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CK3M-CPU1



CK3W-AX2323



CK3W-GC2200

Programmable Multi-Axis Controller

Application Guide

Laser Application

O052-E1-01

Содержание CK3M-CPU 1 Series

Страница 1: ...CK3M CPU1 1 CK3W AX2323 CK3W GC2200 Programmable Multi Axis Controller Application Guide Laser Application O052 E1 01...

Страница 2: ...either is any liability assumed for damages resulting from the use of the information contained in this publication Microsoft Windows Excel and Visual Basic are either registered trademarks or tradema...

Страница 3: ...in this Manual Sections in this Manual 3 Application Guide Laser Application O052 1 2 3 Introduction Connection Procedures 1 2 3 4 4 How to Customize Various Settings Target Equipment and Device Confi...

Страница 4: ...of the Current Loop 3 26 3 4 4 Establishment of the Phase Reference 3 28 3 4 5 Open loop Testing 3 29 3 4 6 Position Loop Auto tuning 3 30 3 4 7 Position Loop Interactive Tuning 3 31 3 4 8 Tuning of t...

Страница 5: ...3 7 5 Confirmation of the Settings 3 58 Section 4 How to Customize Various Settings 4 1 globaldefinitions pmh 4 2 4 2 MotionOnTheFly pmh 4 3 4 3 MotorControl pmh 4 4 4 4 SensorControl pmh 4 7 4 5 Gal...

Страница 6: ...including Precautions for Correct Use before use The manuals provided by OMRON Corporation hereinafter OMRON and Delta Tau Data Systems Inc hereinafter DT are as shown below Manufac turer Cat No Model...

Страница 7: ...pears as a suffix to the catalog number on the front and back covers of the manual O052 E1 01 Cat No Revision code Revision code Date Revised content 01 May 2021 Original production Revision History 7...

Страница 8: ...outputs SIN COS waveforms at 1 Vpp Galvo Scanner A control device for controlling the angle of rotation of the mirror that reflects laser light for scanning the position where the laser light is irra...

Страница 9: ...to the sys tem No part or the whole of this document may be copied duplicated or redistributed without the per mission of OMRON Corporation The contents of this document are current as of May 2021 Th...

Страница 10: ...Precautions 10 Application Guide Laser Application O052...

Страница 11: ...1 Introduction This section provides an introduction of this document 1 1 Introduction 1 2 1 1 Application Guide Laser Application O052 1...

Страница 12: ...irm the connection of devices listed as the con nection targets To configure a system using instructions that are not described in this document obtain manuals or user s guides for devices and equipme...

Страница 13: ...2 Device Configuration This section describes the configuration of devices 2 1 Device Configuration 2 2 2 1 Application Guide Laser Application O052 2...

Страница 14: ...e Unit Cable CK3W CAG03A OMRON Switch Mode Power Supply 24 VDC S8VK S12024 OMRON Switch Mode Power Supply 5 VDC S8VK G03005 OMRON Switch Mode Power Supply 15 VDC S8FS G10015CD OMRON Solid State Relay...

Страница 15: ...0032APB0 G3RV SR500 D DC24 S8VK G03005 EE SX674 INC 5723 D0 0S IINC 5716 D0 0S intelli SCAN varioSCAN DSCB DSIB SL MFP A22 2 Device Configuration 2 3 Application Guide Laser Application O052 2 1 Devic...

Страница 16: ...2 Device Configuration 2 4 Application Guide Laser Application O052...

Страница 17: ...3 4 6 Position Loop Auto tuning 3 30 3 4 7 Position Loop Interactive Tuning 3 31 3 4 8 Tuning of the Y Axis 3 35 3 4 9 Confirmation of the Tuning Results 3 36 3 5 Setup of Overtravel Limit Switches an...

Страница 18: ...ices on page 3 21 q 3 4 2 Programming on page 3 22 q 3 4 3 Tuning of the Current Loop on page 3 26 q 3 4 4 Establishment of the Phase Reference on page 3 28 q 3 4 5 Open loop Testing on page 3 29 q 3...

Страница 19: ...ttings on page 3 49 q 3 6 5 Verification of the MOTF on the Actual Machine on page 3 50 s 3 7 Setup of the Laser Oscillator on page 3 51 Set up the laser oscillator q 3 7 1 Wiring of Devices on page 3...

