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Edizione 02.91
Panoramica
Campo di applicazione
Struttura
Modi di funzionamento
Apparecchiature di servizio
Programmazione
Dati tecnici
Contenuto
Panoramica
..................................
0-1
0.1
Le schede WF
..................................
0-2
0.2
Sistemi di misura
................................
0-2
0.3
Presupposti di collegamento
0.4
0.5
.........................
0-2
..........................
0-3
.............
0.5.1 Modi di funzionamento
............................
0.5.2 Funzioni speciali per la programmazione . . . . . . . . . . . . . . . . . .
0-3
0-4
0-4
0.6
...........................
0-4
Campo di Applicazione . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
Struttura . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1
2.1
2.2
..........................
2.1.1 Struttura dell'hardware standard . . . . . . . . . . . . . . . . . . . . . . .
2.1.1.1 Standard I - introduzione dati senza pannello
............
2.1.1.2 Standard II - pannello WS 780 con connessione a WF 785
....
2.1.1.3 Standard III - Introduzione dati con pannello compatto . . . . . . .
2.1.2 Software standard I-726, II-726, III-726 . . . . . . . . . . . . . . . . . . .
2.1.3 Struttura del software standard SCHALE . . . . . . . . . . . . . . . . . .
2.1.3.1 FB dati . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3.2 FB modo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.3.3 Panoramica schematica . . . . . . . . . . . . . . . . . . . . . . . . .
2-1
.........................
2.2.1 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2.1 Funzioni WF base . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2.2 Funzioni di programmazione e di visualizzazione . . . . . . . . . .
2-7
2-1
2-1
2-1
2-4
2-5
2-5
2-5
2-5
2-6
2-7
2-9
2-9
2 - 10
Modi di funzionamento
3.1
Tecnologia e geometria
3-1
3.1.5
3.1.6
......................
Correzione della lunghezza utensile . . . . . . . . . . . . . . . . . . . .
Spostamento del punto zero . . . . . . . . . . . . . . . . . . . . . . . . .
3-6
3.1.2
3.1.3
3.1.4
3.1.7
3.1.8
3.1.9
3-2
3-3
3-4
3-5
3-5
3-6
3-6
.......
3.1.10 Compensazione della deriva dell'attuatore . . . . . . . . . . . . . . . . .
3.1.11 Funzioni supplementari (funzioni M) . . . . . . . . . . . . . . . . . . . .
3-6
.................................
Misura del percorso incrementale . . . . . . . . . . . . . . . . . . . . . .
Misura del percorso digitale-assoluto . . . . . . . . . . . . . . . . . . . .
Regolazione di posizione e attuatore . . . . . . . . . . . . . . . . . . . .
Punti di stacco programmabili . . . . . . . . . . . . . . . . . . . . . . . .
3-7
3-9
3.3.1
.............................
Messa a punto e teach-in
..........................
3.3.2
...........................
3-9
3.3.3
3-9
3.3.4
3-9
3.3.5
Funzionamento comandato
..............................
3 - 10
3.3.6
Funzionamento a seguire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 - 10
3.3.7
Bloccaggio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 - 10
3.3.8
Blocco singolo
3 - 10
3.3.9
Automatico passo-passo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Circuito di misura
3.2.1
3.2.2
3.2.3
3.2.4
3.3
3-1
.............................
Limitazione dello strappo . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interpolazione lineare . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sincronizzazione su due assi . . . . . . . . . . . . . . . . . . . . . . . .
Limitazione del campo di movimento . . . . . . . . . . . . . . . . . . . .
Asse rotante . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1
3.2
..........................
Modi di funzionamento
.........................
.......................................
3-6
3-6
3-7
3-7
3-8
3-8
3-9
3 - 10
3 - 10
3 - 11
3 - 11
......................
Apparecchiature di servizio
4.1
4.2
4.3
Programmazione
5.1
Costruzione programma
5.2
Struttura di programma
5.3
5.4
Funzioni G e M
5.4.1
5.4.2
5.4.3
5.4.4
......................
4-1
............
4-1
..
4-1
.....
4-2
..............................
5-1
............................
5-1
.............................
5-1
...............................
5-1
..................................
Primo gruppo G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Secondo gruppo G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terzo gruppo G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Quarto gruppo G . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2
...........................
5-5
5.5
Funzioni supplementari M
Dati tecnici . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1
5-2
5-3
5-3
5-5
6-1
6-1
6.1.2
....................
WF 725A/ WF 726A/ WF 785/ WS 780 . . . . . . . . . . . . . . . . . .
WF 725B / 726B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3
WF 726C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2
6.1.4
6.1.5
6-4
6.1.6
Pannello WS 780
6-6
6.1.1
6-1
6-2
.........................
..............................
6.2
6.3
7.1
7.2
6-3
6-7
...........
6-8
............
7-1
..............................
.........................
