e-drives Handbook and Technical Documentation …...The CD should autostart when inserted into a...
Transcript of e-drives Handbook and Technical Documentation …...The CD should autostart when inserted into a...
680073 en
04/04
e-drives
Handbook and
Technical
Documentation
TP 800
Order no.: 680073
Edition: v1.0 (04/04)
Authors: Martin Williams, Thomas Häckel, Edward Gasper, David Hoey
Support: Stefan Grabein, José Leonett, Gerhard Nölle, Hans-Juergen Eberhardt
Layout: 30.06.04 Wolfgang Schreiner, David Hoey, Martin Williams
© Festo Didactic GmbH & Co. KG, 73770 Denkendorf/Germany, 2004
Internet: www.festo.com/didactic
E-mail: [email protected]
The copying, distribution and utilization of this document as well as the
communication of its contents to others without expressed authorization is
prohibited. Offenders will be held liable for the payment of damages. All rights
reserved, in particular the right to carry out patent, utility model or ornamental
design registration.
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 3
1. Introduction___________________________________________________ 4
2. TP 801 Servo motor equipment set ________________________________ 5
3. TP 802 Stepper motor equipment set ______________________________ 6
4. Extension Kits TP 801-E & TP 802-E _______________________________ 7
5. Using the CD __________________________________________________ 8
6. Assembly of servo motor equipment set___________________________ 10
7. Assembly of stepper motor equipment set _________________________ 13
8. Exercises ____________________________________________________ 15
8.1 Guidelines to exercises _________________________________________ 15
8.2 Servo motor training aims_______________________________________ 16
8.3 List of exercises for servo motor training system_____________________ 17
8.4 Stepper motor training aims _____________________________________ 21
8.5 List of exercises for stepper motor training system___________________ 22
9. Training preparation___________________________________________ 26
Contents
4 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Welcome to the Festo Didactic e-drives TP 800 Training Packages.
There are 4 Training Packages available:
1. TP 801 Servo motor equipment set (Order no. 539016)
2. TP 802 Stepper motor equipment set (Order no. 539015)
3. TP 801-E Extension kit servo (Order no. 539017)
4. TP 802-E Extension kit stepper (Order no. 539739)
Components Quantity Order no.
Either
Profile plate 700 x 350 mm 1 162386
Power supply 1 162417*
Or
Profile plate 350 x 250 mm 2 159333
Rubber feet (pack of 4) 1 158343
Profile plate connectors 2 162228
Power supply 1 162417*
* This is the part number for a power supply with European plug – refer to the Festo Didactic catalog for
the relevant part number for other countries.
1. Introduction
Recommended accessories:
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 5
Fig. 1: Assembled servo motor equipment set.
Components Quantity Order no.
Axis 1 678837
Motor 1 678860
Controller 1 538703
Cable 1 683032
Simubox 1 683011
Systainer Maxi 1 539732
Technical Documentation 1 680073
CD-ROM 1 680074
2. TP 801 Servo motor equipment set
The TP 801 Servo motor
equipment set (Order no.
539016) consists of:
6 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Fig. 2: Assembled stepper motor equipment set.
Components Quantity Order no.
Axis 1 678837
Motor 1 678835
Controller 1 678838
Adaptor 1 683033
Cable 1 683031
Systainer Maxi 1 539732
Technical Documentation 1 680073
CD-ROM 1 680074
Programming software 1 170097
3. TP 802 Stepper motor equipment set
The TP 802 Stepper motor
equipment set (Order no.
539015) consists of:
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 7
The extension kits allow a user with servo or stepper to upgrade to a complete kit for
both servo and stepper with no duplication of generic hardware.
Components Quantity Order no.
Motor 1 678860
Motor Controller 1 538703
Cable 1 683032
Simubox 1 683011
Systainer size 3 1 526716
Components Quantity Order no.
Motor 1 678835
Controller 1 678838
Adaptor 1 683033
Cable 1 683031
Systainer size 3 1 526716
Programming software 1 170097
4. Extension Kits TP 801-E & TP 802-E
The TP 801-E Extension kit
servo (Order no. 539017)
consists of:
The TP 802-E Extension kit
stepper (Order no. 539739)
consists of:
8 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
The CD provided with this handbook was designed as a user-friendly interface to the
courseware and handbooks and manuals. It lists and organises the courseware into
exercises to be conducted on the hardware.
The CD should autostart when inserted into a DVD/CD drive. If it doesn’t autostart,
then open Windows Explorer and browse the CD. Double click the index.htm file
found in the root directory of the CD.
Use the navigators at the top and on the right of the page to explore the CD and its
contents.