Страница 20: ...3 Start up Power PMAC IDE If a dialog for checking access rights is displayed at the time of startup se lect the option for starting up 4 The Communication screen is dis played so specify the IP addre...

Страница 21: ...perform the initial settings for the Controller Precautions for Correct Use Since all memory is cleared by the initial settings be sure to save any data remaining in the Controller that you may need 1...

Страница 22: ...save is completed Save Completed is displayed in the Termi nal 3 Type the command in the Power PMAC IDE Terminal When the reset is completed PowerPMAC Reset complete is dis played in the Terminal 3 Co...

Страница 23: ...eas the remaining travel dis tance is input to the Galvo Scanner This enables high stroke and high responsivity to be compatible X Axis Z 1 Linear Motor X Galvano Motor X KdGain X Y Axis Z 1 Linear Mo...

Страница 24: ...Settings on page 4 1 Sys WpKey AAAAAAAA Segmentation Time Coord 1 SegMoveTime 0 1 1 Global Clock Configurations Gate3 0 PhaseFreq 10000 2 Gate3 0 ServoClockDiv 0 3 Sys PhaseOverServoPeriod 1 4 Sys Se...

Страница 25: ...s on page 4 1 LPF s Gain global KdgainX 0 00045 1 global KdgainY 0 00045 2 Scale Factors of Galvo Scanner global GalvoSfX 503316 4096 170 0 374 3 global GalvoSfY 503316 4096 170 0 374 4 Settings of Co...

Страница 26: ...mScript double cfrom_type double arg2 double arg3 double arg4 double arg5 double arg6 d ouble arg7 struct LocalData Ldata int icfrom_type int cfrom_type double C D L R rtn C D R only needed if doing K...

Страница 27: ...sMotor2 break case Inverse_Kinematics_State deltaXPos _KinPosAxisX prevLpfXPos deltaYPos _KinPosAxisY prevLpfYPos _KinPosMotor1 prevLpfXPos KdgainX deltaXPos _KinPosMotor2 prevLpfYPos KdgainY deltaYPo...

Страница 28: ...on 17 Write the text shown on the right to the In verse1 kin file open inverse 1 local ret ret CfromScript 1 0 0 0 0 0 0 close 18 In the Solution Explorer right click Kinematics Routines under PMAC Sc...

Страница 29: ...the MOTF 1 In the Solution Explorer right click Global Includes under PMAC Script Language and select Add New Item 2 In the Name box type VirtualMotor pmh and click the Add button 3 Open the VirtualMo...

Страница 30: ...AmpFault 0 Motor 1 Ctrl Sys PosCtrl Motor 1 ServoCtrl 1 Motor 1 MaxSpeed 0 Motor 1 FatalFeLimit 0 EncTable 2 type 1 EncTable 2 index1 0 EncTable 2 index2 0 EncTable 2 index3 0 EncTable 2 index4 0 EncT...

Страница 31: ...1 EncTable 4 index1 0 EncTable 4 index2 0 EncTable 4 index3 0 EncTable 4 index4 0 EncTable 4 pEnc1 Sys udata 13 a EncTable 4 pEnc Sys udata 13 a EncTable 4 ScaleFactor 1 Motor 4 pDac Sys udata 13 a Mo...

Страница 32: ...X 50 Y 50 X 50 Y 50 X 50 Y 50 X 0 Y 0 close 7 Download the project Right click on the Solution Explorer project name at the upper right of the Power PMAC IDE screen select Build and Download All Progr...

Страница 33: ...ommand in the Power PMAC IDE Terminal 11 Select Tools Plot from the Delta Tau menu 12 In the Step1 Possible Data Sources area select the check boxes for the fol lowing items Motor1 Motor2 Motor3 Motor...

Страница 34: ...a Processing area select the following items and click the button Motor 1 Cmd Position Motor 2 Cmd Position Motor 3 Cmd Position Motor 4 Cmd Position 3 Connection Procedures 3 18 Application Guide Las...

Страница 35: ...he 1 enable and the 1 start 1 com mand in the Power PMAC IDE Termi nal 15 Click the Upload Data button 3 Connection Procedures 3 19 Application Guide Laser Application O052 3 3 Setup of the MOTF 3 3 3...

