First Hardware Run
Once the Compass Designer project has passed testing with simulated axes, proceed to configure the project with physical hardware.
iCube Engineer
- Set up SliceBus, EtherCAT, and hardware and their parameters.
- Perform an initial tune of the servos with SigmaWin+ Ver. 7:
- Disable tuning-less mode
- Perform standard auto-tune with SigmaWin+ Ver. 7
- Real Axes Implementation:
- Ensure hot connect is turned on
- Perform an EtherCAT bus scan.
- Additionally, motion axes 5, 6, 7, 8 will be automatically created - delete them from the project tree.
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Go to PLC global variables list and delete the automatically created axis variables (Axis 5, 6, 7, 8)
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Configure the Real Motion Axes:
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Go into each axis (RealX, RealY, RealZ, etc), open Options tab and select correct drive:
- Select the physical axis in selected Device for each real axis present
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Go to the axis Configuration tab and configure motor type, position scaling, and software limits.
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Assign hardware IO to global variables in the OEM_IO_Assignment POU. Add desired control/behavior logic in the OEM_IO_Control POU.
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Write the project to the controller and reboot.
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Test basic IO functionality and logic in the OEM_IO_Assignment POU.
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Test safety devices (light curtains, E-Stops, etc.), their proper functionality, and reset procedures.
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Re-Test Compass 2 functionality in the same manner as virtual tests:
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Test Servo ON/OFF functionality
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If there are any hardware buttons controlling Machine ON or Servo ON operation, similar logic to the below picture can be used in the OEM_MachineControlLogic POU:
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Test the axis jog functionality, movement direction, and position scale:
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Initial jog speed and accelerations are written in the OEM_Initialize POU. Initial jog speed should not exceed 100 mm/s.
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Again, if there are any hardware buttons controlling the machine Jog operation (Pendant, Jog buttons), implement similar logic to the OEM_MachineControlLogic POU as shown below.
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Test axis homing, position setting and axis limits.
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Jog each axis to its limit (positive and negative). Verify the axis stops at the software limit and can recover properly from that limit.
G-Code
- Before running any g-code file it is critical to set conservative values in the initial G-Code test file
- For example, initial G-Code feed rates should not exceed 5000mm/min.
