Drives Supported by EDGE

Transcription

1 Panasonic EtherCAT Drives Supported by EDGE Connect CNCs Application Note Revision 6 May 208

2 Hypertherm Inc. Etna Road, P.O. Box 500 Hanover, NH USA Tel (Main Office) Fax (All Departments) (Main Office ) Tel (Technical Service) Tel (Customer Service) (Customer Service ) Tel (Return Materials Authorization) Fax (Return Materials Authorization) (RMA ) Hypertherm México, S.A. de C.V. Avenida Toluca No. 444, Anexo, Colonia Olivar de los Padres Delegación Álvaro Obregón México, D.F. C.P Tel Fax Hypertherm Plasmatechnik GmbH Sophie-Scholl-Platz Hanau Germany Tel Fax 3 (0) Tel (Technical Service) Tel (Technical Service) technicalservice.emea@hypertherm.com Hypertherm (Singapore) Pte Ltd. 82 Genting Lane Media Centre Annexe Block #A0-0 Singapore , Republic of Singapore Tel Fax Marketing.asia@hypertherm.com (Marketing ) TechSupportAPAC@hypertherm.com Hypertherm Japan Ltd. Level 9, Edobori Center Building 2-- Edobori, Nishi-ku Osaka Japan Tel Fax HTJapan.info@hypertherm.com (Main Office ) TechSupportAPAC@hypertherm.com Hypertherm Europe B.V. Vaartveld 9, 4704 SE Roosendaal, Nederland Tel Fax Tel (Marketing) 3 (0) Tel (Technical Service) Tel (Technical Service) technicalservice.emea@hypertherm.com Hypertherm (Shanghai) Trading Co., Ltd. B30, 495 ShangZhong Road Shanghai, PR China Tel Fax Tel (Technical Service) techsupport.china@hypertherm.com South America & Central America: Hypertherm Brasil Ltda. Rua Bras Cubas, 23 Jardim Maia Guarulhos, SP Brasil CEP Tel tecnico.sa@hypertherm.com Hypertherm Korea Branch #3904. APEC-ro 7. Heaundae-gu. Busan. Korea (0) Tel 82 (0) Fax Marketing.korea@hypertherm.com (Marketing ) TechSupportAPAC@hypertherm.com Hypertherm Pty Limited GPO Box 4836 Sydney NSW 200, Australia 6 (0) Tel Fax au.sales@hypertherm.com (Main Office ) TechSupportAPAC@hypertherm.com Hypertherm (India) Thermal Cutting Pvt. Ltd A-8 / B- Extension, Mohan Co-Operative Industrial Estate, Mathura Road, New Delhi 0044, India / 2/ 3 Tel Fax HTIndia.info@hypertherm.com (Main Office ) TechSupportAPAC@hypertherm.com 208 Hypertherm Inc. All rights reserved. EDGE, EDGE Connect, Phoenix, and Hypertherm are trademarks of Hypertherm Inc. and may be registered in the United States and/or other countries. EtherCAT is a trademark of Beckhoff Automation. All other trademarks are the property of their respective holders. One of Hypertherm s long-standing core values is a focus on minimizing our impact on the environment. Doing so is critical to our, and our customers, success. We are always striving to become better environmental stewards; it is a process we care deeply about. /28/6

3 Supported Panasonic EtherCAT Drives Introduction The following information is provided to Hypertherm channel partners for reference only, to help you select and configure an EtherCAT drive that is supported by EDGE Connect CNCs. NOTE: Work in partnership with your drive manufacturer to select and configure the drives for your cutting system. Refer to your drive manufacturer s drive documentation for technical information about the drives. When possible, the following information is provided to support integration of the drives with the cutting system and the CNC. Drive model supported Firmware revision supported Example drive amplifier file Setup and parameter notes Setup files and parameters provided by Hypertherm can be used for the initial machine setup. We expect these files and parameters to be modified by the installer for the specific cutting system configuration and desired performance. NOTE: Make sure to follow the guidelines and instructions provided by the drive manufacturer. Supported Panasonic drive Series Models Firmware Notes Minas A5B See the Supported drives listed alphabetically table for a list of supported drives. Minas A6B MADLN0BE MADLNBE MADLN05BE MADLN5BE MBDLN2BE MBDLN25BE MCDLN3BE MCDLN35BE MDDLN45BE MDDLN55BE MEDLN83BE MEDLN93BE MFDLNA3BE MFDLNB3BE.0 5 digital inputs and Digital Output are supported..0 5 Digital Inputs and Digital Output are supported EDGE Connect CNCs

