ARRIMOTION User’s Guide, 01/2004
Page 75 of 162
3.16. Operating the Panther dolly
Prereqisites
Prior to operating the dolly the setup and tests described in the hardware section of this manual
have to be carried out.
Special operation mode of the ACB-1
The ACB-1 will automatically assign the AUX-1 Axis to the drive and the AUX-2 axis to the lift axis.
Since the panther axes are not automatically detected the ACB-AUX1 and ACB-AUX2 axes have to
be added manually.
Before adding the axes make sure that the Panther dolly is connected and switched on.
Due to variations of motors used by Panther for the dolly there are several different sets of control
parameters that can only be assigned when the Panther dolly is switched on before adding the lift
axis.
When adding the axes the control loop parameters of AUX1 and AUX2 will automatically be set to
the parameters required for the Panther drive and lift axes.
ATTENTION: Do not alter any of the control loop parameters in the axis configuration menu since
this can lead to destruction / oscillation of the system.
Referencing methods
The panther dolly uses special referencing methods for its axes:
The track (drive) will first move towards the amplifiers side until the proximity switch that is mounted
close to the timing belt wheel of the gearbox detects the track end. Then a search sequence for the
precision detection of the position of the limit switch is carried out. Afterwards the dolly will run to the
drive motor sides direction until the other limit switch detects the opposite track end. Again a search
sequence is carried out and after completion the dolly will return to the middle of the track.
The lift axis will move down (or when lower than 12cm upwards) to find the limit switch that is
integrated in the panther. Then a precision search for the edge of the switch is carried out and the
lift column will afterwards position herself to the lowest position.
Switching between normal panther mode and motion control mode
The panther dolly is switched to Arrimotion mode as soon as the ACB-1 detects it.
When the dolly is in Arrimotion mode it will display some Error messages on its display that can be
ignored except the following:
- Amplifier overload: switch the dolly off and on again to recover. The lift axis has to be homed
again after doing so.
- Low Battery: switch off the dolly and replace the batteries.
To bring the dolly back to normal operation switch off the dolly, disconnect the Arrimotion cables
and switch it on again.
Содержание ARRIMOTION
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Страница 12: ...ARRIMOTION User s Guide 01 2004 Page 12 of 162 1 Introduction ...
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Страница 22: ...ARRIMOTION User s Guide 01 2004 Page 22 of 162 2 Setup ...
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Страница 80: ...ARRIMOTION User s Guide 01 2004 Page 80 of 162 4 Software Reference ...
Страница 120: ...ARRIMOTION User s Guide 01 2004 Page 120 of 162 5 Hardware Reference ...