7-1
7-4
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07.88
Panoramica
Panoramica
SIMATIC S5
Massimo numero di
assi raccomandati *
S5 130W(B)
24
12
S5 150 U
36
36
I dati piu' importanti per l'adattamento della WF 725 e della WF 726 alla meccanica e alla
tecnologia per compiti di posizionamento sono dati nella seguente tabella:
Risoluzione di
ingresso
Velocit di
posizionamento
Fattore di strappo
(solo WF 726)
1 m
Campo di
posizionamento
80 m
6ZB5 440-0JH05
10 m
100 m
80 m
80 m
Accelerazione
da
0,01 mm/min
0,1 mm/min
1,0 mm/min
30 m/min
300 m/min
300 m/min
da
1 mm/s2
10 mm/s2
10 mm/s2
20 m/s2
200 m/s2
200 m/s2
da
1 mm/s3
10 mm/s3
100 mm/s3
15,6 m/s3
156,2 m/s3
1562,5 m/s3
0-1
07.88
0.4
Panoramica
Asse circolare
Correttori tecnologici:
- lunghezze utensili (20)
- override
- compensazione della deriva dell'attuatore
Funzioni M:
- uscite BCD in 2 decadi, possibilita' di dare in uscita al massimo 3 funzioni
- tra uno e l'altro:
- comando a conferma
- comando a tempo
0.5
massima lunghezza dei programmi 200 frasi sulla WF 726 (40 sulla WF 725)
capacita' di memoria WF 726: circa 400 frasi in automatico per 3 assi (350 in EEPROM,
50 in RAM non tamponata)
capacit di memoria WF 725: circa 100 frasi in automatico per 3 assi (50 in EEPROM, 50
in RAM non tamponata)
6ZB5 440-0JH05
0-3
Panoramica
0.5.1
Modi di funzionamento:
07.88
messa a punto
ricerca punto di riferimento
funzionamento manuale (MDI)
funzionamento a seguire
bloccaggio
set del valore reale
funzionamento comandato
0.5.2
automatico ciclico
automatico singolo
frase singola
automatico buffer (per WF 726)
Blocco in funzione
Cancellazione blocco
0.6
Sistema di misura
Fine corsa
0-4
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Campo di Applicazione
Campo di Applicazione
Linee transfer,
linee di montaggio,
presse,
macchine per la lavorazione del legno,
manipolatori,
caricatori,
macchine speciali pluriasse,
assi ausiliari per fresatrici e torni,
macchine per l'imballaggio,
servizi di convogliatura e trasporto
Economicit
Attraverso il collegamento del PLC (Simatic S5) e delle schede di posizionamento (WF
725/WF 726) in un unico sistema, si possono ottenere soluzioni facili ed economiche per:
-
Flessibilit
Il controllo di posizione e' comprensivo di memorizzazione di programmi completi di
spostamento sulla WF 725/WF 726. La memoria del SIMATIC S5 puo' servire come
memoria di base per ulteriori programmi di spostamento. Per il funzionamento della
macchina e' quindi sufficiente un semplice caricamento dei dati. Una introduzione con
tastiera non e' quindi necessario.
6ZB5 440-0JH05
1-1
Campo di Applicazione
07.88
Semplice progettazione
L'introduzione di moduli software standard riduce sensibilmente i costi per la realizzazione
del software di comando STEP 5. I moduli standard dipendono dal numero degli assi che
sono comandati con la WF 725/726. Il numero di assi puo' essere esteso anche grazie al
mantenimento di una ampia modularita' del software di comando.
1-2
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Struttura
Struttura
2.1
2.1.1
figura 2.1
Standard I
figura 2.2
Standard II
6ZB5 440-0JH05
2-1
lavorazione
lavorazione
panello WS 780
stazione di rotazione
lavorazione
figura 2.3
2-2
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panello WS 780
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Struttura
07.88
Con il pannello WS 780 possono essere visualizzati messaggi, valore reale, dati macchina e
dati di funzionamento, correzioni utensile e anche frasi di movimento.
Il dialogo interattivo, come introduzione dati e programmi, e' strutturato a menu'. L'introduzione
del comando avviene attraverso la pressione del relativo Softkey.
L'accoppiamento tra il SIMATIC S5 e la WF 785 avviene per mezzo del software standard II726.
panello WS 780
stazione di lavaggio
panello WS 780
lavorazione
stazione di misura
lavorazione
trasporto
stazione di rotazione
panello WS 780
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
Struttura
07.88
figura 2.5
2-4
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
2.1.2
Struttura
2.1.3
Il software SCHALE STEP 5 e' sovraordinato dallo standard I-726 allo standard III-726. In
questo modo e' possibile, tramite l'inserimento dello schale, realizzare una interfaccia
SIMATIC S5 con la WF 725/726 in modo notevolmente semplificato. L'organizzazione
dell'interfaccia e' realizzata attraverso la parametrizzazione di blocchi funzionali.
Lo schale (1 dischetto) e' composto di blocchi funzionali (assi), (dati) e (modo).
2.1.3.1 FB dati
Il blocco funzionale (dati) alimenta tutti gli assi e le schede con introduzione ed emissione di:
dati di programma
dati macchina
modi di funzionamento
correttori utensile
Le necessarie commutazioni tra i modi sono realizzate da blocchi funzionali (dati) indipendenti.
2.1.3.2 FB modo
Il blocco funzionale (modo) e' competente per i vantaggi del rispettivo modo.
In unione con il pacchetto software standard della WF 726 (MLFB 6FM1 726-7...) lo schale e'
inseribile anche nella WF 725.
Per inserzioni in collegamento con:
Standard I-726
Ulteriori informazioni sullo standard software schale sono contenute nella documentazione:
WF 725/726 Istruzioni di progettazione parte 2 (in prep.)
6ZB5 440-0JH05
2-5
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pannello
comando
macchina
2-6
FBAchse
programma utente
WS 780
video con
tastiera
pannello
comando
macchina
(segnali di
comando e
informazioni)
WF 785
FB-170
WF 470
Standard I-726
(segnali di
comando e
informazioni)
interfaccia
E/A S5
Schale
FBAchse
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Struttura
07.88
SIMATIC S5
interfaccia S5 WF
Schale
dispositivo di ingresso/uscita
schede
WF 725/726
FBDaten
SIMATIC S5
schede WF
interfaccia S5 WF
Standard II-726
pannello
schede
WF 725/726
FB-220
FBModus
programma utente
Standard III-726
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Struttura
2.2
2.2.1
Hardware
PLC
WF 725
WF 726
SINUMERIK 3 GA 4B
130 W (B)
inseribile
inseribile
SINUMERIK 8
130 W (B)
inseribile
SINUMERIK 8
150 K
inseribile
SINUMERIK 8
150 U
inseribile
SINUMERIK 810 GA 2
in prep.
in prep.
