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Festo

software



TP 800 e-drives



Handbook and Technical Documentation




































Description:         TP 800 e-drives - Handbook and Technical Documentation

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:  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.


Contents        3

Introduction to the Training Packages__________ ______ ____ __________ 4

TP 801 Servo motor equipment set __________ ______ ____ ___________ 5

TP 802 Stepper motor equipment set __________ ______ ____ __________ 6

Extension Kits TP 801-E & TP 802-E __________ ______ ____ ___________ 7

Using the CD__________ ______ ____ _____ _______ ______ ____________ 8

Assembly of servo motor equipment set__________ ______ ____ ________ 10

Assembly of stepper motor equipment set__________ ______ ____ ______ 13

Guideline to exercises__________ ______ ____ ___________________ 15

Servo motor exercises__________ ______ ____ ___________________ 16

Stepper motor exercises__________ ______ ____ __________________ 21

Training room checklist__________ ______ ____ __________________ 26

Insturctor checklist__________ ______ ____ _____ _______ ______ ______ 27





Introduction

Welcome to the Festo Didactic e-drives TP 800 Training Packages.


There are 4 Training Packages available:

TP 801 Servo motor equipment set (part no. 539016)

TP 802 Stepper motor equipment set (part no. 539015)

TP 801-E Extension kit servo (part no. 539017)

TP 802-E Extension kit stepper (part no. 539739)


The recommended accessories are:


Description

Qty

Part no.

Either




Profile plate 700 x 350 mm




Power supply



Or




Profile plate 350 x 250 mm




Rubber feet (pack of 4)




Profile plate connectors




Power supply



* 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.


TP 801 Servo motor equipment set

Fig. 1 Assembled servo motor equipment set.



The TP801 servo motor equipment set (D.DTC-SERVO part no. 539016) consists of:


Description

Type

Qty

Part no.


Axis

D.DCT-DGE-300




Motor

D.DTC-MO-Servo




Controller

D.DCT-SEC-AC-305




Cable

D.DSUB-9POL-ST-ST-PAR




Simubox

D.DCT-BED-SEC




Systainer Maxi

D.SYS.168 x 545 x 330




Technical Documentation

D.DTC-Step-Servo




CD-ROM

D.DTC-CD





TP 802 Stepper motor equipment set

Fig. 2 Assembled stepper motor equipment set.



The TP 802 Stepper motor equipment set (D.DTC-STEP part no. 539015) consists of:


Description

Type

Qty

Part no.


Axis

D.DCT-DGE-300




Motor

D.DTC-MO-Step




Controller

D.DCT-SEC-ST-48-SP200




Adaptor

D.DSUB-9POLSTST-GEN-CHA




Cable

D.NULLMOD-BU-BU-9POL-3M




Systainer Maxi

D.SYS.168 x 545 x 330




Technical Documentation

D.DTC-Step-Servo




CD-ROM

D.DTC-CD




Programming software

WinPisa EN





Extension Kits
TP 801-E & TP 802-E

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.



The TP 801-E Extension kit servo (D.ERW-SERVO part no. 539017) consists of:


Description

Type

Qty

Part no.


Motor

D.DTC-MO-Servo




Motor Controller

D.DCT-SEC-AC-305




Cable

D.DSUB-9POL-ST-ST-PAR




Simubox

D.DCT-BED-SEC




Systainer GR3

D.SYS.395 x 295 x 210





The TP802-E Extension kit stepper (D.DTC-ERW-STEPPER part no. 539739) consists of:


Description

Type

Qty

Part no.


Motor

D.DTC-MO-Step




Controller

D.DCT-SEC-ST-48-SP200




Adaptor

D.DSUB-9POLSTST-GEN-CHA




Cable

D.NULLMOD-BU-BU-9POL-3M




Systainer GR3

D.SYS.395 x 295 x 210




Programming software

WinPisa EN





Using the CD

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



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.

