) | 1 | 1 | 1 |
| mm/rev | 1,5 | 1,5 | 1,5 |
| Encoder Lines | 16384 | 16384 | 16384 |
| Range | 99,57 | 39,23 | 40 |
| Max Speed | 100 | 100 | 100 |
Note:
(3) Inverse Mechanical Reduction Factor
Hardware FrontHardware Front-end
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
Old series: SloSyn motor with incremental differential Encoder (400 steps/round)
...
Cabling diagram of the Scrapers subsystem
Cabling of new line BTF Scraper system (May 2018) for one axis only.
Drivers Configuration
STEP 1:
Connect the designed scraper to the computer
STEP 2:
Select the axis number
(control if the axis number is correct by checking the bottom right corner "AxisID")
STEP 3:
Create a new project by going: New> Close Frame Drive > IDM240-5EI CAN> 2 Phase stepper> Open Loop> Load sensor - None or Incremental
and for last select Setup
STEP 4:
Configure the uSwitch like in the image
STEP 5:
From the set up window start the Test Phase Connection
After the test is ended start the Identify Resistance and Inductance then save the new values
STEP 6:
Click drive setup to change window
start Power supply detect and set start current
after start the Tune and test
If the test fail, will be needed to adjust the response value till the test reach a positive result ( our configuration is works the best with a 1800 response value)
STEP 7:
Once all the test and configuration is ended click the button on top of the app to export the configuration
after a quick load press the red "X" next to the export button and save the project