SINUMERIK 820
in prep.
in prep.
SINUMERIK 850
130 W (B)
inseribile
inseribile
SINUMERIK 850
150 U
inseribile
inseribile
realizzazione di assi ausiliari del PLC quando il numero di assi del CN non sono sufficienti
(per esempio come asse circolare, alimentatore per magazzino utensile, portali di
caricamento, comando magazzino utensili)
6ZB5 440-0JH05
2-7
Struttura
07.88
WZM
WZW
figura 2.6 macchina utensile con assi ausiliari controllati dal PLC
2-8
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
2.2.2
FB
funzioni di
programmazion
e e di
visualizzazione
funzioni base
NC PLC
visualizzazione di
errori di
movimentazione
introduzione e
cambiamento di
dati macchina e
dati di
funzionamento
introduzione e
cambiamento
di programmi
interfaccia
NC PLC
pulsantiera
comando
macchina
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07.88
Struttura
Software
FB
PLC
DB
WF
6ZB5 440-0JH05
interfaccia
PLC WF
funzioni base
DB
asse
A
asse
DB
asse
B
asse
DB
asse
C
asse
DB
ZU
Queste sono a disposizione in una interfaccia tra PLC e Sinumerik. L'interfaccia per le
applicazioni e' composta da blocchi dati DB-WF e DB-Assi.
2-9
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Struttura
2 - 10
07.88
vantaggio di avere le frasi di spostamento per gli assi ausiliari comandati da PLC nel
programma CN
Esempio: segnalazione per asse ausiliario sul pannello del SINUMERIK 3 GA4B
NC-Betriebsart
R U E C K M E L D U N G E N
M O D U S
B A
I S T - W E R T
A C H S E
F E H L E R
R E S T V E R F A H R W E G
G - F U N K T I O N
G E S C H W I N D I G K E I T
F A L S C H E R
1 2
2 0 1
- 1 0 0 0 0 0 0
9 0
5 0 0 0
M O D U S
NC-Alarmanzeige in Klartext
NC-Zustandsmeldung
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
di spostamento)
spostamento)
(dati macchina)
accelerazione
macchina 1
tempo
tempo
tempo
dati macchina 2
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07.88
Modi di funzionamento
3
Modi di funzionamento
3.1
Tecnologia e geometria
dati
Gli assi devono muoversi lungo il percorso programmato nel modo piu' veloce possibile. Per
questo devono essere rispettate le seguenti condizioni al contorno:
6ZB5 440-0JH05
3-1
(dato di macchina)
sbalzi
figura 3.2
3-2
MD 38
MD 38
MD 39
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07.88
Nella scheda WF 725 il movimento s dipende dalla velocita' v (dato di programma) e dalla
accelerazione (dati macchina 1 e 2) (figura 3.1). Questo modo di funzionamento e' sufficiente
nella maggior parte delle applicazioni. Ci sono tuttavia compiti di posizionamento in cui e'
importante una "partenza dolce" (al momento dello start/stop di un montacarichi). In questi
casi non e' adatta una accelerazione costante.
Il dato macchina movimento a sbalzi (Nr. 38 e 39) rende possibile questo graduale
cambiamento della pendenza dell'accelerazione (figura 3.2).
(dato di
velocit
tempo
(dato di macchina)
accelerazione
MD 1
tempo
limitatione
delmovimento a
MD 39
tempo
andamento dei parametri dello spostamento con limitazione del movimento a sbalzi
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
3.1.2
Modi di funzionamento
Interpolazione lineare
un interpolatore per calcolare il percorso fino al punto finale rispettando la relazione X:Y e
un regolatore di velocita' per gli azionamenti per rispettare esattamente le relazioni tra le
velocita' Vx:Vy.
Nel comando contemporaneo e dipendente l'uno dall'altro del movimento di due assi si parla di
controllo della traiettoria a due assi (2 D). Tuttavia l'interpolazione puo' essere commutata
nello stesso programma in un qualsiasi piano principale, percio' questo controllo di traiettoria e'
indicato come 2 1/2 D.
In compiti di posizionamento senza interpolazione gli assi sono startati nello stesso tempo e si
muovono con la velocita' programmata fino a che ogni asse ha raggiunto la posizione finale.
Tutti gli azionamenti cioe' partono insieme, le posizioni finali sono tuttavia raggiunte
dipendentemente dalla distanza da coprire e dai tempi diversi.
L'interpolatore coordina lo spostamento degli assi cosi' che il percorso risultante si trovi tra il
punto iniziale e quello finale della traiettoria programmata. L'interpolatore esegue una traiettoria
retta tra il punto iniziale e finale (fig. 3.3). Una curva diversa nel piano considerato deve essere
approssimata attraverso una poligonale.
Tanto maggiori sono i punti di appoggio dati, tanto meglio verra' approssimata la curva
desiderata. Questo fatto tuttavia comporta un notevole aumento della quantita' di un massimo
di dati elaborato. Nella WF 726 si ha la possibilita' di un massimo di 100 punti di appoggio (=
200 blocchi di programma).
