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WAS.handling Windows Program

5.5.3 Create sequences

Create the drive sequences using the

Program – Sequences

dialog.

To enter the positions after the drive commands, the positions table can be opened right next to it.

For the example program the structure of the Pick sequence looks as follows:

Command

Option

Description

Output A1 = OFF

---

First, the gripper is opened resp. it is made sure that it is open. This
way a crash is avoided when picking up the work piece.

Wait Input1 = ON (msec)

500

Wait for input “Gripper open“. After 500ms the sequence is aborted
and an error message generated.

Move to Pos abs axis Z

Drive Z axis to position 1.

Output A1 = ON

---

Close gripper.

Wait Input1 = OFF (msec) 500

Input “Gripper open“ must switch to LOW. As soon as the signal falls
off, the system jumps to the next command. Only in case of a
malfunction will the waiting time run completely.

Wait Input2 = ON (msec)

500

Wait for input “Gripper closed“. After 500ms the sequence is aborted
and an error message generated.

Move to Pos abs axis Z

Drive Z axis to position 3.

END

---

Terminate sequence.

Содержание WAS.handling

Страница 1: ......

Страница 2: ...ude damages arising from death personal injury or damage to health or to such damages resulting from a grossly negligent or deliberate infringement of obligations Windows and Windows XP are registered...

Страница 3: ...m operation 6 4 1 File menu 7 4 2 Program menu 9 4 3 Options menu 16 4 4 Test menu 35 5 Example project 38 5 1 Establish connection between PC and drive 38 5 2 Configuration of axes 39 5 3 Parameteriz...

Страница 4: ...ved and information necessary for trouble free operation Keep this manual close to the device Make sure that all people working with or operating the device have access to this manual at all times Kee...

Страница 5: ...er interface digital inputs Customer interface digital outputs Motor line red Encoder line red Drive inputs Enable emergency shut off Quickstop 24V power supply Customer interface Profibus or CAN Devi...

Страница 6: ...he control computer It is supplied by the manufacturer of the drive Bernecker Rainer The PVI driver runs for two hours without a license After two hours a reminder is displayed After starting WAS hand...

Страница 7: ...communication between control system and the Windows computer Installation of the program WAS Handling 3 1 Installing the PVI driver Run the AS2523103_PviRT_Eng exe file in the PVI_Eng directory from...

Страница 8: ...5 WAS handling Windows Program 3 2 Installing the Windows program From the CD run the setup exe file in the Win_Prog directory...

Страница 9: ...ven during operation Several dialog boxes may be open simultaneously Very useful if you are for example programming sequences All parameters are stored on the slot CPU In most cases the data is immedi...

Страница 10: ...used For this however the interface IP address etc must be configured cf chapter 4 3 4 Ethernet configuration You can configure the connection using the File Connection menu For a serial connection on...

Страница 11: ...n a network can be searched and managed 4 1 2 Load and save parameters After a connection has been established all parameters that can be set with this program can be saved and recalled When loading p...

Страница 12: ...the position number you want to teach with the blue bar Then move the axis to the target position by pressing and step mode Double click the blue cursor in the Pos column to transfer the current posit...

Страница 13: ...trol system Use the PC PLC button to transfer the positions to the PLC There the positions are permanently stored Alternatively you could teach each position via one of the customer interfaces cf chap...

Страница 14: ...mands 1 32 see below on how to select commands 3 Save sequence to PLC PC PLC Right clicking on the Command xx column displays a menu to add or delete rows 4 2 3 Demo sequence The difference between th...

Страница 15: ...t1 ON msec Wait Input2 ON msec Wait Input3 ON msec Wait Input4 ON msec Wait Input5 ON msec Wait Input6 ON msec Wait Input7 ON msec Wait Input8 ON msec Wait Input1 OFF msec Wait Input2 OFF msec Wait In...

Страница 16: ...ned with define mark define mark A mark is set that can be jumped to using goto mark Link axis speed X Y Z All axes reach their target simultaneously This means that the speed is determined by the slo...

Страница 17: ...rom the variable if var_a no jump 1 line if var_b no jump 1 line if var_c no jump 1 line if var_d no jump 1 line If the selected variable is greater or equal than the value in Option the next command...

Страница 18: ...tion Step no Displays the active step Reference point When the machine knows its reference point TRUE is displayed Override This denotes a speed override over all This means that all speed values are...

Страница 19: ...atch function of the sequences is active Otherwise the last measured value will be displayed operating hours Operating hours counter commands If the command part counter 1 is called up in the sequence...

Страница 20: ...terizing all interfaces to customer PLC If the device type is newly selected all parameters are reset after a confirmation prompt and the PLC is restarted Setting up the digital inputs and outputs is...

Страница 21: ...digital inputs and outputs and to configure the handshake via Profibus The differentiation is done by the naming of each signal For example I 1 1 Input 1 1 and Bit 1 Profibus Bit 1 The various interf...

Страница 22: ...tions from the table or to select a sequence Not assigned functions are automatically set to 0 Search home A rising edge at this input triggers the axes to move to their reference points Sequence dire...

Страница 23: ...us mode In this mode the axes are permanently following the values from the Profibus It s similar to determining the positions using a potentiometer This function is not started with a rising edge ins...

Страница 24: ...ical to Store position no 2 Store top pos The position of the Z axis is added to the positions 1 and 2 and saved to position 3 and 4 Seq Pick Sequence no 1 is called up This was preset by the manufact...

Страница 25: ...g error in the Axis Part 4 dialog and Target window in the Taught positions table Ready to Start This output shows that the drive is ready for a new start command or that the last command has been exe...

