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schwarb merged 6 commits from schwarb/2025-07-10-config-hw into master 2025-07-10 13:26:09 +02:00
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17 changed files with 4555 additions and 5 deletions
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readme.md
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# FAT X02SA-FE-FI1
## Overview
![image](doc/cad.png)
## Mchanical Parameter
Motion range hard limit switch to hard limit switch: 0 mm ... 85.0 mm
Servo Type: AM8113-0FH1-0000
Feadback: servo motor internal encoder
spindle pitch: 0.5 mm
maximal velocity: 6.0 mm/s (recommended)
## NC-Parameter
![image](doc/img1.png)
## Encoder-Parameter
![image](doc/img2.png)
## Drive-Parameter
![image](doc/img3.png)
## Controller-Parameter
P-Controller:
![image](doc/img4.png)
## Settings Servo Terminal
![image](doc/servo.png)
solution/FAT_X02SA-FE-FI1.tsproj
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<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62">
<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
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<System>
<Settings MaxCpus="2" DontCheckTarget="10.0.5.148.1.1">
<Settings MaxCpus="2">
<Cpu CpuId="1"/>
<IoIdleTask Priority="6"/>
</Settings>
@@ -18,5 +18,14 @@
<Plc>
<Project File="tc_project_app.xti"/>
</Plc>
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</Io>
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solution/_Config/IO/Device 1 (EtherCAT).xti
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<Name>__FILENAME__</Name>
<AddressInfo>
<Ccat>
<Address>-801112064</Address>
<Offset>131072</Offset>
<Size>8192</Size>
<BaseAddr>0</BaseAddr>
<BusNo>3</BusNo>
<SlotNo>0</SlotNo>
<VendorId>5612</VendorId>
<DeviceId>20480</DeviceId>
<Dma>
<Address>0</Address>
<Offset>4096</Offset>
<Size>256</Size>
<BaseAddr>2</BaseAddr>
<RxChn>0</RxChn>
<TxChn>1</TxChn>
</Dma>
<Identification>
<Value>498694182</Value>
<Version>1</Version>
<Size>256</Size>
</Identification>
</Ccat>
</AddressInfo>
<Image Id="2" AddrType="9" ImageType="3">
<Name>Image</Name>
</Image>
<Box File="Term 1 (EK1200).xti" Id="1">
<EtherCAT PortABoxInfo="#x00ffffff"/>
</Box>
<EtherCAT DcSyncMode="3"/>
</Device>
</TcSmItem>
solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200).xti
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<Name>__FILENAME__</Name>
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solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL9227-5500).xti
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</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="60429193"/>
<CoeProfile ProfileNo="60429193"/>
<CoeProfile ProfileNo="18355081"/>
<CoeProfile ProfileNo="18355081"/>
</EtherCAT>
</Box>
</TcSmItem>
solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 3 (EL7211-9014).xti
+1461
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solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL9011).xti
+11
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@@ -0,0 +1,11 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CFlbTermDef" SubType="9099">
<ImageDatas>
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff</ImageData>
</ImageDatas>
<Box Id="4" BoxType="9099">
<Name>__FILENAME__</Name>
<ImageId>1000</ImageId>
<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011"/>
</Box>
</TcSmItem>
solution/_Config/NC/Axes/Axis 1.xti
+1588
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solution/_Config/NC/NC.xti
+2 -1
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@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.32" ClassName="CNcSafTaskDef" SubType="0">
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CNcSafTaskDef" SubType="0">
<NC>
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
<Name>NC-Task 1 SAF</Name>
@@ -16,5 +16,6 @@
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
<Name>NC-Task 1 SVB</Name>
</SvbTask>
<Axis File="Axis 1.xti" Id="1"/>
</NC>
</TcSmItem>
solution/_Config/PLC/tc_project_app.xti
+1033 -1
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solution/tc_project_app/GVLs/GVL_APP.TcGVL
+1 -1
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@@ -8,7 +8,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system
nAXIS_NUM: UINT := 1; //Specifies the total of axes in the system
nPNEUMATIC_AXIS_NUM: UINT := 0; //Specifies the total number of pneumatic axes in the system
//Pneumatic air pressure groups high and low limits