P6
B (Y)
P7
P8
P2
P5
P3
P4
P9
P10
P1
A (X)
figura 3.3
passi della traiettoria con interpolazione lineare; P: punto iniziale e punto finale
6ZB5 440-0JH05
3-3
figura 3.4
3-4
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aaaaa
Modi di funzionamento
07.88
Nell'industria delle macchine utensili c'e' l'esigenza in diversi casi di avere strette tolleranze di
sincronizzazione su piu' assi. In particolare e' richiesta la sincronizzazione su due assi. Un
esempio di questo:
In un caso e' necessario tener conto della meccanica del caricatore a portale, nell'altro caso la
traiettoria del pezzo per un accoppiamento vincolato tra entrambi gli assi sincronizzati.
assi sincronizzati
assi sincronizzati
Compito degli assi sincronizzati e' quello di garantire in tutte le condizioni di funzionamento un
ordinamento conforme alle funzioni della macchina. Deve essere impedita ogni disposizione
obliqua della meccanica o dei pezzi da lavorare.
L'esigenza di tener sincronizzato lo spostamento deve essere valido anche dopo cadute
accidentali di tensione. Se non e' disponibile un funzionamento con ricerca del punto di
riferimento, la funzione di sincronizzazione deve essere riattivata con l'identico valore di
posizione assoluta.
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Modi di funzionamento
Dopo essere stati attivati attraverso l'interfaccia SIMATIC i due assi sincronizzati si
comportano come un asse solo. Nella 1. M.I.S. o per eliminare errori introdotti dalla
meccanica, e' possibile un movimento di compensazione.
possibile un posizionamento a gradini con sincronizzazione attraverso l'uso delle funzioni G
(G07/08/09)
3.1.4
La limitazione del campo di movimento e' realizzato all'interno del controllo con i cosiddetti
"finecorsa software".
Ogni asse dispone di due finecorsa e di due prefinecorsa. Con l'uso di sistemi di misura
incrementali il punto di riferimento deve trovarsi all'interno della zona definita dai pre-fincorsa.
Le limitazioni possono essere definite liberamente e memorizzate come dato macchina.
Il controllo forma all'interno dei pre-finecorsa dinamici in funzione della velocita' di movimento
programmata. A questo punto del campo di movimento il controllo riduce la velocita' in modo
tale che l'azionamento si arresta al prefinecorsa. Il finecorsa serve solo nel caso che
l'azionamento arrivi alla soglia di corrente oppure sia guasto.
3.1.5
Asse rotante
Con il dato macchina 18 si definisce se i moduli devono operare come asse lineare o rotante.
Per scegliere l'asse lineare si mette il valore 1 nel dato macchina.
Se si sceglie l'asse rotante, il numero programmato definisce il numero degli impulsi del
trasduttore di posizione, dopo i quali il contatore del valore reale del modulo WF ricomincia
dallo zero. Il dato macchina 18 puo' essere definito liberamente e non e' legato al numero di
impulsi del trasduttore di posizione nel caso di misura incrementale.
In caso di programmazione con quota assoluta si puo' impostare la direzione di movimento,
nella quale si deve ricercare la nuova posizione. Qualora non sia attivo alcun ordine direzionale
viene scelta la direzione di movimento con la quale sia possibile raggiungere la nuova
posizione con il percorso piu' breve.
In caso di programmazione con quote incrementali si usa il segno del percorso di movimento
per definire il senso di rotazione. In un blocco si possono programmare piu' rotazioni
solamente con l'impostazione di quote incrementali.
6ZB5 440-0JH05
3-5
Modi di funzionamento
3.1.6
07.88
La velocit di avanzamento viene programmata per gli assi in mm/min oppure in m/min. Non si
distingue tra avanzamento e avanzamento rapido. Con l'interfaccia software si puo' correggere
la velocita' di avanzamento memorizzata nel programma: nel campo 1% a 150% con una
gradazione dell' 1%; questo sistema di correzione si basa quindi sul valore programmato.
L'override rimane attivo anche al cambio del modo di funzionamento.
3.1.7
3.1.8
Lo spostamento del punto zero (NPV) provoca uno spostamento delle coordinate del punto
zero dal punto zero della macchina al punto zero del pezzo, prima che vengano movimentate
le masse. Per ogni asse c'e' a disposizione uno spostamento del punto zero (NPV).
3.1.9
Per compensare i giochi meccanici della vite di avanzamento alla misurazione della posizione
con sistema di misura indiretti, il controllo puo' considerare un valore di compensazione fino a
65 mm (dato macchina 31). Questo valore di compensazione viene aggiunto, ad ogni
inversione dei movimenti, al percorso da effettuare.
distinzione tra emissione comandata con segnali di conferma oppure con temporizzazioni
con il dato macchina 8
3-6
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Modi di funzionamento
3.2
Circuito di misura
3.2.1
I sistemi di misura incrementali possono essere collegati alle schede WF 725/726. La misura
del percorso viene effettuata con trasduttori incrementali rotanti oppure con scala lineare
digitale. Per ogni asse e' necessario prevedere un trasduttore.
punto di riferimento
distanza nota
punto zero
figura 3.5
3.2.2
I sistemi di misura digitali-assoluti possono essere collegati alle schede WF 725B/726 B/726 C.
A queste schede possono essere collegate anche i sistemi di misura incrementali e digitali
assoluti in funzionamento misto. Per ogni asse e' necessario prevedere un trasduttore.
Ogni punto del campo di movimento e' contrassegnato da una chiara combinazione di bit (fig.
3.6). Nei trasduttori rotanti vengono usati normalmente dei dischi codificati. L'informazione di
percorso rimane attivata nel trasduttore in parallelo e viene decodificata dal modulo
WF 725/WF 726. Collegando il trasduttore alla WF 726C puo' essere usato a scelta un
trasduttore parallelo o uno seriale. Il conteggio necessario per il trasduttore incrementale non
serve piu'. L'unita' di misura piu' piccola e' un passo T, che corrisponde ad un impulso del
trasduttore di posizione incrementale.
scala codificata
punto zero
figura 3.6
6ZB5 440-0JH05
3-7
Modi di funzionamento
3.2.3
07.88
Si richiede frequentemente che i sistemi di posizionamento siano molto precisi e lavorino con
elevato dinamismo. Abitualmente si raggiungono queste caratteristiche combinando una parte
di comando digitale comprendente i regolatori di posizione con un regolatore di velocita' o del
numero di giri analogico subordinato.