Страница 36: ...i mum or the minimum command value of the Galvo Scanner open the global definitions pmh file and edit the KdgainX and KdgainY settings Then perform steps 7 to 17 again 19 If there is no problem with t...

Страница 37: ...23 CK3W GC2200 Connect the sections a b and c in the above figures as follows a Connection between the Controller and the servo amplifier Connect the amplifier connector of the CK3W AX2323 to the C2 c...

Страница 38: ...cable CK3W CAEA03A CK3W AX2323 Sinusoidal Encoder SIN Signal LIDA48 Signal Pin 1 Sinusoidal Encoder SIN 6 Sinusoidal Encoder COS 2 Sinusoidal Encoder COS 7 Encoder Power Supply GND 11 13 Pin 1 9 3 11...

Страница 39: ...Global Includes in the Solution Explorer 4 Write the following text to the MotorControl pmh file For details on the annotated settings refer to Section 4 How to Customize Various Settings on page 4 1...

Страница 40: ...ions Motor 1 PhaseCtrl 4 10 Motor 2 PhaseCtrl 4 10 Motor 1 pPhaseEnc Gate3 0 Chan 0 PhaseCapt a 11 Motor 2 pPhaseEnc Gate3 0 Chan 1 PhaseCapt a 11 Motor 1 PhasePosSf 2048 0 020 16384 36 12 Motor 2 Pha...

Страница 41: ...n 1 PackOutData 0 25 Current Loop Configurations Gate3 0 AdcAmpStrobe fffffc 26 Gate3 0 AdcAmpHeaderBits 2 27 Gate3 0 AdcAmpClockDiv 5 28 Gate3 0 AdcEncClockDiv 5 28 Gate3 0 Chan 0 PackInData 0 29 Gat...

Страница 42: ...and in the Power PMAC IDE Terminal 3 4 3 Tuning of the Current Loop Make the tuning of the current loop of the servo amplifier 1 Select Tools Tune from the Delta Tau menu to open the Tune screen 2 Sel...

Страница 43: ...Default IpbGain 0 Magnitude 1 000 bits Dwell Time 50 ms 4 Click the Current Step button The current step response is dis played 3 Connection Procedures 3 27 Application Guide Laser Application O052 3...

Страница 44: ...ease each of the gain values 3 4 4 Establishment of the Phase Reference Establish the phase reference of the linear motor 1 Type the 1 out 0 command in the Power PMAC IDE Terminal 2 Type the Motor 1 I...

Страница 45: ...the Power PMAC IDE Terminal 8 Perform steps 1 to 7 for Axis 2 Y axis in the same way 3 4 5 Open loop Testing Operate the linear motor on the open loop system to confirm that the program is correct 1 S...

Страница 46: ...then the test results as shown on the right are displayed If the motor does not rotate increase the Test Amplitude value Here the test results when Test Amplitude is set to 8 0 are shown 3 4 6 Positio...

Страница 47: ...ment button 5 Confirm that the Current Gains set tings reflect the Recommended Gains values and click the OK button 3 4 7 Position Loop Interactive Tuning Perform the position loop interactive tuning...

Страница 48: ...Tune screen 2 Set the following parameters FeedBack Gains Integral Gains Ki 0 Move Parameters Size 10 mu Time 1 000 ms 3 Click the Step Move button 4 Check the step response characteris tics 3 Connec...

Страница 49: ...crease the Integral Gain 1 Ki val ue Gradually increase each of the gain values After you adjust each parameter fin ish the tuning when the value of Natural Frequency has stopped in creasing 6 Select...

Страница 50: ...e correlation with the velocity increase the Kvff value If it has a negative cor relation decrease the Kvff value Time ms Command Velocity Time ms Following Error positive correlation Time ms Followin...

Страница 51: ...th the Acceleration or friction increase or decrease the Kaff or Kfff value Time ms Command Velocity Time ms Following Error positive correlation Time ms Following Error negative correlation 3 4 8 Tun...

Страница 52: ...oject file 1 Type the 1 hmz command in the Pow er PMAC IDE Terminal After that type the 1 j 10 command 2 Confirm that the X axis is moving Also confirm that the value of Position 1 is around 10 0 in P...

