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en:strumenti:qmoveplus:c1r44:p1r44f-001:mmf_p1r44f-009 [2022/12/06 08:02] – [2.4.2 Set the heads up / down advance, in relation to the movement of the conveyor belt.] qem215en:strumenti:qmoveplus:c1r44:p1r44f-001:mmf_p1r44f-009 [2023/07/26 09:26] (current) – [Heads parameters] qem215
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 ^ Editor:                                            | Andrea Zarantonello                                                                                       ||| ^ Editor:                                            | Andrea Zarantonello                                                                                       |||
 ^ Approver:                                          | Giuliano Tognon                                                                                           ||| ^ Approver:                                          | Giuliano Tognon                                                                                           |||
-^ Link:                                              | http://www.qem.eu/doku/doku.php/strumenti/qmoveplus/c1r44/p1r44f-001/mmf_p1r44f-009                       |||+^ Link:                                              | https://www.qem.eu/doku/doku.php/strumenti/qmoveplus/c1r44/p1r44f-001/mmf_p1r44f-009                       |||
 ^ Language:                                          | English                                                                                                   ||| ^ Language:                                          | English                                                                                                   |||
 |                                                                                                                                                               |||| |                                                                                                                                                               ||||
 ^ Release document                                   ^ Description                                                                          ^ Note  ^ Date         ^ ^ Release document                                   ^ Description                                                                          ^ Note  ^ Date         ^
-|  01                                                | New manual                                                                           |       |  28/10/2022  |+|  01                                                | New manual                                                                           |       |  30/11/2022  |
 </WRAP> </WRAP>
  
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 | 6 | Enter the measurement in the **__MEASURE__**  field | | 6 | Enter the measurement in the **__MEASURE__**  field |
  
 +<pagebreak>
 +==== Belt calibration====
  
 +Press {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:button_120x60_forward_002_.png?nolink&100|}} from [[#Belt axis resolution|axis resolution page]] to go to Belt calibration page.
 +
 +{{:en:strumenti:qmoveplus:c1r44:p1r44f-001:belt_calibration_en.png?nolink&500|}}
 +
 +^**//Setup of the parameter OFFSET//**^|
 +|**1**|Press calibration button to activate the calibration.|
 +|**2**|Enter 0 (zero) in the parameter **OUT VOLTAGE**.|
 +|**3**|Adjust the parameter OFFSET (by direct entry, using the buttons {{:tasti_touch:meno.png?nolink&50}}, {{:tasti_touch:piu.png?nolink&50}}, or by the automatic procedure from the button {{:tasti_touch:tar_cal_auto.png?nolink&50}} ) so that the axis **POSITION** is not variable (or varies very slowly).|
 +|**4**|Press calibration button to disactivate the calibration.|
 +
 +
 +^**//Check count and direction of rotation://**^|
 +||control that an output voltage greater than 0 (zero) corresponds to an increasing variation in the axis position.||
 +|**1**|Press calibration button to activate the calibration.|
 +|**2**|Enter a positive value in parameter **VOUT**.|
 +|**3**|Check that the **POSITION** parameter increases.|
 +|**4**|Press calibration button to disactivate the calibration|
 +|**5**|{{:icone:attenzione.png?nolink&50}} If the motor does not rotate in the correct direction change the cabling by inverting the PHA and PHB signals.|
 +
 +^**//Maximum speed://**^|
 +|determine the axis movement speed that corresponds to a 10V output voltage.||
 +|**1**|Press calibration button to activate the calibration.|
 +|**2**|Enter 1V value in the parameter **VOUT**|
 +|**3**|Read the value shown in parameter **SPEED**.|
 +|**4**|Determine the value of parameter **MAX SPEED** with the formula: SPEED x 10|
 +|**5**|Press calibration button to disactivate the calibration|
 +|**6**|Enter the value calculated in **MAX SPEED**.|
  