The CD will work on any PC with a DVD/CD player but requires the following software
to view everything correctly:
• Internet Explorer (5 or higher) as browser
• Adobe Acrobat Reader
Note: When you select a slideshow from the CD (refer Fig. 3), the slide will open
within your browser as shown in Fig. 4. The slides are pdf and to open them in full
screen, go View > Full Screen as shown in Fig 4.
Fig. 3: Selecting a slideshow from a training outcome page on the CD.
5. Using the CD
5. Using the CD
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 9
Fig. 4: Opening the slide in full screen.
To revert back to a normal browser window, select the Restore button on the top
right of your window.
Fig. 5: Select Restore to revert to normal viewing in a browser.
10 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
The following diagrams indicate assembly of the servo motor equipment set.
3
1
2
Fig 6: Assembly of servo motor equipment set.
Item no. Components
1 Axis
2 Controller
3 Motor
6. Assembly of servo motor equipment set
6. Assembly of servo motor equipment set
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 11
4
5
Fig 7: Assembly of servo motor equipment set.
Item no. Components
4 Power cable
5 Encoder cable
6. Assembly of servo motor equipment set
12 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
LIM+
8 (2x)
LIM-
9
6
7
Fig 8: Assembly of servo motor equipment set.
Item no. Components
6 Mains plug
7 Test box
8 Limit switches
9 Power supply 24 V
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 13
The following diagrams indicate assembly of the stepper motor equipment set.
3
2
1
Fig 9: Assembly of stepper motor equipment set.
Item no. Components
1 Axis
2 Controller
3 Motor
7. Assembly of stepper motor equipment set
7. Assembly of stepper motor equipment set
14 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
4 (2x)
5
6
LIM-
LIM+
Fig 10: Assembly of stepper motor equipment set.
Item no. Components
4 Limit switch
5 Motor cable
6 Power supply 24 V
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 15
Each exercises builds on the previous one to achieve the overall learning outcomes
and therefore maybe considered as “one big exercise”. However, they have been
organised into outcomes to facilitate learning and integration into a training course.
The resources allow the instructor to progressively introduce the key concepts of
stepper and servo motor system installation, application and programming.
The outcome defines what the participant is expected to be able to do upon
successful completion of the exercise.
The Reason explains why the outcome is important for achieving the overall
objectives of the course and most importantly for the participant – "What is in it for
me?"
The resources provide the exercise and solution documents as well as courseware to
assist in the theory associated with the outcome.
The exercise is designed to achieve the learning outcome. The solution is provided
because due to safety and the inherent nature of stepper and servo motors, learning
is best done by participants implementing the provided solution.
Note that the exercise is provided on a separate page so the instructor can discuss
possible solutions before handing out the actual solution.
To support the practical exercises, slideshows are provided that may be used by the
instructor as required. They may be projected in the classroom and discussed or
printed and handed out as resources.
8. Exercises
8.1 Guidelines to exercises
Outcome
Reason
Resources
Exercises and solutions
Slideshows
8. Exercises
16 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
On the completion of these exercises, you can:
• Assemble a servo motor system
• Commission a servo system
• Conduct a reference move
• Use speed control
• Use position control
• Set ramps
• Use torque control
• Use electronic gears/synchronous speed control
• Describe the benefits and applications of each feature
The features and benefits of servo motor control need to be understood (and
experienced if possible) in order to be able to design, install, commission, maintain
and troubleshoot applications in industry.
8.2
Servo motor training aims
Objectives & outcomes
Reason
8. Exercises
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 17
Assembly of servo motor system.
You are able to correctly and safely assemble a servo motor system.
The correct and safe assembly of a servo motor system will familiarise you with the
various components of a system, the purpose of these components and how they
are connected together to form a functioning system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Commissioning of servo system and introduction to Wmemoc.
You are able to correctly and safely commission a servo system using the main
commissioning functions of Wmemoc.
The correct and safe commissioning of a stepper system will familiarise you with the
software and associated settings that must be made before using the system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
8.3
List of exercises for servo
motor training system
Exercise 1
Outcome
Reason
Notes
Exercise 2
Outcome
Reason
Notes
8. Exercises
18 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Speed control in a servo motor system.
You are able to set the speed in a system and can explain the benefits of speed
control.
For safety reasons controllers include the speed control feature. You need to know
how to adjust it. When commissioning, it is good practice to test the motor in the
directions of rotation with the functions of the speed control.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Initiating a reference move.
You are able to conduct a reference move on a servo system.
To work accurately, servo systems need a reference point from which all positions
are calculated. This is done after commissioning before normal operation.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 3
Outcome
Reason
Notes
Exercise 4
Outcome
Reason
Notes
8. Exercises
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 19
Setting system positions, speeds and ramps.
You know how to define position sets and three ways of selecting positions.
The positions, speeds and ramps have to be defined before they can be called in a
program. Therefore it is important that you know how these parameters are defined
and stored in the system. It is also important to know
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Torque control.