Il regolatore di posizione digitale, che lavora con risoluzioni di tempo e di velocita' molto
elevate, presenta un comportamento proporzionale; esso reagisce cioe' senza ritardi alle
variazioni della grandezza in ingresso del valore reale del percorso. Il comportamento
proporzionale del dispositivo di regolazione e' considerato nel fattore di proporzione del
regolatore. Questo fattore di proporzione, cioe' il cosiddetto fattore di amplificazione Kv,
denominato anche fattore Kv, e' definito come il rapporto fra la velocita' di movimento
programmata V e la differenza della posizione S:
spostamento
programmato
S=
S
v
Kv
richiesto
reale
tempo
figura 3.7
Questo fattore e' definito con il dato di macchina 22. Il fattore Kv massimo ammesso e'
definito dalla stabilita' e dal comportamento di pendolamento dell'intero sistema.
L'anello di regolazione della posizione e' concepito per attivare degli attuatori continui, per la
cui attivazione viene emesso un segnale di tensione continua di 10 V, 2 mA max. Come
attuatore si puo' usare un raddrizzatore di corrente in collegamento con un servomotore c.c.
oppure una servovalvola elettro-idraulica. A causa della non linearita' dell'attuatore e del
percorso di regolazione l'anello di regolazione di posizione dovra' essere supportato in
ambedue i casi da un anello di regolazione subordinato munito di regolatore PI. Impiegando un
raddrizzatore di corrente si usa l'anello di regolazione della velocita' o rispettivamente del
numero di giri subordinato, si possono verificare delle limitazioni alla dinamica e alla precisione
del posizionamento.
I dati macchina 3,22,23 e 49 sono collegati con il fattore DAC. L'anello di posizionamento puo'
sussistere solo con il suddetto valore minore di 3 (vedi manuale di messa in servizio).
3.2.4
In molte funzioni di posizionamento nell'industria del metallo e del legno e in molti processi di
trasporto, sono limitate le esigenze di velocita' e di precisione di posizionamento. Percio' e' in
parte possibile posizionare con semplici motori asincroni trifase, elettrovalvole elettro-idrauliche
o motori a poli commutabili.
3-8
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Modi di funzionamento
3.3
Modi di funzionamento
3.3.1
Nel modo di funzionamento "messa a punto" i movimenti sono comandati in manuale con i
tasti direzionali della pulsantiera di macchina. Con la pulsantiera di macchina si possono inoltre
selezionare due velocita'. I valori numerici vengono introdotti con il pannello operativo oppure
con la tastiera e il video. Le velocita' di movimento programmate per l'automatico non sono
attive. Le velocita' massime sono definite con il dato di macchina 3. L'interruttore per override
e' attivo. Per attivare gli azionamenti e' in funzione l'anello di regolazione. I movimenti possono
essere controllati con la visualizzazione del valore reale al pannello operativo o al video.
Nel modo di funzionamento "messa a punto" si possono prelevare nel programma utente le
posizioni raggiunte con i tasti direzionali, sotto forma di valori richiesti (teach-in). La velocita' di
avanzamento e le funzioni ausiliarie saranno poi aggiunte nel modo di funzionamento
"introduzione del programma".
3.3.2
All'interno del campo di movimenti possibili viene definito per ogni asse una sola volta un
punto di riferimento macchina per sincronizzare il comando alla meccanica. In caso di
trasduttori rotanti digitali si valorizzano per il punto di riferimento una camma (grossolano) e
una tacca di zero del trasduttore (fine).
Il punto di riferimento dovrebbe essere scelto in modo da poter essere ricercato
all'inserzione/rispettivamente al ritorno della tensione in modo semplice e rapido. Impostando la
direzione (+/-) si ricerca la camma di riduzione con una velocita' programmabile Veil. Fino al
rilascio della camma si continua alla velocita' Vred. La ricerca della tacca di zero e il
conseguente rilascio della traslazione vengono effettuati alla velocita' Vein. La velocita' Vred e
Vein sono anch'esse programmabili. Con il dato macchina 15 si definisce se la camma e'
collegata tramite l'interconnessione tra CP e WF oppure tramite un ingresso rapido sul fronte
del modulo di posizionamento.
Dopo che l'asse e' entrato in sincronismo vengono attivati i finecorsa software. Viene quindi
emesso il messaggio "asse sincronizzato" al CP (consenso ai posizionamenti).
3.3.3
3.3.4
Con questo modo di funzionamento si puo' spostare il punto zero del controllo in un punto
facoltativo del sistema di coordinate macchina. Il valore impostato con la tastiera viene
registrato nella memoria del valore reale del relativo asse. Il set della memoria del valore reale
non genera alcun movimento della macchina.
6ZB5 440-0JH05
3-9
Modi di funzionamento
3.3.5
07.88
Funzionamento comandato
3.3.6
Funzionamento a seguire
Questo modo di funzionamento consente l'impostazione del valore richiesto per l'attivazione
dell'attuatore di apparecchiature esterne. Il controllo resta in sincronismo con la macchina. I
movimenti possono essere controllati con la visualizzazione dei valori reali.
