Roadshow 2017 NC I & CNC & XTS
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- Cleopatra Holmes
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1 Roadshow 2017
2 Roadshow 2017 NC I & CNC & XTS
3 Obsah Obecné informácie o riadení pohonov NC I CNC XTS 3
4 Prehľad implementovaných funkcií NC PTP NC I CNC Kinematika Point To Point riadenie pohybu Riadenie lineárnych pohybov Riadenie rotačných pohybov Softwarová prevodovka Softwarová vačka Letmá pila Interpolovaný pohyb 3 hlavní osy 5 pomocných os Programovanie podľa DIN66025 DIN GST CNC Kompletní CNC funkcionalita 32 os v jednom CNC kanálu 12 CNC kanálov Programovanie podľa DIN66025 Rôzne typy transformácií Kinematická transformácia H-Bot Tripod Hexapod Scara 6-osí robot.. 4
5 Princíp CNC & NC I riadenia CNC & NC I HMI Ručné ovládanie Soft PLC NC PTP NC I CNC PLC SP + - Pos Ctrl Velo Preset Pos Meas. Limit + + Scale & Limit Zbernice Pohony I/O
6 Obsah NC I Základné vlastnosti NC I IPC pre NC I aplikácie Prehlaď licencií pre NC I Kinematické transformácie Novinky v NC I Ukážka NC I 6
7 Základné vlastnosti NC I Jedna 3D skupina os v NC I kanále 3 hlavné osi 5 pomocných os Možnosť použitia až 31 NC I kanálov Programovanie G-kódu podľa DIN Alternatíva G-kódu: - PLC interpolácia, programovanie podľa IEC Podpora kinematických transformácií TF511x Možnosť výstupu na servomeniče alebo krokové motory 7
8 IPC pre NC I aplikácie Minimálny Performance Level pre NC I je 30 Pri návrhu je nutné brať v úvahu počet os a počet NC I kanálov 8
9 Prehľad licencií pre NC I aplikácií TF5100 NC I TF5110 TF5113 Kinematické transformácie TF5410 Motion Collision Avoidance TF5420 Motion Pick and Place 9
10 Kinematické transformácie v NC I 4 úrovne kinematických transformácií L3, L4 - Komplexné kinematické transformácie L2 - Jednoduché kinematické transformácie L1 - Statická transformácia 10
11 TF5410 TC3 Colision Avoidance Voliteľná opcia pre NC PTP a NC I Princíp algoritmu: - Zaisťuje minimálnu vzdialenosť od predchádzajúcej osi - Parametrom je iba minimálna vzdialenosť Zabraňuje kolíziám Príklady aplikácií: - Uchytenie materiálu na CNC strojoch - XTS extended Transport System 11
12 TF5420 TC3 Pick and Place Voliteľná opcia pre NC I Kinematika pro manipuláciu Špeciálne metódy pre - Kombinovanie príkazov pre pohyb - Optimalizácia trajektórie - Krátke časy cyklu - Bezpečné zachádzanie s prenášanými produktami Funkcionalita Pick and Place je v knižnici PLC - Nie je limitovaný počet os v skupine Pick and Place - Limitom je iba výkon IPC 12
13 Novinka v NC I - GST TwinCAT NC I podporuje novú syntax Výhodné pre komfortné programovanie: - Iterácie - Funkcie - Deklarácie premenných Použitie i v stávajúcich NC I projektoch G Kód DIN ST Štruktúrovaný text GST 13
14 Príklady použitia GST Užívateľom definovaná funkcia v ST { FUNCTION mybag VAR_INPUT length: LREAL; height: LREAL; velo: LREAL; END_VAR } N10 G91 N20 G01 X=length F=velo N30 G01 Y=height N40 G01 X=-length N50 G01 Y=-height!END_FUNCTION Volanie funkcie v natívnom G-Kódu N10 G01 X1000 Y0 F60000!MyBag(400, 200, ); M02 14
15 Príklady použitia GST Príklad sférické špirály: { VAR END_VAR FOR r: LREAL; r:= *20 TO *20 BY 0.1 DO!G1 X{cos(r)*cos(r/40)*10} Z{sin(r)*cos(r/40)*10} Y{sin(r/40)*10} F6 END_FOR; } M02 15
16 Ukážka NC I Ukážka G-CODE: N0010 G00 Z0 N0020 G00 X0 Y0 N0030 G01 X100 Y100 F2000 N0040 G01 X50 Y200 N0050 G00 X0 Y0 N0060 M30 16
17 Obsah - CNC IPC pre CNC aplikácie Prehľad licencií pre CNC aplikácie CNC & NC I HMI PLC aplikácie 17
18 IPC pre CNC aplikácie Minimálny Performance Level pre CNC je 50 Pri návrhu je nutné brať v úvahu počet os a počet CNC kanálov 18