You know how to control the torque of a system and know how to use torque control
in applications.
Torque control is an important feature and benefit that offers safety to man, machine
and products. It is important that you are familiar with it and how to make best use
of it.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 5
Outcome
Reason
Notes
Exercise 6
Outcome
Reason
Notes
8. Exercises
20 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Use of Speed Synchronous Positioning.
You are familiar with the electronic gear of the system and can explain the concept
of synchronous movement and the electronic gear and know how to use it with
Wmemoc.
You are familiar with speed synchronous positioning and the features and benefits it
offers.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 7
Outcome
Reason
Notes
8. Exercises
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 21
On the completion of these exercises, you can:
• Assemble a stepper motor system
• Create a simple WinPISA program
• Commission a stepper system using WinPISA
• Describe the advantages and disadvantages of current reduction and how to set
it
• Conduct a reference move
• Use speed control
• Use position control
• Set ramps
The features and benefits of stepper motor control need to be understood (and
experienced if possible) in order to be able to design, install, commission, maintain
and troubleshoot applications in industry.
8.4
Stepper motor training aims
Objectives & outcomes
Reason
8. Exercises
22 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Assembly of stepper motor system.
You are able to correctly and safely assemble a stepper motor system.
The correct and safe assembly of a stepper motor system will familiarise you with
the various components of a system, the purpose of these components and how
they are connected together to form a functioning system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Commissioning of stepper system and introduction to WinPISA.
You are able to correctly and safely commission a stepper system using the main
commissioning functions of WinPISA.
The correct and safe commissioning of a stepper system will familiarise you with the
software and associated settings that must be made before using the system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
8.5
List of exercises for stepper
motor training system
Exercise 1
Outcome
Reason
Notes
Exercise 2
Outcome
Reason
Notes
8. Exercises
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 23
Current reduction in a stepper motor system.
You are able to set current reduction and can explain the advantages and
disadvantages of current reduction.
Current reduction has advantages and disadvantages that you should understand
and be able to explain.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Starting the reference move via WinPISA and the Program Sequence in a Project.
You are able to conduct a reference move on a stepper system.
To work accurately, stepper systems need a reference point from which all positions
are calculated. This position is reset in the reference move.
The reference move is essential for the system to know the reference point for all the
required positions. It must be conducted:
• After powering up a stepper system.
• Whenever slippage (loss of steps) has occurred.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 3
Outcome
Reason
Notes
Exercise 4
Outcome
Reason
Notes
8. Exercises
24 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
Setting system speeds (velocity profiles).
You know how speeds are stored in the system and how they are called.
The speeds and positions have to be defined before they can be called in a program.
Therefore it is important that you know how these speeds are defined and stored in
the system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Setting system positions.
You know how positions are stored in the system and how they are called.
The speeds and positions have to be defined before they can be called in a program.
Therefore it is important that you know how these positions are defined and stored
in the system.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 5
Outcome
Reason
Notes
Exercise 6
Outcome
Reason
Notes
8. Exercises
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 25
Setting ramps (with different profiles).
You know how to set the ramp up and ramp down for a move to a position.
Ramping the speed up and down is an important feature for providing smooth but
fast motion. You must know the benefits of ramps and how to set them.
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
Exercise 7
Outcome
Reason
Notes
26 © Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation
This is a checklist of items that are needed in the training room.
Description Comment Organiser �/�
Training room
Access & starting/finish
times
Electricity supply Supply to PC, Beamer, and Training
Equipment
Electrical power: 230 V AC and 24 V DC,
3 plugs/Training place (2 for Training set and
1 for Laptop)
Safety glasses Safety glasses for all participants if required
Beamer PC projector – ensure compatibility with your
PC e.g. VGA
Spare bulb for beamer Ensure there is a spare bulb or contingency
plan (some bulbs are very expensive)
Whiteboard
Flipchart
Whiteboard markers &
eraser
Refreshments & meals Morning break, lunch, afternoon break
Other
9. Training preparation
Training room checklist
9. Training preparation
© Festo Didactic GmbH & Co. KG • TP 800 e-drives – Handbook & Technical Documentation 27
This is a checklist of items that the instructor needs to prepare and take to the
course.
Description Comment Quantity �/�
PC with e-drives CD 1
PC software Internet Explorer or other browser, Adobe
Acrobat Reader
1
Pointer Overhead type, laser or telescopic pointer
Consumables Pens, pencils etc for participant 1 per
participant
Desk name cards 1 per
participant
Industrial catalog/Product
CD
As appropriate 1 per
participant
Participant handouts 1 per
Participant
Supplementary resources Printed copies of Reference Notes and other
files that participants are to receive
Description Quantity �/�
Instructor checklist
Training resources
Customized resources