laser compensation
Contents
1. Set up the program as follows 1 Start the application by typing LASER EXE At the start of the program the Welcome screen displays Gis A e Automatic 2 AT E Le o Manual ss mo 2 Select the type of the compensation either Automatic or Manual and then click the Continue button The PMAC Device Dialog Box displays PMAC Devices X PMAC 0 1540 OK Intr 0 DPRAM 0xd4000 Properties Cancel 3 Select the appropriate device and click OK The Laser Compensation dialog box displays See the Main Screen section of this manual to proceed Program Setup Laser Compensation User Manual Program Setup Laser Compensation User Manual Navigate the input by pressing Tab or directly select the input by pressing Alt and the underlined letter Single line help is available when the focus is set to the input field Run time status displays in the Program Status group box las Delta Tau Data syste NEWIDEAS IN MOTION ES Automatic s Laser Comp pe ensation Tool Sr inc z Ti Laser Setting CwUnits PMAC Encoder Channel T Capture Control Agaa Feed Hale eect Table E Motor Ha 1 g Ho Of Aeadings E Legdecrew Ml Leadecrew Comp Distance 5 Slant Poimi Ml Correction Source jE Backiash Ho OF Repeltiona pr crap E Buciiash Start Direction Negative Positive Compensation E OW B11 Program Axis a Data Points BE capture Position2. Repatitions increment o NN RUN Y Help Select to start the Data Collection The following outlines the different fields on the main screen PMAC Type This will detect and display the PMAC type automatically This input cannot be altered If there is no PMAC then the default PMAC type will be Turbo PMAC 2 Machine Name Enter a specific folder name for the application here if desired All the files created by the application are stored in this folder The change can be observed in the Path input The default name is MyLaser Path The default path to create the Machine Name folder is C Program Files Delta Tau lt Machine Name gt Browse to change the default path Automatic Laser Compensation Execution Laser Compensation User Manual Laser Setting This important setting comes from the Laser manufacturer This setting specifies the number of counts per unit of distance traveled The Laser is required to have A QUAD B output A typical method for calculating the number of pulses is 1 LAMBDA where LAMBDA is the wavelength of the laser PMAC Encoder Channel This input specifies the PMAC channel used to connect Laser A QUAD B output Usually this is a free channel on PMAC For the 4 axes system the spindle encoder connection can be replaced by Laser A QUAD B connection Program Input Section Motor No Specify the motor number selected for compensation Comp Distance Specify the compensat
3. Delta Tau s Automatic Laser Compensation Program Window s 98 2000 or NT operating system Delta Tau s Turbo PMAC1 2 or PMAC1 2 Interfacing Cables Executive PRO Software to communicate with PMAC Laser Compensation Installation After the successful default installation the directory structure will look like C Program Files Delta Tau Laser Compensation Laser_comp exe C Program Files Common Files Delta Tau Shared Lasercompdef h Introduction Laser Compensation User Manual This function is available in Automatic Laser Compensation only When the program is started the main screen displays along with the Assist screen The assist screen provides quick help for those who want to use the application without the detailed manual The Assist screen consists of two sections The first section outlines the steps to set up the Program Input and the second explains the meaning of the programming parameters with the help of diagram Click PI Do not show on Start up to prevent the display of the Assist screen at the start of the application Program Input Graphical Representation LAA E A Home Position e B Backlash Takeup C Start Point A Distance from Pt A D Compensation Distance E Pt E Pt C Pt D Guideline What is Automatic Laser Campanimtion The Automatic Laser compe ware the other d download it to 4 Introduction Laser Compensation User Manual PROGRAM SETUP