 <html><pagebreak /></html> <html><pagebreak /></html>
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 ==== Bridge Alignment with Sensor Bar==== ==== Bridge Alignment with Sensor Bar====
-**The bridge, to be aligned with the sensor bar, must have the 0 sensor aligned with the first detection sensor.**+**The bridge, to be aligned with the sensor bar, must have the 0 sensor aligned with the first slab detection sensor.**
 \\ To have the 0 sensor and the first sensor of the bar perfectly aligned, it is recommended to use a laser indicator \\ To have the 0 sensor and the first sensor of the bar perfectly aligned, it is recommended to use a laser indicator
  
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 ==== Calibration ==== ==== Calibration ====
-|1|Using the "BRIDGE RESOLUTION" page, bring the bridge axis to the center of travel| +| 1  | Using the "BRIDGE RESOLUTION" page, bring the bridge axis to the center of its travel  | 
-|2|reset with the key " = 0| +| 2  | reset with the key " = 0                                                               | 
-|3|go to the " BRIDGE CALIBRATION" page |+| 3  | go to the " BRIDGE TUNING" page                                                        |
 {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:bridge_tuning.png?nolink&600|}} {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:bridge_tuning.png?nolink&600|}}
-| 4 | Disconnect the control leads (+/-10 Volt) Inverter/Driver/servo valves | +| 4   | Disconnect the control leads (+/-10 Volt) Inverter/Driver/servo valves                                           | 
-| 5 | Calibrate the Inverter/Driver/Servo Valves devices so that you have high sensitivity | +| 5   | Calibrate the Inverter/Driver/Servo Valves devices so that you have high sensitivity                             | 
-| 6 | Make a short circuit of the analog control inputs of the Inverter/Driver/Valve Servo devices | +| 6   | Make a short circuit of the analog control inputs of the Inverter/Driver/Servo valve devices                     | 
-| 7 | Calibrate the OffSet of the Inverter/Driver/Servo valves device so that the bridge axis stays still (don't move) | +| 7   | Calibrate the OffSet of the Inverter/Driver/Servo valve device so that the bridge axis stays still (don't move)  | 
-| 8 | Connect the analog control leads to the Inverter/Driver/Valve servo | +| 8   | Connect the analog control leads to the Inverter/Driver/Servo valve                                              | 
-| 9 | Press the "A" key, the instrument will automatically calculate the OFFSET voltage | +| 9   | Press the "A" key, the instrument will automatically calculate the OFFSET voltage                                | 
-| 10 | Move the bridge axis to 1/5 of the travel| +| 10  | Move the bridge axis to 1/5 of the travel                                                                        | 
-| 11 | Enter the value 1 V in the "OUT VOLTAGE" field | +| 11  | Enter the value 1 V in the "VOLTAGE OUTPUT" field                                                                | 
-| 12 | Read the velocity| +| 12  | Read the velocity                                                                                                | 
-| 13 | Multiply the velocity value by 10, then enter it in the "maximum velocity" field |+| 13  | Multiply the velocity value by 10, then enter the result in the "maximum velocity" field                         |
  
 <html><pagebreak /></html> <html><pagebreak /></html>
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 perform the following manual procedure: \\ perform the following manual procedure: \\
 To determine : To determine :
-   - with which value of the positive voltage the bridge moves forward +   - with which value of positive voltage the bridge moves forward 
-   - with which value of the negative voltage the bridge moves back \\ +   - with which value of negative voltage the bridge moves back \\ 
-then, set the offset voltage at halfway of these two values \\+then, set the offset voltage at the middle of these two values \\
 Example : \\ Example : \\
 {{:strumenti:qmoveplus:c1r44:p1r44f-001:offset_pomnt.png?nolink&600|}} {{:strumenti:qmoveplus:c1r44:p1r44f-001:offset_pomnt.png?nolink&600|}}
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 ==== Dynamic calibration ==== ==== Dynamic calibration ====
  