19 Prehľad licencií pre CNC aplikácie TC1270 TwinCAT CNC BASE TC1275 TwinCAT CNC BASE, verze Export TF5220 TwinCATCNC Axes Pack TF5230 TwinCATCNC Channel Pack TF5240 CNC Transformation TF5250 HCS High Speed Cutting TF5260 Spline Interpolation TF5270/TF5271 Virtual NCK TF5290 Cutting Plus TF5280 Volumetric Compensation 19
20 TC1270 TwinCAT CNC BASE Licencia pretc3 PLC/NC PTP 10/NC I/CNC 1 CNC kanál - Možnosť rozšírenia na 12 kanálov 8 os/vretien v jednom CNC kanále - Možnosť rozšírenia na 32 interpolovaných os v jednom CNC kanále - Maximálne 64 os/vretien vo všetkých CNC kanáloch Programovanie NC kódu podľa DIN66025 s rozšírením o funkcie vyšších programovacích jazykov Programovanie PLC podľa IEC
21 TF5240 CNC Transformation Poskytuje viac než 60 kinematických transformácií Výber kinematiky z kinematické knižnice Transformácia Universal kinematic - Voľne konfigurovateľná kinematika pre 5,4 a 3-osé systémy RTCP funkcia (Rotation Tool Center Point) TLC funkcia (Tool Length Compensation) TRC funkcia (Tool Radius Compensation) Definovanie rôznych súradnicových systémov 22
22 TF5250 HCS High Speed Cutting Optimalizácia rýchlosti a zrýchlenia pri prechode medzi NC blokmi - dosiahnutie optimálnej rýchlosti a zrýchlenia os Zníženie dynamických rázov - eliminácia vibrácií Dosiahnutie vysokej kvality povrchu Efektívne riadenie tolerancií kontúry Použití je technologickou záležitostí N0010 #HSC ON [OPMODE 1 CONTERROR 1] N0020 G01 G90 X10 Y10 F (Further contour description) N2000 #HSC OFF 23
23 TF5260 Spline Interpolation Môže byť implementovaná v rámci HSC Funkcia pre vyhladenie kontúry redukcia NC blokov - Akima spline - B-Spline Použitie je technologickou záležitosťou 24
24 TF5290 Cutting Plus Automatické zdvíhanie/spúšťanie reznej hlavy - Optimalizácia času pri prejazde medzi jednotlivými dielmi Mikrokroky rýchle spínanie laseru - Fly cutting - Letmé pálenie Transformácia pre rezanie trubiek 25
25 TF5280 Volumetric Compensation Kompenzácia geometrických chýb obrábacích strojov - Zvýšení presnosti stroja a tím presnosti obrábania - Korekcia TCP (Tool Centre Point) pomocou dynamických výpočtov korekčných hodnôt pre každú osu - Vhodné pre stroje s 3 kartézskými a až 3 rotačnými osami - Pre všetky kinematiky Vlastnosti - Rôzne súbory s parametrami pre kompenzáciu, podporované formáty súborov sú *.csv alebo Etalon Exchange format - Parametri kompenzácie možno zadávať v NC kódu alebo HMI - Možnosť diagnostiky cez ADS - Konfigurácia maximálnych kompenzačných hodnôt Standardy - DIN ISO 230 "Test code for machine tools" - ISO/TR "Machine tools Numerical compensation of geometric errors" 27
26 CNC & NC I - HMI 28
27 PLC aplikácia Vykonáva výmenu dát medzi PLC, NC I a CNC Dostupná pro TwinCAT 2.11, TwinCAT 3.1 Knižnice pre NC I Knižnice pre CNC Interface medzi PLC a HMI Naprogramovaná v štruktúrovanom texte 29
28 CNC HMI & NC I - vlastnosti Predpripravené HMI rozhranie pre CNC a NC I aplikácie Manuálny režim Automatický režim MDI režim Správa užívateľov Správa nástrojov Zadávanie parametrov stroja Editácia jazykov Nulové offsety Logovanie udalostí Vykreslenie kontúry Možnosť užívateľského nastavenia zobrazení Možnosť vloženia vlastných obrazoviek vytvorených v C# alebo TwinCAT HMI... 30
29 Ukážka CNC Ukážka G-CODE N0010 G00 Z0 N0020 G00 X0 Y0 N0030 G01 X100 Y100 F2000 N0040 M03 S2000 N0050 Z100 F500 N0060 Z0 N0070 M05 N0080 G00 X0 Y0 N0090 M30 31
30 Obsah Hardware Motorový modul Vodiaca lišta Jazdec Software pre XTS XTS a TwinCAT Monitorovanie vzdialenosti - predchádzanie kolíziám Novinka - XTS Hygienic 32
31 XTS Hardware - obecne Časti XTS: - Motorový modul - Vodiaca lišta - Jazdec Základné parametre: - Maximálna sila: 100 N - Maximálna rýchlosť: 4 m/s - Absolútna presnosť: < ± 0,25 mm (rovný motorový modul ) - Opakovateľnosť: < ± 10 μm - Maximálna dĺžka dráhy: > 10 m, 40 jazdcov (závisí na výpočetnom výkone) - Stupeň ochrany: IP 65 33