3.3.7
Bloccaggio
3.3.8
Blocco singolo
Si distingue tra blocco singolo e passo-passo (vedi capitolo 3.3.9). Il funzionamento a blocchi
singoli puo' essere realizzato con i numeri (di programma) 91, 92, 93. Dal formato del blocco
risulta la possibilita' di operare con quattro funzioni G, tre funzioni M, una funzione D, la
posizione e la velocita'. Sono inoltre realizzabili dei tempi di attesa e la correzione della
lunghezza utensile. Il comando richiama il blocco di programma impostato alla pulsantiera di
macchina e lo esegue. Questo blocco puo' essere ripetuto con un nuovo avviamento se il
percorso di movimento e' programmato con quota incrementale.
3.3.9
Automatico passo-passo
3 - 10
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Modi di funzionamento
Arresto rapido
Durante la commutazione dai modi di funzionamento automatici al funzionamento a seguire
viene emesso di colpo il valore richiesto zero, pur restando mantenuto il sincronismo del
contatore del valore reale.
Simulazione
Per provare e coordinare programmi di macchina in STEP 5 e programmi geometrici
relativi al modulo WF 725 e' idoneo effettuare le operazioni in laboratorio senza macchina
oppure con gli assi fermi. Con il dato macchina "simulazione" si disinserisce l'anello di
regolazione di posizione; l'interfaccia con il SIMATIC viene asservita con il funzionamento
in tempo reale (con tutti i modi di funzionamento compresa la ricerca del punto di
riferimento).
Ricerca di blocco
Salto di blocco
6ZB5 440-0JH05
3 - 11
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a
07.88
5.2
5.3
/
N
A
G1
G2
G3
G4
X
F
M1
M2
M3
D
UP
S
Programmazione
5
Programmazione
5.1
Costruzione programma
La frase con il piu' basso numero diventa automaticamente l'inizio del programma, la frase con
il numero piu' alto diventa la fine. L'elaborazione dei programmi avviene sempre nel senso
crescente della successione dei numeri delle frasi.
Struttura di programma
N5 G90
X500.000
N6 . . .
...
/N
nr. di
frase
...
...
...
...
...
...
...
...
...
...
...
...
...
...
...
F100.000
N46 . . .
N45 . . .
parole
6ZB5 440-0JH05
5-1
Programmazione
5.4
07.88
Funzioni G e M
Secondo gruppo G:
53 disabilitazione dello
spostamento del punto 0
54 abilitazione dello spostamento
del punto 0
99 lettura dati esterni (MD 15)
a
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Terzo gruppo G:
43 correttore lunghezza utensile (+)
44 correttore lunghezza utensile( )
Funzioni M 1,2 e 3:
le funzioni merker M00, M11, M12,
M18 e M 99 sono riservate
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Primo gruppo G:
04 tempo di attesa
90 quota assoluta
91 quota incrementale
92 valore reale
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posizione
da raggiungere
posizione
reale
5-2
10
20
posizione
reale
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posizione
da raggiungere
30
40
50 mm
10
20
30
40
50 mm
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Programmazione
La funzione G 92 dovrebbe essere introdotta solo per applicazioni particolari. Per i casi normali
e' raccomandata l'utilizzazione della traslazione del punto zero con la funzione G 53 e la
relativa correzione lunghezza utensile D.
N5
10
20
30 40
50
60
70
80
90 100 110
Con la programmazione di G 92 e
un valore di posizione si ha una
traslazione assoluta del sistema di
misura (N7).
mm
N15
N17
N7
N10
5.4.2
10
20
30 40
50
60
70
80
Secondo gruppo G
La traslazione del punto zero la distanza dei punti zero utensili dal punto zero della
macchina, prima dell'attivazione. Per ogni asse c'a disposizione una traslazione del punto
zero. L'inclusione avviene per la posizione finale nel sistema di riferimento assoluto
incrementale.
N5
Con la funzione G 54 lo
spostamento del punto zero viene
inserito.
N25
10
20
30 40
50
60
70
80
90 100 110
mm
N15
G53
10
20
30 40
G 53 disattivazione NPV
N10
G54
5.4.3
G 54 attivazione NPV
50
60
70
80
Terzo gruppo G
6ZB5 440-0JH05
5-3
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a
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a
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
Programmazione
figura 5.1
5-4
07.88
Di regola l'utensile e' rappresentato nella direzione negativa rispetto al pezzo. Con questa
notazione il valore assoluto di posizione e' pi piccolo.
L'utente imposta un segno piu' se il valore effettivo dell'utensile e' superiore al valore
considerato dal programmatore. Se il valore effettivo dell'utensile e' inferiore al valore
considerato dal programmatore si imposta un segno meno.
La scheda WF con la funzione G 43 compensa con il valore di correzione in memoria nella
direzione negativa in modo che il tagliente raggiunga la posizione richiesta (figura 5.1).
Nel caso in cui l'utensile sia troppo lungo e superi la posizione richiesta con la funzione G 44
attraverso il numero D del valore di correzione e' attivata la compensazione calcolata nel
senso opposto.
+x
15mm
utensile
preimpostato
correzione
0
10mm
15mm
posizione
richiesta
5mm
+5mm
utensile
troppo corto
correzione
5mm
utensile
troppo lungo
correzione
+5mm
posizione
da
raggiungere
x
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
Programmazione
X
X
Il terzo asse non coinvolto dall'interpolazione puo' essere posizionato all'interno dello
stesso programma oppure in un programma separato per un asse. Bisogna per
rispettare le condizioni limite.
In interpolazione non e' possibile nessuna correzione utensile. Non e' possibile seguire
un profilo.