Страница 53: ...Explorer 8 Write the phase search commands shown on the right enable plc PhaseSearch 9 Open the plc1 plc file under PMAC Script Language PLC Programs in the Solution Explorer 10 Add the program shown...

Страница 54: ...ain settings to the PMAC as a program by writing them in the MotorControl pmh file as shown in steps 5 and 6 With the phase search commands written in pp_startup txt as shown in steps 7 and 8 phase se...

Страница 55: ...axis positive overtravel limit switch NLIM0 X axis negative overtravel limit switch PLIM1 Y axis positive overtravel limit switch NLIM1 Y axis negative overtravel limit switch The following shows an...

Страница 56: ...file For details on the annotated settings refer to Section 4 How to Customize Various Settings on page 4 1 Sys WpKey AAAAAAAA Overtravel Limit Switch Configurations Motor 1 pLimits Gate3 0 Chan 0 St...

Страница 57: ...s of overtravel limit switches operate correctly 1 Confirm that the following variables are all 0 Motor 1 PlusLimit Motor 1 MinusLimit Motor 2 PlusLimit Motor 2 MinusLimit 2 Confirm that Motor 1 PlusL...

Страница 58: ...e overtravel limit switch is 1 5 Confirm that Motor 2 MinusLimit of the Y axis negative overtravel limit switch is 1 3 5 4 Setup of Home Positions Set up the home positions 1 Move the X axis to the ho...

Страница 59: ...position and type the 2 hmz command in the Power PMAC IDE Terminal 4 Confirm that the following variables are correctly reflected Motor 2 HomePos Home trigger po sition Motor 2 HomeComplete 1 3 Conne...

Страница 60: ...nnect the XY connector of the CK3W GC2200 to the SL2 100 connector of the intelliSCAN with the dedicated cable CK3W CAG03A CK3W GC2200 XY IN Signal IntelliSCAN Signal Pin 1 XY IN 6 XY OUT 2 XY OUT 7 P...

Страница 61: ...In the Solution Explorer right click Global Includes under PMAC Script Language and select Add New Item 2 In the Name box type Galvano pmh and click the Add button 3 Open the Galvano pmh file under PM...

Страница 62: ...4 pDac Gate3 1 Chan 1 Dac 0 a 7 Motor 5 pDac Gate3 1 Chan 2 Dac 0 a 7 Motor 3 pLimits 0 8 Motor 4 pLimits 0 8 Motor 5 pLimits 0 8 Motor 3 FatalFeLimit 0 9 Motor 4 FatalFeLimit 0 9 Motor 5 FatalFeLimit...

Страница 63: ...he Output window 3 6 3 Setup of Control Commands Set the feedback signal of the Galvo Scanner to the current position 1 Type the Motor 3 pDac Sys Udata 0 a com mand in the Power PMAC IDE Termi nal 2 T...

Страница 64: ...1 SerialEncCtrl 8E800 command in the Power PMAC IDE Terminal 5 Type the Gate3 1 Chan 0 Dac 0 206353203 2 command in the Power PMAC IDE Terminal 6 Type the Gate3 1 Chan 1 Dac 0 206353203 2 command in t...

Страница 65: ...ion of the Settings Confirm that the settings of the Galvo Scanner are correct 1 Type the 3 j 65536 command in the Power PMAC IDE Terminal 2 Confirm that Gate3 0 Chan 0 Serial EncDataA 65536 or so is...

Страница 66: ...han 2 Serial EncDataA 65536 or so is displayed 3 6 5 Verification of the MOTF on the Actual Machine Confirm that the settings of the MOTF are operating correctly on the actual machine 1 Type the 1 sta...

Страница 67: ...Pin 9 of the MFP OUT 5 Pin 18 of the MFP OUT 6 Pin 22 of the MFP Connect the LASER terminal of the CK3W GC2200 to the MFP as shown below OUT 0 Pin 20 of the MFP OUT 1 Pin 21 of the MFP 3 7 2 Guide Las...

Страница 68: ...pioData 0 20 1 ptr MasterOscillator Gate3 0 GpioData 0 21 1 ptr GuideLaser Gate3 0 GpioData 0 22 1 4 Type the GuideLaser 1 command in the Power PMAC IDE Terminal and confirm that guide laser light is...