4. GI BACKLASH_DISTANC GI O OR D ES ERO_1_M 0 Automatic Laser Compensation Execution Laser Compensation User Manual ENDWHILE TART_L_ wH GAU SCRI NC1_COMP_B_M IF ENC1_COMP_A_M gt 16777200 ENC1_COMP_A_M 16777200 TI ENC1_COMP_B_M EW_COMP 0 EMP3 TEMP3 NC1_COMP_A_M ENC1_COUNTER _ ENC1_COMP_A_M P_WI EMP 3 ENC1_COMP_A_M P_WIDTH TEMP3 ER M 30 138714 3987 TEMP3 DTH TEMP3 ENDIF ENC1_COMP_A M First_Data_POINT Incremental_counter TEMP 3 Q1000_Pointer ENC1_COMP_B_ M ENC1_COMP_A_M P_WIDTH TEMP3 CMD EQU1_COMPARE_OUTPUT_M 0 ENC1_COMP_LATCH_CNTL_M 1 DWELL200 Direction2 1 START_L_SCREW_COMP 1 Pos_Reading_Counter 0 F FEED_RATE X Comp_Distance Backlash_Distance Backlash_Distance Start_Direction 1 DWELL200 WHILE IN_POSITION_M 0 OR DES_VEL_ZERO_1_M 0 ENDWHILE WHILE Direction2 1 ENDWHILE START_L_SCREW_COMP 0 TEMP 8 TEMP8 1 CAPTURE_AT_HOME P2000 DATA_READY_2_UPLOAD 1 DWELL750 ENC1_COMP_A_M ENC1_COUNTER_M 30 138714 3987 START_DIRECTION ENC1_COMP_B_M ENC1_COMP_A M P_WIDTH START_DIRECTION IF ENC1_COMP
5. USER MANUAL Laser Compensation DELTA TAU Ny Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information O 2003 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller products accessories and amplifiers contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging compo
6. E ED_RAT T LINEAR ABS F Feedl ETATIONS 1000 2000 30 100 X START_DISTANC DWELL200 E IN_POSITI WHILE 1000 E Z A Hana H D L1000 ILE L1000 HILE T Poi ZA H J H T EMP 8 EMP3 S ON RT_DIRECTION 1 E IN_POSITION_M START_DIRECTION M 0 OR DES VEL BACKLASH _DISTANC O OR DES VEL E 0 nter_to_P_Base 2000 TART_DIRECTION 138714 3987 STAR CMD START_DIRECTION DW 1200 Direction E E POS INC DIRECTION ENC1_COMP_B M BQUL COMPARE OUTPUT_M Pointer_to_01000 Pointer_to_01000 1 Pointer_to_02000 First_Data_POINT LSI F FEED_RA TE X COMP_ START_DIRECTION DWELL200 H NDWHILE WHILE HE OH DISTANC E IN_POSITION_M Directionl START_L_SCREW_COMP 1 Reading_Counter 0 E 1 T Incremental_counter INCREMENT ENC1_COMP_A _M 3 0 ENC1_COUNTI Q1000_Pointer tIx86_constant Q2000_Pointer ENC1_COMP_A_M ZERO_1_M 0 ZERO_1_M 0 ER_M BACKLASH_DISTANC E P_WIDTH START_DIRECTION ENC1_COMP_LATCH_CNTL_M Pointer_to_02000 1 ENC1_COUNTER_M BACKLASH_DISTANC ar BACKLASH_DISTANCE 138714 3987
7. spand bun Toul elect Table ilea Table Motor Ha iy Ho Of Aeadings M Leadscrew Ml Leadscrew Comp Delance 5 slant Pinel Ml Correction Sows E Backlash A Start Direction O Negative Positive E Backiash Alba Pons Josx io o 00000 ggg 1000 100000 6 00000 JOGO Create the table for writing data Manual Laser Compensation Execution 21 Laser Compensation User Manual Load Screen The following screen displays when the Load button is selected Manual Laser Compensation Load file for Edit Look in manual_laser1 e e Fae X_COMP_1 las File name I Files of type Laser Data Files LAS y Cancel Open as read only File Management The following files are generated from this application in the Path Machine Name folder Axis lt Motor No gt _comp pmce Lead screw compensation file for the motor number e g Axis1_comp pmc Axis lt Motor No gt _blcomp pmc Backlash compensation file for the motor number e g Axis1_blcomp pmc lt Axis Char gt _comp_ lt repeat counter gt txt Data collection file e g X_comp_1 txt lt Axis Char gt _RMS_ lt Motor No gt txt Tabular data display file e g X_RMS_1 pmc Axis lt Motor No gt _comp las Compensation data file for the motor number e g X_COMP_1 las Executing Manual Laser Compensation To execute the compensation program manually complete the following steps Start the appl
8. 1 000 0 000 Position m Runi F 1 Select the type of compensation from the Select Table Group and click the Download button This will generate and download the selected table The Leadscrew Backlash or both can be selected for download 2 Set the Compensation On 150 1 flag in the PMAC using the Executive program and then take another set of readings to check effect of the compensation This program allows appending of the Leadscrew and backlash table If the table exists already for the same number of points and distance then the new calculated values are appended to the existing table Manual Laser Compensation Execution 23