4 Supported Panasonic EtherCAT Drives Supported drives listed alphabetically MADHT05B0 MBDHT20BA MDDHT242B9 MEDHT7364B9 MGDHTB4A2B0 MADHT05B9 MBDHT20BL MDDHT242BA MEDHT7364BA MGDHTB4A2B9 MADHT05BA MBDHT250B0 MDDHT242BL MEDHT7364BL MGDHTB4A2BA MADHT05BD MBDHT250B9 MDDHT3420B0 MFDHT5440B0 MGDHTB4A2BL MADHT05BL MBDHT250BA MDDHT3420B9 MFDHT5440B9 MGDHTC3B4B0 MADHT07B0 MBDHT250BL MDDHT3420BA MFDHT5440BA MGDHTC3B4B9 MADHT07B9 MCDHT320B0 MDDHT3420BL MFDHT5440BL MGDHTC3B4BA MADHT07BA MCDHT320B9 MDDHT3530B0 MFDHTA390B0 MGDHTC3B4BL MADHT07BL MCDHT320BA MDDHT3530B9 MFDHTA390B9 MHDHTB4A2B0 MADHT505B0 MCDHT320BL MDDHT3530BA MFDHTA390BA MHDHTB4A2B9 MADHT505B9 MCDHT3520B0 MDDHT3530BL MFDHTA390BL MHDHTB4A2BA MADHT505BA MCDHT3520B9 MDDHT5540B9 MFDHTA464B0 MHDHTB4A2BL MADHT505BL MCDHT3520BA MDDHT5540BA MFDHTA464B9 MHDHTC3B4B0 MADHT507B0 MCDHT3520BL MDDHT5540BL MFDHTA464BA MHDHTC3B4B9 MADHT507B9 MDDHT2407B0 MEDHT4430B0 MFDHTA464BL MHDHTC3B4BL MADHT507BA MDDHT2407B9 MEDHT4430B9 MFDHTB3A2B0 MADHT507BL MDDHT2407BA MEDHT4430BA MFDHTB3A2B9 MBDHT20B0 MDDHT2407BL MEDHT4430BL MFDHTB3A2BA MBDHT20B9 MDDHT242B0 MEDHT7364B0 MFDHTB3A2BL NOTE: To check a drive s firmware version, use the PANATERM drive software provided by Panasonic. Mixing different brands of drives in one system is not supported. All drives must support and be configured for a ms update rate. The need for additional I/O depends on the total number of I/O and the I/O style required. For a list of supported I/O modules, see the EtherCAT Drives and I/O Modules Supported by EDGE Connect CNCs Application Note (809660). EDGE Connect CNCs

5 Setup and parameters Supported Panasonic EtherCAT Drives From a high level, the process of setting up your drives is as follows.. Install the firmware using the drive software. 2. Set up the drive parameters per the drive manufacturer s instructions. 3. Make sure the drives are communicating on the network. In addition to this application note, also refer to the following sections of the EDGE Connect Installation and Setup Manual (809340). Section 3: Machine stop strategies and table hardware, for information about: o How the CNC enables and disables the drives, and stops motion o Drive enable signals o Drive Enable output and Drive Disabled input o Overtravel limits o Safety circuit Section 5: Machine Axes, for information about: o Axis orientation and positive motion o Axis assignment and setup Section 7: I/O Inputs and Outputs, for information about: o How Phoenix assigns I/O o Digital I/O and assignment o Analog I/O and assignment NOTE: Make sure you can remove power, including control (logic) power, from all drives. Refer to your drive manufacturer s drive documentation for more information. All drives must be set up as linear axes. All drives must support and be configured for a ms update rate. Drive inputs Phoenix maps 5 digital inputs and digital output. NOTE: To use Panasonic digital I/O, set it for general purpose use. Digital inputs Description DIN SI MON /ET DIN2 SI MON 2/ET2 DIN3 SI MON 3 DIN4 SI MON 4 DIN5 SI MON 5 EDGE Connect CNCs