5.5
Funzioni supplementari M
6ZB5 440-0JH05
5-5
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07.88
Dati tecnici
6
Dati tecnici
6.1
Panoramica dei cavi e dei dispositivi
6.1.1
WF 725A/ WF 726A/ WF 785/ WS 780
X3
6FM1 790-2A . 00
WF 785
X4
6FM1 790-8KA00
morset
tiera
connettore
di chiusura
6FM1 790-4A . 00
6FM1 790-4BA00
alimentatore
15poli femmina
WF 725A/
WF 726A
6FM1 790-1B . 00
ROD 320
X4
X5
X6
6FM1 790-1C . 00
X7
6FM1 790-4A . 00
WS 780
versione da incasso
WS 780
I N
morset
tiera
6ZB5 440-0JH05
6FM1 790-4A . 00
6FM1 790-4BA00
15poli maschio
37poli maschio
12poli femmina
17poli femmina
6FM1 790-1B . 00
sistemi di
misura
incrementali
lunghezze
SEGNALI
MACCHINA
6FM1 790-8KA00
6FM1 790-4A . 00
versione da incasso
WS 780
6FM1 790-4A . 00
versione da incasso
6FM1 790-4A . 00
P R E P A R A Z I O N E
morset
tiera
6FM1 790-4BA00
WS 780
WS 780
WS 780
versione portatile
versione portatile
versione portatile
6-1
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WF 726C
6-2
X8
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6FM1 790-1D . 00
X9
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X7
6FM1 790-2A . 00
6FM1 790-1B . 00
ROD 320
6FM1 790-1C . 00
X5
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6FM1 790-1F . 00
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Dati tecnici
07.88
WF 725B / 726B
alimentatore
1poli femmina
1poli maschio
37poli maschio
12poli femmina
17poli femmina
6FM1 790-1B . 00
posto riservato per
le sigle di lunghezza
SEGNALI
MACCHINA
6.1.3 WF 726C
alimentatore
1poli femmina
1poli maschio
37poli maschio
12poli femmina
17poli femmina
6FM1 790-1B . 00
SEGNALI
MACCHINA
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
WF 725/726
WF 785
descrizione
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07.88
Dati tecnici
11
11
11
CPU
11
19
19
27
19
19
27
35
WF 725/726
27
27
WF 785
35
35
35
43
43
51
43
43
51
59
51
51
59
67
69
59
59
6ZB5 440-0JH05
67
67
75
79
75
75
83
89
83
83
91
91
91
6
IM
6-3
Dati tecnici
6.1.5
07.88
Caratteristiche meccaniche
ed elettriche (5 V)
Livello di tensione
fabbisogno di corrente
interna a 5 V
(senza sistema di misura)
corrente fornibile
dall'alimentatore interno per
ogni sistema di misura
corrente di ingresso
necessaria al sistema di
misura
WF 725 A WF 725 B
WF 726 C
WF 726 A WF 726 B
2,5 A
3,0 A
1,3A
1,5 A
1,0 A
(24 V)
max. 0,3 A max. 0,3 A max. 0,3 A
5 mA
5 mA
10 mA
WF 725 A WF 725 B
WF 726 C
WF 726 A WF 726 B
Caratteristiche meccaniche
ed elettriche (24 V)
WS 780
Caratteristiche meccaniche
ed elettriche (10 V)
WF 785
2 mA
2 mA
2 mA
WF 725 A WF 725 B
WF 726 C
WF 726 A WF 726 B
WF 785
WS 780
WF 785
WS 780
24 V
24 V
24 V
24 V
24 V
ingressi
5 mA
5 mA
5 mA
uscite
0,4 A
0,4 A
0,4 A
assorbimento di corrente
ammesso
corrente di ingresso
necessaria al sistema di
misura
5 mA
5 mA
10 mA
fabbisogno di spazio
nell'apparecchiatura
SIMATIC
1 SEP
2 SEP
1 SEP
1 SEP
non
inseribile
200 kHz
velocit di trasmissione
200 kHz
1 MHz
-
6-4
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
WS 780
145
55
figura 6.1
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07.88
Dati tecnici
Pannello WS 780
300
SIEMENS
145
6ZB5 440-0JH05
290
290
5
279
bullone
M4 x 10
6-5
Dati tecnici
6.2
07.88
standard II-726
(anche per
WF 725)
standard III-726
(anche per
WF 725)
schale
(anche per
WF 725)
RAM
90 W
0,4 kW
EPROM
3,3 kW (livello
base)
2,3 kW
5,0 kW
MW 240 - 254
MW 240 - 254
MW 240 - 254
indirizzamento al
capitolo 6.1
indirizzamento al
capitolo 6.1
indirizzamento
per l'inseri mento
della WF 785
indirizzamento
per l'inserimento
della WF 785
memoria
necessaria
del SIMATIC:
indirizzi e
blocchi
riservati
e neccesari:
merker
(variabili di
lavoro)
ingressi
uscite
1,4 kW
MW 240254
blocchi dati
DB ZU, DB WF
DB VZ
DB 203, DB 204
(1 x pro FBG /255 DW), scelti liberamente DBtastiera
DB asse(1 x per
asse) scelti liberamente
DB'ZU'
DB'WF'
DB'A' `
contatori
Z0
nessuno
Z0
Z0
temporizzatori
T0
3 temporizzatori,
scelti liberamente
nessuno
nessuno
blocchi
funzionali
a) livello base
FB 201, 202, 207, 210, FB 170 - 172,
211, 215, 216, 217
FB 226, 227
b) per gestione della
memoria e livello di
comfort supplementare
FB 206, 209, 212, 218,
219, 221-225, 229
FB 228, 230-239,
FB 200, FB 220
FB 110
FB 100
risp
risp
FB 111
FB 101
FB 102
blocchi di
programma
nessuno
nesssuno
nessuno
nessuno
blocchi
organizzativi
OB 1, OB 20-22
OB 1, OB 20-22
OB 1, OB 20-22
OB 1,
OB 20-22
6-6