9. ENDIF IF Direction2 1 IF ENC1_COUNTER_M gt ENC1_COMP_B_M P_Base_Pointer ENC7_CAPTURE_M Current_Capture_Pos ENC7_CAPTURE_M Pointer_to_P_Base Pointer_to_P_Base 1 Pos_Reading_Counter Pos_Reading_Counter 1 IF Pos_Reading_Counter 17 Direction2 0 Pointer_to_01000 1000 Incremental_counter INCREMENT ELSE Incremental_counter Incremental_counter INCREMENT Pointer_to_01000 Pointer _to_01000 1 ENC1_COMP_A_M First_Data_POINT Incremental_counter TEMP3 0 Pointer_to_01000 ENC1_COMP_B_M ENC1_COMP_A_ M P_WIDTH TEMP3 ENDIF ENDIF ENDIF ENDWHILE CLOSE On completion of motion Program End will display At this point the Show Data Plot Data and Download functions are enabled from the Program Data group Automatic Laser Compensation Execution 13 Laser Compensation User Manual Click Plot Data to display the Position Vs Error plot for the current run Bl Position Vs Error Flot in User Unite lia mm Les B The points in blue are the points collected in Forward Run and the points in yellow are the points collected in Reverse Run The dark blue and red points are the average of Forward and Reverse run There is an extra point in reverse run at 0 0 This is not a true point data collected point This point is for the reference Step 4 Select the type of compensation from Select Table Group and click the Do
10. run so that the compensation readings will accurate This box can be checked after the data is collected and tables are downloaded to PMAC This is for the verification of the compensation table The box will be checked automatically on table download Program Status This group of boxes represents the parameters which are displayed during the data collection run Program Axis This field shows the axis associated with the input motor number Data Points This is the current number of the reading Capture Position This is current data captured on the fly Repetitions This is the current repetition number Increment This increment field Comp Distance No of readings displays the trigger distance at which data will be captured on the fly Program Data This group of boxes represents the input set usually after the first data collection run Select Table This group of boxes represents the type of table to be created for the selected motor Lead screw Click to generate the Lead screw compensation table when the download key is clicked Correction Source 8 Automatic Laser Compensation Execution Laser Compensation User Manual Backlash Click to generate the Backlash compensation table when the download key is clicked Clear Table This group of boxes represents the type of table to be deleted from PMAC for the selected motor Leadscrew Click to delete the Lead screw table on Clear key Backlash Click to delete the Ba
11. 186 902 18 Automatic Laser Compensation Execution Laser Compensation User Manual Manual Laser Compensation allows data to be input and plotted manually Then the compensation table can be created and downloaded This option does not need additional wiring or a laser with A QUAD B output Navigate through the input by pressing Tab or directly select the input by pressing Alt and underlined letter Single line help is available when the focus is set to the input field Ute Tau Data S ystems Inc PMAC Type EMAC E achine Name l Automatic Laser Compensation Tool T Eath f Program Files Detta TE elect Table lear Table abor Ha th eadings By Leadscrew Lasdacreni Comp Distance EO ial Poil po Ml Correction Saree jE Backlash Start Director pi Negative i Positive E Backiash Program Axis create BL toa Create the table for writing data Ee ee eee ee eee ees Manual Laser Compensation Execution 19 Laser Compensation User Manual Fields The following outlines the different fields on the main screen PMAC Type This will detect and display the PMAC type automatically This input cannot be altered If there is no PMAC then default PMAC type will be Turbo PMAC 2 Machine Name Enter a specific folder name for the application here 1f desired All the files created by the application are stored in this folder The change can be observed in the Path inp