32 Motorový modul Inštalačná oblasť pre vodiacu lištu Motorové vinutie Meranie posunu Prenos: 24 V napájanie riadenia 50 V napájanie silovej časti EtherCAT 34 Montážna oblasť
33 Motorový modul - typy Rovný modul Zakrivený modul +22,5 Zakrivený modul +180 Zakrivený modul +45 Zakrivený modul -22,5 35
34 Možné trajektórie Priama - neuzatvorená Obdĺžniková S-tvar 36
35 Možné trajektórie Štvorcová Kruhová vonkajšia Kruhová vnútorná 37
36 Motorový modul - napájanie Typy modulov: - Bez napájanie všetky typy - S napájaním - všetky typy okrem zakriveného modulu káble: - Napájanie riadiacej časti +24 V, napájanie silovej časti + 50 V - EtherCAT Napájací modul udáva nulový bod merania polohy 38
37 Motorový modul - napájanie Modul s napájaním dodá až 960 W pre danú sekciu Prenos energie v rámci jednej sekcie na spoločnom 50 V DC bus (jeden jazdec brzdí druhý zrýchľuje výmena energie) Vyššia priepustnosť dát cez EtherCAT (4 napájacie moduly = 4 EtherCAT spojenia) 39
38 Vodiaca lišta Dĺžka až do 2,5 m 40
39 Jazdec Nosnosť: do 1 kg Valčeky Magnety Enkóderový štítok 41
40 Jazdec Jazdce: - AT valčekov, 50 mm dĺžka - univerzálny - AT valčekov, 70 mm dĺžka vhodný pre väčšie záťaže a menšie zrýchlenia - AT valčekov, 51 mm dĺžka vhodný pre použitie so 180 motorovým modulom, ale nie je možné ho použiť s ±22,5 a 45 motorovými modulmi 42
41 XTS a TwinCAT XTS TcIoXtsDrv 43
42 XTS a TwinCAT XTS TcIoXtsDrv MOTION 44
43 XTS a TwinCAT XTS TcIoXtsDrv MOTION PLC 45
44 XTS a TwinCAT ukážka 46
45 TF5850 XTS: Software and programming TF5850 XTS programový balík pre XTS TF5850 XTS obsahuje: - Monitorovanie vzdialenosti TF5400 TC3 Advanced Motion Pack zabraňuje kolízií - Condition Monitoring Detekcia mechanického opotrebovania a porúch 47
46 Monitorovanie vzdialenosti TF5410 TC3 Motion Collision Avoidance Dodržiavanie bezpečnej vzdialenosti medzi jazdcami zabraňuje kolízií Všetky jazdce (NC osi) musia byť v CA (Collision Avoidance) skupine VAR Axis : ARRAY [1..10] OF AXIS_REF; // deklarácia NC os GrpAxis : AXES_GROUP_REF; // deklarácia CA skupiny END_VAR Pridanie NC osi do CA skupiny Aktivovanie CA skupiny 48
47 Monitorovanie vzdialenosti TF5410 TC3 Motion Collision Avoidance MC_MoveAbsoluteCA absolútny pohyb MC_GearInPosCA viazanie Master a Slave osi - MasterSyncPositon - SlaveSyncPositon MC_MoveRelativeCA relatívny pohyb 49
48 Príklad s dopravníkom MC_GearInPosCA viazanie Master a Slave osi - MasterSyncPositon - SlaveSyncPositon - keď Master dosiahne MasterSyncPositon pozíciu, tak Slave sa musí nachádzať v SlaveSyncPosition SlaveSyncPositon MasterSyncPositon 50
49 Novinka - XTS Hygienic Stupeň ochrany: IP69K 51
50 Otázky 52
51 Beckhoff Česká republika s.r.o. Sochorova Brno Česká republika Beckhoff Automation GmbH & Co. KG Všechny obrazové materiály jsou chráněny autorským zákonem. Jejich použití třetí stranou není povoleno. Beckhoff, TwinCAT, EtherCAT, EtherCAT P, Safety over EtherCAT, TwinSAFE, XFC and XTS jsou registrované obchodní značky Beckhoff Automation GmbH. Další označení použitá v prezentaci mohou být registrované obchodní značky jejichž použití třetí stranou pro vlastní účely může být v rozporu s vlastnickými právy jejich vlastníků. Informace uvedené v tomto dokumentu obsahují pouze obecný popis vlastností. Popisovaná funkcionalita se může lišit v důsledku dalšího vývoje produktu. Společnost Beckhoff Česká republika s.r.o. nenese žádnou odpovědnost za případné škody vzniklé nevhodnou aplikací informací uvedených v dokumentu..
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