Function Manual
50 01/2017
Start-up of gantry axes
General information
Owing to the forced coupling which is normally present between leading and synchronized gantry axes, the gantry axis
grouping must be commissioned as if it were an axis unit. For this reason, the axial machine data for the leading and
synchronized axes must always be defined and entered jointly.
If the synchronized axis is being overloaded by the leading axis due to reduced dynamics, this is acknowledged with alarm
10656.
to be noted with regard to starting up gantry axes are described below.
Axis traversing direction
As part of the start-up procedure, a check must be made to ensure that the direction of rotation of the motor corresponds to
the desired traversing direction of the axis. Correct by means of axial machine data:
MD32100 AX_MOTION_DIR (traversing direction)
Activation of the axis grouping
MD37100 GANTRY_AXIS_TYPE[a,b] (gantry axis definition)
This machine data is determined for the following gantry axis:
● Which gantry grouping (1) the axis is to be assigned to
● Whether it is to act as a leading or synchronized axis
For possible values for MD37100, see the table below:
For commissioning purposes, the axes in a gantry grouping must be defined as either all linear axes or all rotary axes:
MD30300 IS_ROT_AX (rotary axis/spindle)
Entering gantry trip limits
For the monitoring of the actual position values of the synchronized axis in relation to the actual position of the leading axis,
the limit values for termination, as well as for the leading and synchronized axes, should be entered corresponding to the
specifications of the machine manufacturer:
MD37120 GANTRY_POS_TOL_ERROR (gantry trip limit)
MD37130 GANTRY_POS_TOL_REF (gantry trip limit for referencing)
Note
The control must then be switched off and then on again because the gantry axis definition and the trip limit values only take
effect after pow
er ON.
Response to setpoint changes and disturbances
The gantry axes can only operate in exact synchronism if the parameters for the control circuits of the leading and
synchronized axes are set to the
same dynamic response value
.
The axial control loops (position, speed and current controllers) should each be set to the
value so that
disturbances can be eliminated as quickly and efficiently as possible. The
dynamic response adaptation
function in the
setpoint branch is provided to allow differing dynamic responses of axes to be matched without loss of control quality.
The following control parameters must be set to the optimum axial value for both the leading axis and the synchronized axis:
● MD32200 POSCTRL_GAIN (servo gain factor)
● MD32620 FFW_MODE (precontrol parameter)
● MD32610 VELO_FFW_WEIGHT (precontrol factor for acceleration/speed precontrol)
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