Il controllo assi Tecnint HTE
The Italian company with a particular
know how in high tech electronics
Configurazione Hardware
Leonardo + SW TEC-motion
Schede assi
3 assi
3 assi
Morsettiere
The Italian company with a particular
know how in high tech electronics
Espansione ulteriori assi ed I/O su
fieldbus
Enhanced Machine Controller
The Italian company with a particular
know how in high tech electronics
Caratteristiche tecniche
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Piattaforma HW : Leonardo
Positioning Loop @ 250 ms per 3 assi analogici
Assi indipendenti e/o interpolati (3D)
Funzioni di Homing, Assi asserviti, Taglio al volo,
Camme elettroniche…
S-curve, Cubic Spline…
Movimento PointToPoint o Blended
Controllo assi analogici
Controllo assi via fieldbus (S-can, CanOpen,…)
Interfaccia IsaGraf
Software di Configurazione, Monitor, Tuning
The Italian company with a particular
know how in high tech electronics
ISAGRAF PLC
• Standard Motion
Function Blocks
(PLC Open )
• Debugger
Grafico
• Facilità di
programmazione
The Italian company with a particular
know how in high tech electronics
ISAGRAF PLC
• Line 3D
• Jog
• Circle 3D
• Homing, Step Direct,...
• Move Absolute
• Cams
• Move Relative
• Flying Shear
• Move Additive
• ….
The Italian company with a particular
know how in high tech electronics
ISAGRAF PLC
Sequence of two complete motion
Second Motion is queued to First
First
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1
Stop
Power
Read Status
Read Axis Error
Reset
Read/Write
Parameters
• Read Actual Position
• Gear speed,
position,…
• e molte altre ancora…
GO
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t
1
Done
Command
0
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1
Aborted
0
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Second
Test
Done
1
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t
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0
t
Motion
3000
2000
Velocity
0
t
10000
6000
Position
The Italian company with a particular
know how in high tech electronics
0
t
The Italian company with a particular
know how in high tech electronics
Motion Configurator
• Configurazione di tutti i
parametri di ogni asse
•PID
•Limiti
•Feedback
•ecc….
• Configurazione schede
HW
• Download and Save su
hard disk
• Possibilità di creare
configurazioni offline
• Connettività via Ethernet
The Italian company with a particular
know how in high tech electronics
Motion Configurator
• “Easy Configuration” dei Sistemi di Assi
Sistema 1 : 3 assi
interpolati
Sistema 2 : 1 asse
indipendente
Sistema 3 : 2 assi
interpolati
The Italian company with a particular
know how in high tech electronics
Motion Monitor - Scope
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Visualizzazione variabili :
– Posizione, velocità,
accelerazioni,...
– errore traiettoria
– PID
– …
Visualizzazione offline
(zoom,…)
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Salvataggio dati
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Connettività via Ethernet
The Italian company with a particular
know how in high tech electronics
Motion Monitor - Scope
• Facile taratura del PID con IsaGraf e Monitor !
PID
IsaGraf PID FB
Tara i Parametri !!!
The Italian company with a particular
know how in high tech electronics
Errore di Traiettoria
Motion Monitor - Diagnostica
• Monitor Stato Asse
• Monitor
Allarmi
• Monitor I/O
The Italian company with a particular
know how in high tech electronics
Motion Monitor – Cmd Window
• Facile
interfaccia
per il
commissioning !
The Italian company with a particular
know how in high tech electronics