12. DISTANCE 0 1000 Directionl 0 Direction2 0 151 0 Compl_correction 0 Q1000 2999 0 1186 0 1185 0 Ix86_constant 0 Q pl y O PEN PROGRAM 100 EAR Pl LKHD_MOD D_ MODE 0 P2 ACC_TIME TA ROR_NUMBER 0 inter_to_P_ Base 2000 NC1_COMP_A M ENC1_COUNTER_M 30 138714 3987 START DIRECTION NC1_COMP_B M ENC1_COMP_A M P_WIDTH START DIRECTION IF ENC1_COMP_A M gt 16777200 zj S za so VAHEHOA o wA w m ENC1_COMP_A_M 16777200 START_DIRECTION ENC1_COMP_B_M ENC1_COMP_A M P_WIDTH START_DIRECTION ENDIF START_L_SCREW_COMP O DATA READY 2 UPLOAD O Program_End 0 CMD EQU1_COMPARE_OUTPUT_M 0 ENC1_COMP_LATCH_CNTL_M 1 10 Automatic Laser Compensation Execution Laser Compensation User Manual ELL200 P2000 P2000 0 CMD DIS PLCCO CMD ENA PLCCO EMENT 0 ENC7_CAPTUR COMP_ATINCR_M HOME COMP ET R NC1 R ROR_NUMB ES OTO 1 REMENT PS NO G D EMP4 COMP _ C M R 1 E_1 El zZ ll o DISTANCE NO_OF_READINGS TEMP4 138714 3987 OF_READINGS E MP8 COMP_REP Pointer_to_Q1000 Pointer_to_Q2000 TA 100 Feedl T
13. _A_M gt 16777200 ENC1_COMP_A_M 16777200 START_DIRECTION ENC1_COMP_B_M ENC1_COMP_A M P_WIDTH START_DIRECTION ENDIF WHILE DATA_READY_2 UPLOAD 1 ENDWHILE CMD EQU1_COMPARE_OUTPUT_M 0 ENC1_COMP_LATCH_CNTL_M 1 DWELL200 ENDWHILE N1 TEMP8 COMP_REPETATIONS LKHD_MODE TEMP1 Program_End 1 TA TEMP2 ACC_TIME_TA TEMP2 CLOSE PLCC Generated for the HAAS Machine This is a PLCCO for reading the COMPARE data on the fly for leadscrew compensation Include the LaserCompDef h file Pointer_to_P_Base 2000 Current_Capture_Pos 0 17132 13 OPEN PLCC 0 CLEAR 12 Automatic Laser Compensation Execution Laser Compensation User Manual WHILE START_L SCREW_COMP 1 IF Directionl 1 IF ENC1_COUNTER_M lt ENC1_COMP_B_M P_Base_ Pointer ENC7_CAPTURE_M Current_Capture_Pos ENC7_CAPTURE_M Pointer_to_P_Base Pointer_to_P_Base 1 Pos_Reading_Counter Pos_Reading_Counter 1 IF Pos_Reading_Counter 17 Directionl 0 Pointer_to_01000 1000 NO_OF_READINGS Pointer_to_02000 2000 ELSE Incremental_counter INCREMENT Pos_Reading_Counter ENC1_COMP_A_M First_Data_POINT Incremental_counter Pointer_to_01000 1x86_constant 0 Pointer_to_02000 NC1_COMP_B_M ENC1_COMP_A M P_WIDTH TEMP3 Pointer_to_01000 Pointer_to_Q1000 1 Pointer_to_02000 Pointer_to_02000 1 TEMP3 0 ed ENDIF ENDIF
14. ample the Backlash table was selected in step four so now select Leadscrew Compensation Deselect Backlash if PMAC Firmware is less than 1 937 for Turbo or 1 16G for PMAC 1 2 On completion of Download Comp Table ON will be checked true 16 Automatic Laser Compensation Execution Laser Compensation User Manual Step 7 Click Run to verify Leadscrew and Backlash compensation The motion program will be executed and data will be collected On completion Program End will display At this point select Plot Data The following window shows the effect of Leadscrew and Backlash compensation The forward and reverse data points are very close to each other and to zero Compare this plot with the previous plot There is an extra point in reverse run at 0 0 This is not a true data collected point This point is for reference Bl Position Vs Error Plat in User Unite q MMMM _ _aAAAAAAAAAAAAAAAAAAAAAA gt 9 Automatic Laser Compensation Execution 17 Laser Compensation User Manual A typical Leadscrew table generated from the program will look like LeadScrew Compensation Table Machine Name HAAS Pmac Type PMAC_TURBO2 File Path C Program Files Delta Tau HAAS Axisl1_COMP PMC Ji Leadscrew Table Definition 1 DEF COMP 18 2496859 LeadScrew Tabl 2213 1907 1776 1791 1601 1514 1281 12371 975 961 830 669 684 626 466 87 0 0 Backlash count 1
