Installation Manual

7-20 Theory of Operations
Table 7-5 Dispensing Head Finds Home
Component Function
FmNT Software Commands Dispensing Head to home.
PMAC Card 1. Receives FmNT command to move Dispensing
Head to a specific position.
2. Sends low-voltage direction and power level output
signals to the X, Y, Z Servo Amplifiers.
3. Receives feedback from:
• X and Y Linear Encoders (position)
• X, Y, and Z Rotary Encoders (velocity)
• Calculates how much power should be
delivered to Servo Motors.
Main Interface PWA Is an intermediate step as information is communicated
between the PMAC Card and the XY, and Z Servo
Interface PWAs.
XY Servo Interface PWA Relays PMAC signals to the following:
• X and Y Servo Amplifiers
• Z Servo Interface PWA (Z Amplifier)
• Relays the Y Home Sensor signal to the PMAC.
OCCURS SIMULTANEOUSLY
Component Function Component Function
Z Servo
Interface
PWA
1. Relays PMAC signals from the XY
Servo Interface PWA to the Z Servo
Amplifier.
2. Relays X and Z Home Sensor
signals to the PMAC.
X and Y
Servo
Amplifiers
1. Receive low-voltage motor direction
and power signals from the PMAC.
2. Amplify PMAC signals into high
power level to move the X and Y
Servo Motors.
3. Receives and interprets X and Y
Hall Sensor feedback indicating X
and Y Servo Motor direction.
4. Regulate power to X and Y Servo
Motor windings causing Motors to
move in the desired directions.
Z Servo
Amplifier
1. Receives low-voltage motor
direction and power signals from the
PMAC.
2. Amplifies PMAC signals into high
power level to move the Z Servo
Motor.
3. Receives and interprets Z Hall
Sensor feedback indicating Z Servo
Motor direction.
4. Regulates power to Z Servo Motor
windings causing motor to move in
the desired direction.
X and Y
Servo
Motors
1. Receive power from X and Y Servo
Amplifiers.
2. Turn the cable pulleys to move the
Dispensing Head in the X and Y-
axes.