-| 1 | Bring the bridge axis to 1/5 (20%) of the travel| +| 1   | Bring the bridge axis to 1/5 (20%) of the travel                              | 
-| 2 | Press the " = 0" key | +| 2   | Press the " = 0" key                                                          | 
-| 3 | Enter a value in the "DELTA" field, a value equal to 4/5 (80%) of the travel| +| 3   | Enter a value in the "DELTA" field, a value equal to 4/5 (80%) of the travel  | 
-| 4 | Set INTEGRAL TIME= 0 | +| 4   | Set INTEGRAL TIME = 0                                                          | 
-| 5 | Set FEEDFORWARD= 0 | +| 5   | Set FEEDFORWARD = 0                                                            | 
-| 6 | Set PROP.GAIN = 0.02 | +| 6   | Set PROP.GAIN = 0.02                                                          | 
-| 7 | Set ACC TIME = 3 | +| 7   | Set ACC TIME = 3                                                              | 
-| 8 | Set DEC TIME = 3 | +| 8   | Set DEC TIME = 3                                                              | 
-| 9 | Set MAX FOLL ERROR = 9999 | +| 9   | Set MAX FOLL ERROR = 9999                                                     | 
-| 10 | Set the speed value equal to 30% of the maximum speed | +| 10  | Set the speed value equal to 30% of the maximum speed                         | 
-| 11 | Press Start | +| 11  | Press Start                                                                   | 
-| 12 | The bridge will begin to swing | +| 12  | The bridge will start to swing                                                | 
-**Do the following activities repeatedly, calmly, the goals are as follows: **+**Do the following activities repeatedly and calmly. The goals are as follows: **
    * speed as fast as possible    * speed as fast as possible
    * acceleration ramps as short as possible    * acceleration ramps as short as possible
-   * low follow error+   * low following error
  
 **Method:** **Method:**
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 | 7 | Pause | PB 10 | | 7 | Pause | PB 10 |
  
-** Note: accelerations/decelerations with “S” ramps (parameter “PG 34” ) decreases the number of right-left cycles, but it helps to make the movement of the lift more harmonious **+** Note: accelerations/decelerations with “S” ramps (parameter “PG 34” ) decrease the number of right-left cycles, but it helps to make the movement of the bridge more harmonious **
  
 {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:graphic_2_en.png?nolink&600|}} {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:graphic_2_en.png?nolink&600|}}
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    * Found the value that will trigger the alarm, add a 15%    * Found the value that will trigger the alarm, add a 15%
  
-**Warning:** The follow error must be less than 30.+**Warning:** The following error must be less than 30.
  
 +{{:strumenti:qmoveplus:c1r44:p1r44f-001:errore_inseguimento_maxemin.png?nolink&200|}}
 +
 +The button {{:strumenti:qmoveplus:c1r11:mdu_p1r11fb30-001:buttons:button_120x60_reset_002.png?nolink&100|}} reset max and min following errors 
  
 <html><pagebreak /></html> <html><pagebreak /></html>
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    * set the parameter PG05:Orthogonal Step (distance of the sensors) and the parameter PG06:Horizontal Step (space determined by the encoder) in the generic SETUP page    * set the parameter PG05:Orthogonal Step (distance of the sensors) and the parameter PG06:Horizontal Step (space determined by the encoder) in the generic SETUP page
  
-^ Slab Shape Detection Representation ||| +^ Slab Shape Detection Representation                                                                                        ||| 
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:rappresentazione_lastra.png?300&nolink}} ^ 1 | Slab | +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:rappresentazione_lastra.png?300&nolink}}  ^ 1  | Slab                                | 
-| ::: ^ 2 | Limit Switches / Sensors | +| :::                                                                               ^ 2  | Limit Switches / Sensors            | 
-| ::: ^ 3 | Space determined by encoder (PG06) | +| :::                                                                               ^ 3  | Space determined by encoder (PG06)  | 
-| ::: ^ 4 | Distance of the limit switches (PG05) |+| :::                                                                               ^ 4  | Distance of the sensors (PG05)      |
  
    * check the functionality of the slab detection sensors on the DIAGNOSTICS 2 page. If the limit switches detect the presence of the slab, the LEDs light up.    * check the functionality of the slab detection sensors on the DIAGNOSTICS 2 page. If the limit switches detect the presence of the slab, the LEDs light up.
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 <html><pagebreak /></html> <html><pagebreak /></html>
  
 +===== - Head Setting =====
  
 ==== Interaxes ==== ==== Interaxes ====
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 {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:heads_setup.png?nolink&600|}} {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:heads_setup.png?nolink&600|}}
  