15. cklash table on Clear key Plot Selecting this button will plot the current captured data The plot can be re scaled Download Selecting this button will generate the selected comp tables from the select table and those tables will be downloaded to PMAC After download this button will be grayed out until one data collection cycle executes Show Clicking this button will display the current data in tabular form Control Buttons Section Run Click this button to start the motion program to capture data on the fly Test Click this button to match the encoder counting direction of selected axis and the laser axis The encoder counting direction for the selected axis and laser A QUAD B encoder counting direction must be the same Help Click this button to get Online Quick Help to explain the Program Input File Management The following files are generated from this application in the Path Machine Name folder Axis lt Motor No gt _comp pmce Lead screw compensation file for the motor number e g Axisl_comp pmo Axis lt Motor No gt _blcomp pmc Backlash compensation file for the motor number e g Axis1_blcomp pmc lt Axis Char gt _comp_ lt repeat counter gt txt Data collection file e g X_comp_1 txt lt Axis Char gt _RMS_ lt Motor No gt txt Tabular data display file e g X_RMS_1 pmc Laser_comp pmc and Laser_comp plc are the motion program and plc files used in the application Executing Automatic Laser Compe
16. eesecneeeecsaecaeesecaeesecsecaeeseecaseaesaeeatenaeseeeas 9 ILE A seaszneewsenn ss oasnacnactediveat sensed anttaas sbosesseastaosoues sunseeaeae ies afnasndoageawonseen iwadaepiae aebseneednsdotsasneshsnastasuseecees 10 SLED 2 ao E E E A E Soaseaduseiaeateseuaeuatteossape nendensraenas atadsnde E E 10 O E E E E E E uadaeouseabodueneosnedeteasnedseasraseseacess 10 O E E E E E E E E E 14 NO E E E A A E E 15 O A NN 16 LED A iendoagenensnsieheadnnactioassans Seasensnneiaeadenruseuaetwdesens E E E seashaseseeceas 17 MANUAL LASER COMPENSATION EXECUTION 0 scssssssssssssccsssscsscsssescsssnessssnsscesssesossssssessssnessessessoseeees 19 Mai Creen psi E E E E A AEE 19 Highlights veieren eao a E E S E E ae E A a E a e a 19 A E E E E N E veepsbbeptaneadiglapvel nem ccaepaaaeteeoes 20 Cir E EEE E E A E E T N 21 Load Screen A 22 File Mana E e E A EEN ERARE 22 Executing Manual Laser Compensation cccesesssssecsseseeeceeecsceeceaeceessecseesecneeeecsaeeeesaecaesseesessecsaeeesaesaeeeeeneeeees 22 LED E E E a E seapsdoentaacss 22 O E E E E E E teatsapuneaesd 22 Data Entry AAPP E ae eE Eeee E AA E AATE E E Re E E EEEn EAE E EEA TEE SEE enS 23 Table of Contents i Laser Compensation User Manual Table of Contents Laser Compensation User Manual INTRODUCTION Laser Compensation using PMAC is now faster and more accurate in comparison to the conventional way The typical laser compensation process is time consum
17. ication and select Manual laser compensation The Manual Laser Compensation Dialog box displays Step 1 Clear the tables from the PMAC by selecting the tables in Clear Table group and select the Clear button Step 2 Set the Program Input group 1 The compensation is for Motor No 1 2 The distance to be compensated is Comp Distance 5 inches and No Of Readings are 5 Thus the readings are taken at every inch 3 The first data point is at 1 inch Start Point 4 Set the compensation Direction to negative 5 Click the Create button to create the blank table ready for data entry The table has two columns Data Points and Axis lt gt The Axis character will be displayed by reading the coordinate system definition from the PMAC Initially the Axis column will be set with zeros 6 Measure the laser equivalent of one inch and enter the reading in the AXIS column 22 Manual Laser Compensation Execution Laser Compensation User Manual Data Entry Screen Click Plot to display the Position Vs Error plot for the current Run Note There is an extra point in reverse run at 0 0 This is not a true data point This point is for the reference Position Vs Error Plot in User Units Position Ys Error 0 0000800 0 0000400 0 0000000 0 0000400 0 0000800 0 0001200 0 0001600 0 0002000 0 0002400 0 0002800 0 0003200 0 0003600 0 0004000 i i i i i 6 000 5 000 4 000 3 000 2 000
