Subsystem version

Subsystem Description

Programming languages

Scrapers Dafne Layout

Hardware Layout

Hardware 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

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)

Fig. SloSyn Motor connections

Mechanical description

"Encoder" view

"Bolt" view

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.

Relative movement : positive Steps → Scraper IN

DCS Window description

Operative mode

Before making any movement, it is necessary to put the axis in Operational Mode using the "Oper" key .
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).

Absolute Movement

Relative Movement

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.

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,

of the counter (Position [mm]) and of the setting field.

If the procedure is not successful, that is:
1. hourglass (clessidra) removed
2. encoder value is not zero
3. "End Run OUT" in the OFF state
the system warns with an error detectable by log.

This procedure can be repeated, unless an "overcurrent" state occurs, due to the motor malfunction.
Warning, this procedure misaligns the values ​​written on DBFile relating to the home position of the resistive encoder (absolute),
causing a relative misalignment between the "Position" and "Absolute Position" values.

IMPORTANT! After this operation, it is recommended to report to the Control Group which will update the configuration files.

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

Otherwise contact the Control Group.

Save, load and apply configurations

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

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

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

End-run

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.

DCS MOV 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 the value passed as a parameter to the relative register

Writes the value passed as a parameter to the relative register

General purpose command

DCS Devil prefs

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.

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.

IDM240-5EI or IDM640-8EI

Analogue and Digital I/O connections

Axis ID / Address configuration.

Cabling diagram of the Scrapers subsystem

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.

References

Scrapers Dafne [draft]