-  * ** Set diameter of the heads:**  +  * ** Set diameter of the heads:** \\  
-PT 01 ÷ 22\\  +     PT 01 ÷ 22\\  
-{{:strumenti:qmoveplus:c1r44:p1r44f-001:diametro_teste.png?nolink&200|}} The diameter of the head passes through the center of the tools+{{:strumenti:qmoveplus:c1r44:p1r44f-021:diametro_teste.png?nolink&200|}} The diameter of the head passes through the center of the tools
  
 <html><pagebreak /></html> <html><pagebreak /></html>
  
-The diameter of the heads is important because the descent and ascent of the heads follow a specific criteria: +The diameter of the heads is important because the descent and ascent of the heads takes place following the following criteria:\\  
-| 1  | {{:strumenti:qmoveplus:c1r44:p1r44f-001:testa2.png?100&nolink}}  | The head's area is divided in 4 parts                                                                  | +**PG35: Head segmentation** = 4
-| 2  | {{:strumenti:qmoveplus:c1r44:p1r44f-001:testa1.png?100&nolink}}  | The head goes down (descent) only if at least 3 of 4 parts see the slab underneath | +
-| 3  | {{:strumenti:qmoveplus:c1r44:p1r44f-001:testa3.png?100&nolink}}  | The head goes up (ascent) only if the parts seeing the slab underneath pass from 3 to 2              |+
  
 +| 1  |{{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_8_punti.png?nolink&100|}}   | The head is divided into 8 pieces                                                                   |
 +| 2  | {{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_5punti_discesa.png?nolink&100|}}  | The head go down only if at least 5 of the 8 pieces see the marble slab under them  |
 +| 3  | {{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_4punti_salita.png?nolink&100|}}  | The head go up only if the pieces seeing the slab below go from 5 to 4              |
  
-  * **Set orthogonal offset (distance from the working head and the middle line of the bridge) PT 23 ÷ 44**+**PG35: Head segmentation** = 6
  
 +| 1  |{{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_8_punti.png?nolink&100|}}        | La testa viene divisa in 8 parti                                                                   |
 +| 2  | {{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_7punti_discesa.png?nolink&100|}}  | The head go down only if at least 7 of the 8 pieces see the marble slab under them  |
 +| 3  | {{:strumenti:qmoveplus:c1r44:p1r44f-021:testa_6punti_salita.png?nolink&100|}}         | The head go up only if the pieces seeing the slab below go from 7 to 6              |
 +
 +  * **Set Orthogonal Offset, i.e. the distance between the working heads and the midline of the bridge: PT 23 ÷ 44**
  
-**Attention**:the minimum value of orthogonal offset is 1 
  
 <html><pagebreak /></html> <html><pagebreak /></html>
  
-  * ** Set "Time to partial lift": PT 45 ÷ 66 **\\  +  * ** Set the Partial Ascent time: PT 45 ÷ 66 **\\  
-  * ** Set "Lift delay": PT 68**+  * ** Set the Total Ascent Delay time: PT 68** 
 + 
 +^ Solenoid valves "closed centres" heads up and down                                 |^  Parametri:     ^ 
 +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola1.png?200&nolink}}  | \\ Valve|                 | 
 +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola3.png?200&nolink}}  | \\ cylinder down   |                 | 
 +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola4.png?200&nolink}}  | \\ Closed centers  |  \\ PT 45 ÷ 66  | 
 +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola2.png?200&nolink}}  | \\ cylinder up    |  \\ PT 68       |
  
-^ "Closed center" Solenoid valves up and down heads                                |^  Parameters:     ^ +In order for the cylinder to descend quickly, its stroke is decreased. 
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola1.png?200&nolink}}  | \\ Valve       |                 | +During the ascent it is not allowed to ascend completely.\\ 
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola3.png?200&nolink}}  | \\  Cylinder down   |                 | +By setting the partial ascent time of the head (parameters 45 ÷ 66) the ascent output is de-energized after that time and, mechanically, when the ascent and descent are de-energized, the upper chamber is in communication with the lower chamber of the cylinder, locking it in that position (closed centers). 
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola4.png?200&nolink}}  | \\ Closed center  |  \\ PT 45 ÷ 66  | +The total ascent will be done only when the head no longer has to work.
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:valvola2.png?200&nolink}}  | \\  Cylinder up    |  \\ PT 68       |+
  