18. ing and error prone because motion must be stopped to take the laser reading This affects machine response and allows human error The Automatic Laser Compensation program eliminates most of the common errors The readings are taken on the fly and it calculates the Leadscrew and Backlash tables and then automatically downloads it to PMAC With Manual Laser Compensation the tables can be created and edited before downloading to PMAC Concept The laser calibration program relies in the position compare and position capture feature of the PMAC motion controller The motor under calibration uses the position compare to activate the EQU output signal at regular position intervals This output triggers the position capture of the laser interferometer which is read through an independent spare encoder channel This technique based on a highly precise hardware controlled feature allows creating a compensation table for each motor In general a spare encoder input is used to connect the laser interferometer quadrature encoder In case no spare encoder input is available an encoder input of a motor that is not currently being calibrated could be used temporarily For a typical NC 4 axis machine the Spindle channel can be used as a free channel Then the corresponding EQU line output that belongs to the motor under calibration is connected to the C channel input of the encoder channel used to connect the laser interferometer The following example
19. ion distance from the Start point The laser reading will be taken on the fly over this distance Set this distance so that Start Point comp distance is not greater than total travel available on the machine otherwise the machine limits will generate fault No of Repetitions This field specifies the repetitions of readings Multiple readings improve statistical validity of the measurements Three is a good statistical value The maximum value is 10 Feed Rate Enter the feedrate at which the selected motor will move in units per minute No of Readings Enter the number of intervals at which the laser reading will be taken For the Turbo PMAC this limit is 500 points and for Non Turbo it is 200 Start Point Enter the absolute distance from Home position The compensation readings will start from this point and end at Start Point comp Distance This value should be large enough to accommodate Backlash Take up distance Backlash Take Up Distance This field specifies the distance from the start point to move so that motor motion will get rid of the backlash and backlash will not affect the first reading This value should not be set to a value greater then zero Start Direction This is the direction of the motion Normally this is opposite of the Homing direction Compensation This value differentiates between the creation of the table and the verification of the table Normally this checkbox is not clicked the first time the program is
20. nents or causing electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Laser Compensation User Manual Table of Contents INTRODUCTION seccssiceces cscdencitstasetsscsccatbsscssucsoceccnecsocusatanssecetoacavasceusedsasseossonsoasassesosdeccabasansaussecessesdsaneoasoaseccacsevasaaseus 1 COMCE NN 1 Requirements iuiassat di l iita 3 Automatic Laser COmpensation cescesssesscessesseevsecsonsssessnseonsonesonseonsessessnestasueseseessonessesonseneeeseseesoserenseonsesness 3 Laser Compensation Installation titi 3 Online Assist for Quick Start ie iia til 4 PROGRAM SETUP AAA 5 AUTOMATIC LASER COMPENSATION EXECUTION sscsssssssscsssssscssssssssesssssscecessssnsesesssesessssesessesneres 7 EN A coteed easagevadscustrsdvestecnde soi neaaeduse E E E E E 7 SNS a a AE E E 7 a E E ET E E ls obpcansettspupsbiatsasaietesahsceereuss 7 Pile Matias Ment ss 2525ec5a03cts vue cerssouseeacs auectaestadbedceatsesssbebssenectodsnaitbscsstrecebieaube baa veupedacasesb ues cancdaissisabietemelbioueastassovns 9 Executing Automatic Laser Compensation cscsssssessseseceeesecsseeeceaeceseseca