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
07.88
6.3
Dati tecnici
S5-115 U
CPU 942
CPU 943
CPU 944
S5-135 U
CPU 928
standard II-726
34
11
standard III-726
100
100
25
10
10
standard schale
S5-150 U
S5-155 U
S5-130 W(B)
6ZB5 440-0JH05
6-7
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02.91
Dati per l'ordinazione e documentazione
7
Dati per l'ordinazione e documentazione
7.1
Dati per l'ordinazione
Schede e dispositivi
Nr. di ordinazione
WF 725 A
(connessione di sistemidi misura incrementali)
6FM1 725-3AA00
WF 725 B
(connessione di sistemi di misura
digitali assoluti con interfaccia parallela)
6FM1 725-3BA00
WF 726 A
(connessione di sistemi di misura incrementali)
6FM1 726-3AA00
WF 726 B
(connessione di sistemi di misura
digitali assoluti con interfaccia parallela)
6FM1 726-3BA00
WF 726 C
6FM1 726-3CA00
Nr. di ordinazione
6ZB5 440-0JH05
dischetto 5
dischetto 3
6FM1 726-6BA00
6FM1 726-6BA50
Nr. di ordinazione
dischetto 5
dischetto 3
standard I-726
(S5 < - - > WF 725/WF 726)
standard II-726
(S5, WF 726, pannello manuale WF 780
inclusa connessione a WF 785) (in pi
richiesto lo standard I-726)
6FM1 726-7AD00
6FM1 726-7AE00
6FM1 726-7AF00
6FM1 726-7AD50
6FM1 726-7AE50
6FM1 726-7AF50
6FM1 726-7BD00
6FM1 726-7BE00
6FM1 726-7BF00
6FM1 726-7BD50
6FM1 726-7BE50
6FM1 726-7BF50
7-1
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7-2
02.91
tedesco
inglese
francese
italiano
russo
spagnolo
accessori
1000 impulsi/giro
2000 impulsi/giro
2500 impulsi/giro
dischetto 5
dischetto 3
6FM1 726-7CD20
6FM1 726-7CE20
6FM1 726-7CF20
6FM1 726-7CD50
6FM1 726-7CE50
6FM1 726-7CF50
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
726-8CA00
726-8CB00
726-8CC00
726-8CD00
726-8CE00
726-8CF00
6FM1 726-7KA00
Nr. di ordinazione
SINUMERIK 8
SINUMERIK 8
SINUMERIK 8
130W (B) (solo per WF 725)
150K
(solo per WF 725)
150U
(solo per WF 725)
6FM1 725-7SN00
6FM1 725-7SP00
6FM1 725-7SR00
SINUMERIK 850
SINUMERIK 850
130 W (B)
150U
6FM1 725-7SS00
6FM1 725-7ST00
726-8CA50
726-8CB50
726-8CC50
726-8CD50
726-8CE50
726-8CF50
standardsoftware Schale
(in piu'e'necessario lo standard I-726,lo
standard I-726, lo standard II-726,
e lo standard III-726)
6FM1 726-7KA50
funzioni di programmazione
e visualizzazione
6FM1 725-7SW00
Nr. di ordinazione
Sistemi di misura
6FC9 320-3KA
6FC9 320-3KK
6FC9 320-3KN
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaa
02.91
Lunghezza
max.(m)
Cavi di collegamento
Nr. di ordinazione
6FM1
6FM1
6FM1
6FM1
790-1CB00
790-1CC00
790-1CD00
790-1CE00
6FM1
6FM1
6FM1
6FM1
790-1BB00
790-1BC00
790-1BD00
790-1BE00
6FM1
6FM1
6FM1
6FM1
6FM1
790-1DB00
790-1DC00
790-1DD00
790-1DE00
790-1DG00
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
790-1FA00
790-1FB00
790-1FC00
790-1FD00
790-1FE00
790-1FF00
790-1FG00
120
6FM1 790-2AA00
6FM1 790-2AB00
6FM1 790-2AC00
10
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
6FM1
100
6FM1 790-8KA00
6ZB5 440-0JH05
790-4AA00
790-4AB00
790-4AC00
790-4AD00
790-4AE00
790-4AF00
790-4AG00
35
35
70
7-3
02.91
7.2
/1/
/2/
/3/
/4/
/5/
/6/
/7/
/8/
/9/
in prep.
/10/
/11/
/12/
WS 400-10/20/22 Pannelli
Descrizione
/13/
7-4
in prep.
6ZB5 440-0JH05
WF 725/WF 726 (Descrizione)
Istruzioni per la
programmazione
6ZB5 440-0GA05-0AA0
S I-726 +
S II-726
S I-726 +
S III-726
Descrizione
COM 726
6ZB5 440-0AX05-0AA2
6ZB5 440-0JH05
S I-726 +
COM 726
S I-726
S I-726 +
S II-726
S I-726 +
S III-726
aaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaa
aaaaaaaaaa
Descrizione
WF 470
6ZB5 440-0JF05-0BA0
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Istruzioni di servizio
Standard III con WF 470
6ZB5 440-0FX05-0AA0
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Standard II con WS 780
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Istruzioni di progettazione
Software I, II, III
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Istruzioni di progettazione
Software Schale
6ZB5 440-0GK05-0AA0
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Hardware
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Documentazione:
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02.91
Dati per l'ordinazione e documentazione
necessaria
FB-Schale +
S I-726 +
COM 726
7-5
proposte
SIEMENS S.P.A.
correzioni
A520.1
Via Lazzaroni, 3
I- 20124 Milano
mittente:
Nome
Ditta/ufficio
indirizzo
Telefono
6ZB5 440-0JH05-0BA1
Febbraio 1991
Equipaggiamenti
Elettrici
per
macchine utensili
Siemens S.p.A.