-In order to descend quickly, the travel of the cylinder is decreased:\\  
-By setting the partial ascent time of the head (parameters 45 ÷ 66) the ascent output is de-energized after that time. \\ Mechanically, when the ascent and descent are de-energized, the upper chamber is in communication with the lower chamber of the cylinder, locking it in that position (closed centers).\\  
-The total ascent will be done only when the head has no longer to work. 
 <html><pagebreak /></html> <html><pagebreak /></html>
 ==== - Set the heads up / down advance, in relation to the movement of the bridge. ==== ==== - Set the heads up / down advance, in relation to the movement of the bridge. ====
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 | {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:orthogonal_corr.png?nolink&500|}} | Page where you need to act to anticipate / postpone the heads.\\ In the parameter **"reference speed"** you need to insert the speed of the bridge. If you dont put a value in "reference speed", the correction parameters are not adapted to each speed change of the bridge.                                                                                                                                                                                                                                                                                                                                                                | | {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:orthogonal_corr.png?nolink&500|}} | Page where you need to act to anticipate / postpone the heads.\\ In the parameter **"reference speed"** you need to insert the speed of the bridge. If you dont put a value in "reference speed", the correction parameters are not adapted to each speed change of the bridge.                                                                                                                                                                                                                                                                                                                                                                |
  
 +<html><pagebreak /></html>
 ==== - Set the heads up / down advance, in relation to the movement of the belt. ==== ==== - Set the heads up / down advance, in relation to the movement of the belt. ====
 ==== Horizontal Correction ==== ==== Horizontal Correction ====
  
   * Remove the abrasives and make sure that the heads, going down, cannot damage the belt   * Remove the abrasives and make sure that the heads, going down, cannot damage the belt
-  * Set the tape to maximum speed+  * Set the belt to maximum speed
  
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:correzione_4.png?500&nolink}} | The blue arrow indicates the observation point.\\ The conveyor belt goes slowly, typically 3000 mm per minute\\ so the advance space for the descent and ascent of the heads is "minimum"\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ The red arrow indicates the direction of travel of the conveyor belt. | +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:correzione_4.png?500&nolink}}        | The blue arrow indicates the observation point.\\ The conveyor belt goes slowly, typically 3000 mm per minute\\ so the advance space for the descent and ascent of the heads is "minimum"\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ The red arrow indicates the direction of travel of the conveyor belt.                                                                                                               | 
-| {{:strumenti:qmoveplus:c1r44:p1r44f-001:correzzione_vertic.png?500&nolink}} | As seen in the previous method, calibrate the up and down advance so that the heads work on the entire surface of the slab, taking care not to go beyond the edges. | +| {{:strumenti:qmoveplus:c1r44:p1r44f-001:correzzione_vertic.png?500&nolink}}  | As seen in the previous method, calibrate the up and down advance so that the heads work on the entire surface of the slab, taking care not to go beyond the edges.                                                                                                                                                                                                                                              | 
-| {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:horizontal_corr.png?nolink&500|}} | Page where you need to advance/postpone the heads\\ In the parameter **"reference speed"** you need to insert the speed of the bridge. If you dont put a value in "reference speed", the correction parameters are not adapted to each speed change of the bridge.   |+| {{:en:strumenti:qmoveplus:c1r44:p1r44f-001:horizontal_corr.png?500&nolink}}  | Page where you need to advance/postpone the heads\\ In the parameter **"reference speed"** you need to insert the speed of the bridge. If you dont put a value in "reference speed", the correction parameters are not adapted to each speed change of the bridge.\\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ \\ After the correction set a low belt speed, then check if the head ascent and descent has remained correct  |
  
-  * Set a low belt speed, then check if the head ascent and descent has remained correct 
  
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  • Last modified: 2022/12/06 08:02