Страница 26: ...rate The interface s bit rate can be 10Mbit 100Mbit or automatic Hint With a slow connection e g WLAN router it can be advantageous to fix the baud rate at 10Mbit INA node number Denotes the station...

Страница 27: ...h deactivated drive If only the Z axis is to be monitored the limits of the Y axis can be set to larger values than the overall travel 4 3 6 Error list The last 20 error messages can be displayed in t...

Страница 28: ...access an I O monitor displaying the current status HIGH LOW of each input and output bit It can also be used to force the bits The frame and the dialog field around the inputs Bit_A Bit_G facilitate...

Страница 29: ...ling Windows Program 26 Log The log is a cyclic buffer where the last 1 000 commands are stored This helps for example to detect errors in drive sequences This log can also be sent as a file to WEISS...

Страница 30: ...fic parameters Part 5 Live display of position speed and power consumption Part 1 To operate the HP140 two different sets of parameters are available that can be pre selected using the various interfa...

Страница 31: ...k A t_jerk of 0 0 sec means a very hard drive behavior A maximum t_jerk of 0 2 sec means a very smooth motion but at the expense of time of travel Values between 0 01 and 0 03 seconds are recommended...

Страница 32: ...29 WAS handling Windows Program Part 2 Here the control parameters are set These parameters must only be changed by a WEISS service technician...

Страница 33: ...sitioning the mechanical stops must be kept clean Contaminated stops result in faulty references method Currently only a reference drive to a mechanical stop a block is possible timeout The time allow...

Страница 34: ...each axis goes through the reference drive The axis with the lowest number is referenced first If the numbers are the same these axes are referenced simultaneously motor torque Gives the power with wh...

Страница 35: ...n target and real position window Profibus Target window valid for the Move to Pos Bus command encoder direction Direction of rotation encoder with reference to the motor phases limit switch If the mo...

Страница 36: ...r all 3 power phases are available to the drive If only one phase is connected deactivate this monitoring Group find motor phase method Method for determining the commutation angle Parameter must only...

Страница 37: ...ptions Use the Tools Options dialog to change the language of the user interface Furthermore you can switch to another user level allowing further parameterization The following languages are availabl...

Страница 38: ...The upper part of the dialog displays the current positions of the connected axes Below is a tab to operate all axes together or each axis separately All axes Step mode for each axis Reference drive f...

Страница 39: ...WAS handling Windows Program 36 Axis Y Z Preset a new target position Determination of com mutation angle Prerequisite Hardware enable HIGH Software enable LOW...

Страница 40: ...g and displaying motion parameters such as speed or power These functions are used for diagnostic purposes by a WEISS service technician but they can also be of interest to the operator Parameterizing...

Страница 41: ...ch on the control system and wait for the RUN LED of the CPU to show a continuous green light Start Windows program WAS handling and parameterize PC interface using the File Connection menu Select the...

Страница 42: ...irm by pressing ENTER Accelerations are adjusted automatically If you have already wired the Quickstop input terminal X1 2 of the drive switch to part 4 and specify whether the input should be HIGH or...

Страница 43: ...puts Enable Release of axis software enable Bit A Bit B Bit C Binary coded entry of a position or sequence number Search Home Start of reference drive Set Zero Set machine zero point Jog to Pos Step m...

Страница 44: ...dicates that the last command has been completed and a new one can be accepted Error An error message is queued Battery empty The lithium battery is low i e it must be replaced to ensure data safety O...

Страница 45: ...equently an input is defined for this Machine zero point The effort of configuring a machine zero point is only worth the while when a large number of different positions have to be taught e g a large...

Страница 46: ...ition By dividing this into two sequences waiting times caused e g by material feeds can be monitored and processed by the supervisory control The basic position drive must be carried out after the re...

Страница 47: ...nter the maximum speed with which the position may be reached into the field Max Speed Position window gives the distance from the position where the completion signal of the movement will be sent Thi...

Страница 48: ...5 WAS handling Windows Program 5 5 2 Set cam for output basic position Open the Tools Cam dialog Check Enable and enter a position window around the position that has been defined as the basic positio...

Страница 49: ...when picking up the work piece Wait Input1 ON msec 500 Wait for input Gripper open After 500ms the sequence is aborted and an error message generated Move to Pos abs axis Z 1 Drive Z axis to position...

Страница 50: ...te sequence Structure of sequence for Basic position drive Command Option Description Move to Pos abs axis Z 3 Drive lifting axis to position 3 Move to Pos abs axis Y 3 Drive horizontal axis to positi...

Страница 51: ...e the operation of the HP140 can be started the hardware enable inputs of both drives and the software enable input Enable must be present Open the dialog for manual mode using the Test Manual Mode me...

Страница 52: ...49 WAS handling Windows Program...

Страница 53: ...machine Therefore the control has been designed as slave for a supervisory control Where is the error message and how can it be acknowledged Error messages are displayed in the status bar in the manua...

Страница 54: ...nt at the terminal X1 2 or pulled to GND for LOW active wiring If the inputs on terminal X1 cannot be set check the GND wiring All inputs are galvanically separated which is why terminals 3 10 and 16...

Страница 55: ...d all wired inputs and outputs must be deleted in the I O configuration dialog or be replaced by Profibus bits If an I O module is connected check the CAN connection between ACOPOS and I O module Furt...

Страница 56: ...2 2 Narrowing down the error The last 20 error messages can be reviewed using the Tools Error list menu Structure of error messages Error numbers 1 99 Errors generated by the WAS software 210 Error AC...

Страница 57: ...og entry right after the failure occurred using the Tools Debug Log menu Take pictures of the wiring of the amplifier and the I O module The following data is necessary o Serial number of the HP140 o...

Страница 58: ...55 WAS handling Windows Program...

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