6 Drive outputs Supported Panasonic EtherCAT Drives Digital outputs DOUT Description SO2/E OUT Additional information about parameters The following information is about parameters that may need to be modified for some user s configurations. Please review the drive s user manual for details on these settings Motor Direction/Encoder Polarity To reverse motor direction, you can use Panaterm to edit the EtherCat object and save it to EEPROM. o Set object 0x607E = 0x0 for normal direction and 0x607E = 0x0E for reverse direction THC setup During IHS the drive amplifier may get an error 27.4 Position deviation excess setup. To suppress this error change 0x3722, Bit5 =. If the original value was 0 then writing 0x20 to the object will set Bit5. A starting point for the Sensor THC using a MHMF022LV2M motor with an A6 amplifier. o THC settings Servo error tolerance = 0.50 o Stall force = 0.00 o Encoder counts/inch = 3369(for counts/rev) o 5% torque limit for IHS, 50 mg, 50 ipm, 50 ipm, 5 ipm Output Bit Mask In addition to assigning the output to pins 25 and 26 on the drive amplifier, the EtherCAT object 0x60FE:2 = 0x0000 must be set for the output to function properly from the Edge Connect. Absolute Encoder Configuration When using an absolute encoder, it must be configured to ignore the multi turn over counter. To understand how this effects homing for the Edge Connect, see the application note Absolute Positioning for Homing (809870) in the Hypertherm Document Library at Drive Parameter P0.5 must be set to 2 Drive Parameter P0.5 must be set to to set encoders to incremental mode EDGE Connect CNCs

7 Supported encoder counts Supported Panasonic EtherCAT Drives The Minas A5B series drives support encoder counts per revolution metric (,048,576 encoder counts per revolution English). The CNC s maximum encoder input rate is counts per millisecond metric (32,767 counts per millisecond English). The drive s encoder scaling parameter needs to be adjusted so that the CNC s maximum encoder input rate is not exceeded at the table s designed maximum speed. (Refer to Maximum machine speed per minute below for more information.) In the Panasonic PANATERM software, use the Object Editor to set the 0x609 Motor Revolutions object to 0x Then save to EEPROM. Parameter Value 0x609: Motor Revolutions 0x x6092: Feed Set to the value to 0x00000 if you want to have counts/revolution over ECAT Note: For absolute encoders you may want to use largest possible number based on table size With this parameter set to 4 the encoder counts per revolution will be metric (262,44 English). Use this value to calculate encoder counts per mm (inch) and maximum machine speed. Encoder counts per mm (inch) Linear axis example metric: In this example the linear axis has the following machine characteristics. Gear box ratio: 5: Lead screw pitch: 50 mm/revolution Use these values with the following formula to calculate encoder counts per mm, as shown encoder counts motor revolution 5 motor revolutions pinion revolution pinion revolution 50 mm (pitch) = 8.738,3 encoder counts per mm EDGE Connect CNCs

8 Supported Panasonic EtherCAT Drives Linear axis example English: In this example the linear axis has the following machine characteristics. Gear box ratio: 5: Lead screw pitch: 5.9 in./revolution Use these values with the following formula to calculate encoder counts per inch, as shown. 262,44 encoder counts motor revolution 5 motor revolutions pinion revolution pinion revolution 5.9 in. (pitch) = 22, encoder counts per inch Maximum machine speed per minute Use the encoder counts per mm (inch) with the following formula to calculate the maximum machine speed. Note that the maximum encoder counts per ms in Phoenix is fixed at metric (32,767 English). Metric example: (max. encoder counts per ms) 8.738,3 encoder counts per mm (ms per minute) = ,22 mmpm Maximum machine speed English example: 32,767 60,000 (max. encoder counts per ms) (ms per minute) 22, encoder counts per inch = 8, ipm Maximum machine speed EDGE Connect CNCs