21. nsation To execute the automatic program use the following seven steps Clear all tables Set Program Input group Start data collection Select type of compensation and download Verify backlash compensation Select type of compensation and download Verify leadscrew and backlash compensation NAM RON PE Automatic Laser Compensation Execution 9 Laser Compensation User Manual Step 1 Clear all the tables from the PMAC by selecting tables in the Clear Table group and clicking the Clear button Step 2 Set Program Input group 1 The compensation is for Motor No 1 at 100 inch Min Feed Rate 2 The distance to be compensated is Comp Distance 16 inches and No Of Readings are 16 Thus the readings are taken at every inch 3 The first data point is at 1 inch Start Point 4 The data will be collected for 3 cycles No Of Repetitions and direction of the motion is Negative All the output files are stored under C Program Files Delta TauHAAS folder Step 3 Click the Run key to start data collection This will generate the following motion program and PLC Motion Program Generated for the HAAS Machine This Program is designed to process the Automatic Position Compare Capture for leadscrew compensation Include the LaserCompDef h file DATA _READY_2 UPLOAD O FEED RATE 50 P_WIDTH 2 COMP_REPETATIONS 3 COMP_DISTANCE 16 0000 NO_OF_READINGS 16 ST ISTANCE 1 0000 ST DIRECTION 1 BACKLASH
22. orrection Source Backlash Click to generate the Backlash compensation table when the download key is clicked Clear Table This group of boxes represents the type of table to be deleted from PMAC for the selected motor Lead screw Click to delete the Lead screw table on Clear key Backlash Click to delete the Backlash table on Clear key Plot Clicking this button will plot the current captured data The plot can be re scaled Plot will enable Download and Show button Download Clicking this button will generate the selected comp tables from the select table and those tables will be downloaded to PMAC After download this button will be grayed out until one data collection cycle executes Show Clicking this button will display the current data in tabular form 20 Manual Laser Compensation Execution Laser Compensation User Manual Control Buttons Create Clicking this button will create the data entry table The table will consider the values in the No of readings Comp distance start point and motor number fields to create the table Load Clicking this button will load the previously saved manual data file The extension for the file 1s LAS file The following screen displays when the Create button is selected DelTaTau Manual LASER COMPENSATION x DE Delta Tau Data PNEC INEWIDEASIN MANGN m Wachi TA ranua aseri G SE h PE yh lb bd achine Name ale Las
23. rature encoder Motor 1 uses the encoder compare feature triggering the EQU1 at regular position intervals The accessory board shown can be an ACC 8E ACC 8F or any other axis interface board compatible with a PMAC2 board Encoder n Connector Pin 4 Symbol Ad 1 CHAn 5 Laser A ch n O Interferometer 3 ont 4 CHBn IE GND x lt pkai 5 CHCn Other Axes i Selected Axis 2 i Pin Symbol LI EQU1 gt 2 EQU2 O a 3 EQU3 N Example A UMAC System is used Any spare encoder channel can be used to connect the laser interferometer quadrature encoder Motor 1 uses the encoder compare feature triggering the BEQUI at regular position intervals The accessory board shown can be an ACC 24E2 ACC 24E2A or any other UMAC axis interface board with quadrature encoder inputs Introduction Laser Compensation User Manual TB1 Top Pin 4 Symbol CHA CHA CHB CHB GND CHC Laser Interferometer X dvc 00V oo eA Gd Po Bee Fe Other Axis Selected Axis TB3 Top Pin Symbol oo 1 EQU1 A 2 EQU2 X dbve 90V Requirements Automatic Laser Compensation The following items are needed to run the Automatic Laser Program Laser with A QUAD B output not necessary for Manual Mode
