SWITEK IML Robot Instruction -- SigmaTek -- Servo Axis Running Parameters Settings (Axis)

High Speed Siden Entry IML Robot SW833-S6

SWITEK IML Robot Instruction -- SigmaTek -- Servo Axis Running Parameters Settings (Axis)

Abstract

With the control system developed by the Austria automatic company SIGMATEK GmbH & Co KG, SWITEK high speed side entry IML robot is providing a more efficient and outstanding performance for your quality bulk production of the IML Yogurt Cups.

1.3 Function Screen

1.3.19 Servo Axis Running Parameters Settings (Axis)

Return to the Function page, Choose Servo axis running parameters Settings screen (This page needs level 10 of the administrator password), as the picture below 1.3.19:

Axis selection, choose need to configure the parameters of axis, servo axis and pneumatic axis;
Servo axis configuration screen as shown in note 2, there are more parameters need to be configured, mainly is divided into two parts. As a control parameter configuration and the servo parameters configuration;
Click "SX", shown above 1.3.19 (Sigmatek Drive set mode):
Specific set rules can be seen in the table below:

Control parameter configuration
Arm Type	[-]	Can choose the arm is single or double, according to the actual situation
Motor Direction	[-]	Can choose Positive or Negative Only when useing SigmaTek drive. This setting effective; When Opposite the forward direction and the actual, can choose Positive/Negative correction;
Pitch	[-]	Distance between the two tooth dividing of the circles Synchronous round of reducer.
Tooth Number	[-]	The number of reducer of axis synchronous gear (Multiplied by the pitch is the circumference)
Gear Ratio	[-]	Connect the motor reducer reduction ration
S-CURVE	ms	Affecting the host sends pulse waveform curve. The greater the numerical, accelerate maximum speed longest, run smoother.
Servo parameters configuration
Soft Min	mm	Mechanical minimum position allowed, suggest to set 1.00.
Soft Min	mm	Mechanical maximum position allowed, according to the actual mechanical dimensions.
Motor Speed	RPM	Set motor rated speed, please refer to the motor nameplate rated speed setting.
Vmax	mm/s	Motor speed automatically calculates the maximum output value, users do not need to self-assess.
Amax	mm/s²	Motor to accelerate from standstill to maximum speed, the maximum acceleration
ATime	ms	Motor accelerates from zero to maximum speed time required.
ProRefSped	mm/s	The speed of the motor back to zero
ProRefAcc	mm/s²	The accelerated of the motor back to zero

Click "SF", Show as the picture below 1.3.20 (Non Sigmatek drive setup):

Control parameter configuration
Arm Type	[-]	Can choose the arm is single or double, according to the actual situation
Pitch	mm	Distance between teh two tooth dividing of the circles Synchronous round of reducer
Tooth Number	[-]	The number of reducer of axis synchronous gear (Multiplied by the pitch is the circumference)
Gear Ratio	[-]	Connect the motor reducer reduction ratio
S-CURVE	ms	Affecting the host sends pulse waveform curve. The greater the numerical, accelerate to maximum speed longest, run smoother.
Max Draglimit	mm	Deviation between instructions position and motor actual running position
KV	1/s	Proportion factor
VU	[-]	Integrating factor
Servo parameters configuration
Soft Min	mm	Mechanical minimum position allowed, suggest to set-1.00.
Soft Min	mm	Mechanical maximum position allowed, according to the actual mechanical dimensions.
Motor Speed	RPM	Set motor rated speed, please refer to the motor nameplate rated speed setting.
Vmax	mm/s	Motor speed automatically calculates the maximum output value, Users do not need to self-accesses.
Amax	mm/s²	Motor to accelerate from standstill to maximum speed, the maximum acceleration
ATime	ms	Motor accelerates from zero to maximum speed the time required
ProRefSped	mm/s	The speed of the motor back to zero
ProRefAcc	mm/s²	The accelerated of the motor back to zero

Specific set rules can be seen in the table below:

Click "FZ", Show as the picture below 1.3.21 (Pneumatic axis setting).

Specific set rules can be seen in the table below:

Controller Parameter Configuration
Soft Min	mm	The minimum stroke with cylinder run (Can set indented state to the minimum position. Aso can set out of state to the minimum position). NoteⓈ
Soft Min	mm	The minimum stroke with cylinder run (Can set indented state to the maximum position. Also can set out of state to the maximum position). Note⑥
Safety Time	s	Show as InPos. Check
InPos.Check	[-]	Which method you choose determines detection in place, Sensor Switch/Safety Time Sensor Switch: If the feedback signal beyond the safety of the set time has not yet been detected then alarm timeout. Safety Time: Pneumatic axis motion set safety time has clapsed. The sysstem will default to run in place. Note ⑦

Click "Pneu.axis", Show as the picture below 1.3.22

Specific set rules can be seen in the table below:

"FC" "MC" are Pneu, Axis. The specific set of rules, as list in the following table.

Controller configuration
Soft Min	°	As the above-mentioned Note Ⓢ
Soft Max	°	As the above-mentioned Note ⑥
Safety Time	s	As the below inPos.Check
inPos.Check		As the above-mentioned Note ⑦