Страница 69: ...rm that the spot diameter of guide laser light is appropriate 9 Type the GuideLaser 0 command in the Power PMAC IDE Terminal and confirm that guide laser light is not out put 3 7 3 Programming Program...

Страница 70: ...stomize Vari ous Settings on page 4 1 Sys WpKey AAAAAAAA Q Switch Configurations Gate3 1 Chan 0 CompA 8000D000 1 Gate3 1 Chan 1 CompA 0 2 Laser Output Configurations Gate3 1 Chan 2 CompA FFF00 3 4 In...

Страница 71: ...are struct MotorData Mpt r volatile GateArray3 MySecondGate3IC MySecondGate3IC GetGate3MemPtr 1 double X_now X_now pshm Motor 1 DesPos pshm Motor 3 DesPo s double Y_now Y_now pshm Motor 2 DesPos pshm...

Страница 72: ...nceCountOn Gate3 1 Chan 1 CompB 50 0 1 414 1 Gate3 1 Chan 1 CompB 50 0 1 414 400 2 Gate3 1 Chan 1 CompB Gate3 1 Chan 2 CompB 80000000 3 12 Right click on the Solution Explorer project name at the uppe...

Страница 73: ...Type the MasterOscillator 1 com mand in the Terminal 5 Type the Gate3 1 Chan 2 CompB C000000 command in the Terminal 6 Confirm that the laser light is output 7 Type the Gate3 1 Chan 2 CompB 0 command...

Страница 74: ...rer 2 Write the program to use for processing to the prog1 pmc file 3 Right click on the Solution Explorer project name at the upper right of the Power PMAC IDE screen select Build and Download All Pr...

Страница 75: ...leted is displayed in the Termi nal 6 Type the 1 start 1 command in the Power PMAC IDE Terminal 7 Confirm that the processing is complet ed correctly 3 Connection Procedures 3 59 Application Guide Las...

Страница 76: ...3 Connection Procedures 3 60 Application Guide Laser Application O052...

Страница 77: ...to customize various settings 4 1 globaldefinitions pmh 4 2 4 2 MotionOnTheFly pmh 4 3 4 3 MotorControl pmh 4 4 4 4 SensorControl pmh 4 7 4 5 Galvano pmh 4 8 4 6 LaserControl pmh 4 10 4 7 TCRConfigur...

Страница 78: ...putation 3 Gate3 0 ServoClockDiv Specify the division ratio of the servo clock The smaller this value the more accurate the processing of position loops etc but the larg er the computation load on the...

Страница 79: ...ntrol 2 KdgainY Specify the above filter s coefficient for the Y axis 3 GalvoSfX Specify the galvano motor command position bit relative to the trav el distance of the laser along the X axis in the co...

Страница 80: ...owing error that stops operation at the axis x To improve safety set a smaller value Contrarily if any following error prevents operation from starting set a larger value 10 Motor x PhaseCtrl For axis...

Страница 81: ...ed the rated value 19 Motor x PwmSf Specify the coefficient of Direct PWM output The full range is 16384 This is normally set to less than 95 of the full range so that the duty cycle of the PWM wavefo...

Страница 82: ...ontrol command sent from the Con troller to the servo amplifier according to the Direct PWM standards Change this value according to the specifications of the servo ampli fier 27 Gate3 0 AdcAmpHeaderB...

Страница 83: ...on 1 Motor x pLimits Specify the register to be referenced by the overtravel limit switch 2 Motor x LimitBits Specify which bits of the register No 1 are to be referenced by the overtravel limit switc...

Страница 84: ...of the CK3W GC2200 for XY output is the output destination 8 Motor x pLimits Set the overtravel limit of galvano control This time specify 0 to dis able it 9 Motor x FatalFeLimit Specify the amount of...

Страница 85: ...dge Validate Tx data Reserved For Command Position 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0...

Страница 86: ...28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 8 0 0 0 D 0 0 0 DutyCycle PWMPeriod Reserved PWM Frequency...

Страница 87: ...e bellow illustrates the condition used in this manual where laser light is output at home trav els around the square and returns to the home again 50 0 50 0 50 0 50 0 X axis Y axis 31 30 29 28 27 26...

Страница 88: ...4 How to Customize Various Settings 4 12 Application Guide Laser Application O052...

Страница 89: ......

Страница 90: ...60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com...

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