24. s show the connections for the most commonly used Delta Tau motion controllers In PMAC boards the JEQU connector is a 10 pin male header In the UMAC accessories ACC 24E2x the JEQU connector is a 3 pin terminal Note The indicated connections must be made every time an axis is selected for compensation Board Name Type of Connector on PMAC or UMAC PMAC Lite PCI J8 10 Pin Header PMACI1 PCI J9 10 Pin Header PMAC2 Lite PCI J8 10 Pin Header PMAC2 PCI J8 10 Pin Header Turbo PMAC PCI J9 10 Pin Header UMAC TB3 top OR J1 15 Pin DB male connector top FOR DB option Example A PMAC PCI board is used Encoder channel 4 is used to connect the laser interferometer quadrature encoder Motor 1 uses the encoder compare feature triggering the EQU1 at regular position intervals The accessory board shown can be an ACC 8D ACC 8P or any other breakout accessory board compatible with a PMAC board Introduction 1 Laser Compensation User Manual Encoder Connector Pin Symbol q 14 CHA4 5 Laser ue one O Interferometer e wee A 12 CHB4 ee UA GND gt x lt pp 6 CHC4 Other Axes U Selected Axis ARTES o Pin Symbol gt 1 EQU1 O 2 EQU2 I ee 3 EQU3 U O Example A PMAC2 board is used Any spare encoder channel can be used to connect the laser interferometer quad
25. ut The default name is MyLaser Path The default path to create the Machine Name folder is C Program Files 1 Delta Tau lt Machine Name gt Browse to change the default path Program Input This group of boxes consists of different input parameters required for the application Motor No Specify the motor number selected for compensation Comp Distance This field specifies the compensation distance from the Start point The laser reading will be taken on the fly over this distance Set this distance such that Start Point comp distance is not greater than total travel available on the machine otherwise the machine limits will generate fault No of Readings Specify the number of intervals at which the laser reading is taken For the Turbo PMAC this limit is 500 points and for Non Turbo it is 200 Start Point Enter the absolute distance from Home position The compensation readings will start from this point and end at the Start Point comp Distance This value should be large enough to accommodate Backlash Take up distance Start Direction This is the direction of the motion Normally this is opposite of the Homing direction Program Data This group of boxes represents the input set usually after the first data collection run Select Table This group of boxes represents the type of table to be created for the selected motor Lead screw Click to generate the Lead screw compensation table when the download key is clicked C
26. wnload button This will generate and download the selected table In the example the Backlash table is selected first On completion of download Comp Table ON will be checked true It is not necessary to select the tables one at a time This is just an example to show the effect of compensation 14 Automatic Laser Compensation Execution Laser Compensation User Manual Click Run to verify the backlash compensation The motion program will be executed and data will be collected On completion Program End will display At this point select Plot Data The plot on the following window shows the effect of the backlash compensation The forward and reverse data points are very close to each other Compare this plot with that of the previous window There is an extra point in reverse run at 0 0 This is not a true data collected point This point is for reference Bl Position Vs Error Plat in Veer Unite i Se A A A a A A A SY OY er J y Fa E ror ac w a B en ea A typical Backlash table generated from the program will look like Machine Name HAAS Pmac Type PMAC_TURBO2 File Path C Program Files Delta Tau HAAS Axis1_BLCOMP PMC Automatic Laser Compensation Execution 15 Laser Compensation User Manual Backlash count 1186 902 Step 6 Select the type of compensation from the Select Table Group and click the Download button This will generate and download the selected table In the ex
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