Assembly of servo motor equipment set

The following diagrams indicate assembly of the servo motor equipment set.



Fig 6. Assembly of servo motor equipment set.



Item no.

Description



Axis



Controller



Motor

Fig 7. Assembly of servo motor equipment set.



Item no.

Description



Power cable



Encoder cable


Fig 8. Assembly of servo motor equipment set.



Item no.

Description



Mains plug



Test box



Limit switches



Power supply 24 V



Assembly of stepper motor equipment set

The following diagrams indicate assembly of the servo motor equipment set.




Fig 9. Assembly of stepper motor equipment set.



Item no.

Description



Axis



Controller 



Motor






Fig 10. Assembly of stepper motor equipment set.



Item no.

Description



Limit switch



Motor cable



Power supply 24 V



Guideline to exercises

Each exercises continues on from 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.



Outcome

The outcome defines what the participant is expected to be able to do upon successful completion of the exercise.



Reason

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!"



Resources

The resources provide the exercise and solution documents as well as courseware to assist in the theory associated with the outcome.



Exercises and solutions

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.



Slideshows

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.




Servo motors




Objectives & outcomes

At 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



Reason

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.



Exercise 1

Assembly of servo motor system



Outcome

You are able to correctly and safely assemble a servo motor system.



Reason

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.



Notes











Exercise 2

Commissioning of servo system and introduction to Wmemoc.


Outcome

You are able to correctly and safely commission a servo system using the main commissioning functions of Wmemoc.


Reason

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.



Notes








Exercise 3

Speed control in a servo motor system.



Outcome

You are able to set the speed in a system and can explain the benefits of speed control.



Reason

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.



Notes











Exercise 4

Initiating a reference move.



Outcome

You are able to conduct a reference move on a servo system.



Reason

To work accurately, servo systems need a reference point from which all positions are calculated. This is done after commissioning before normal operation.



Notes








Exercise 5

Setting system positions, speeds and ramps.



Outcome

You know how to define position sets and three ways of selecting positions.



Reason

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



Notes











Exercise 6

Torque control.



Outcome

You know how to control the torque of a system and know how to use torque control in applications.



Reason

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.



Notes








Exercise 7

Use of Speed Synchronous Positioning



Outcome

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.



Reason

You are familiar with speed synchronous positioning and the features and benefits it offers.



Notes









Stepper motors




Objectives & outcomes

At 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




Reason

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.




Exercise 1

Assembly of stepper motor system



Outcome

You are able to correctly and safely assemble a stepper motor system.



Reason

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.



Notes











Exercise 2

Commissioning of stepper system and introduction to WinPISA.



Outcome

You are able to correctly and safely commission a stepper system using the main commissioning functions of WinPISA.



Reason

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.



Notes








Exercise 3

Current reduction in a stepper motor system.



Outcome

You are able to set current reduction and can explain the advantages and disadvantages of current reduction.



Reason

Current reduction has advantages and disadvantages that you should understand and be able to explain.



Notes











Exercise 4

Starting the reference move via WinPISA and the Program Sequence in a Project.



Outcome

You are able to conduct a reference move on a stepper system.



Reason

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.



Notes







Exercise 5

Setting system speeds (velocity profiles).



Outcome

You know how speeds are stored in the system and how they are called.



Reason

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.



Notes











Exercise 6

Setting system positions.



Outcome

You know how positions are stored in the system and how they are called.



Reason

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.



Notes








Exercise 7

Setting ramps (with different profiles).



Outcome

You know how to set the ramp up and ramp down for a move to a position.



Reason

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.



Notes











Training room checklist

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: 230VAC and 24 VDC - 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:























Instructor checklist

This is a checklist of items that the instructor needs to prepare and take to the course.



Training resources

Description

Comment

Qty


PC with e-drives CD




PC software

Internet Explorer or other browser, Adobe Acrobat Reader



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














Customized resources

Description

Qty





























Deliberately blank


Document Info


Accesari: 3510
Apreciat: hand-up

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