伦茨9400中文使用手册ppt课件

Practicalintroduction:实用简介,L-force9400ServoDrivesL-force|Engineer,IntroductiontoL-force9400andengineerL-force9400和engineer的介绍,9400servodriveset-upwithinterfaces9400伺服的接口设置ParametersettingwithEngineerandkeypad通过Engineer和操作面板进行参数设定TechnologyApplications(TA)技术应用Diagnosticsandconfigurationoftheapplicationwiththefunctionblockeditor使用功能块编辑器的应用配置和诊断MultiaxisapplicationwithhorizontalCANcommunication使用CAN总线通讯的多轴应用,NextBack,2,Modularset-up(11kW),Mountingbase安装底板Powermodule功率模块Extensionmodule扩展模块Accessories附件,NextBack,3,Interfacesatthepowermodule,Diagnosticinterface诊断接口,Resolverinput旋转变压器接口,Multiencoderinput编码器接口,Analog/digitalIOs模拟/数字I/O,24Vsupplyandstatebus24V和状态总线,CANonboard内置CAN,2modulereceptaclesforextensions2个扩展模块插槽,Modulereceptacleformemorymodule存储模块插槽,Modulereceptacleforsafetytechnology安全模块插槽,LEDs指示灯,NextBack,HighLineStateLine:1个扩展插槽,4,LEDs指示灯,CANERRORCAN错误,DRIVEERROR驱动器错误,USER用户定义,CANRUNCAN运行,DRIVEREADY驱动器投入,24V,OFF=CANinactiveCAN没激活=Pre-operational预操作=Operational操作,=Buswarning总线报警=Busoff总线关闭,OFF=Pulseinhibitduetoanerror由于错误而禁止=Controllerinhibited控制器禁止=Controllerenabled控制器使能,OFF=OK=Errorstatus错误状态=Systemerror系统错误,Applicableintheapplication在应用中使用,readyNextBack,5,Keypad面板,4directionkeysfornavigation4个方向键用于导航2context-sensitivefunctionkeys2个功能键Runandstopkeys(configurable)运行和停止键（可配置）Statusfield状态区Notes:注：DiagnosticZ=120（左L=600mm；Z=120）rightL=535mm;Z=107（右L=535mm；Z=107）Activeapplication:“Actuatorspeed“（激活应用Actuatorspeed）,NextBack,7,Exercise1:DetectthedrivestatusbymeansofLEDsandkeypad通过指示灯和面板检测驱动器状态,NextBack,Switchonthesupplyvoltages(24Vand400V)电源上电Maketheleftdriverotate:运转左侧驱动器RFRControllerenable(Reglerfreigabe)控制器使能DI1Deactivationofquickstop快停取消DI2Start启动AI1%Speedsetpoint速度设定Switchoffthe400Vsupplyvoltage切断400V电源FindoutthedrivestatusbymeansoftheLEDsandthekeypad通过指示灯和面板观察状态Makethelogbookbeingdisplayedatthekeypad对面板显示进行记录,8,Startassistant启动助手,NextBack,9,Userinterface用户界面,Menubar菜单栏,Toolbar工具栏,Viewbar浏览栏,Projecttree工程树,Workspace工作区,Messagesandmonitorpanel信息和监视盘,readyNextBack,10,Goingonline在线连接,Diagnosticadapter诊断适配器CANEthernetTCP/IP以太网,Point-to-point-connection点对点连接,10-polespecialcableRJ6910芯RJ69电缆,readyNextBack,11,Howtogoonline如何连接,Selectthechannelofcommunication选择通讯通道Startthesearchfordevices搜索驱动器Confirmthedetecteddevice确认检测到的设备Connect连接,readyNextBack,12,Colourrepresentsonline在线的颜色表示,Valueintheworkspace:工作区的颜色yellow=modifiable黄=可修改greyyellow=readonly土黄=只读red=communicationerror红=通讯错误,NextBack,13,Exercise2:Detectthedrivestatusbymeansoftheengineer通过engineer检测驱动器状态,StarttheL-force|Engineer.启动Createanewprojectbygoingonlineviadiagnosticadaptersanduploadingthedatafromtherightdrivecontroller.Nametheproject“Practicalintro“.创建一个新工程，并通过诊断电缆从右侧的驱动器上载数据，命名为”Practicalintro”Opentheprojecttree.Clickonthedrivecontroller.Evaluatethedrivestatusbymeansofthetab“Diagnostics”.打开工程树，点击控制器，通过“Diagnostics”栏监控驱动器状态Adaptthemonitorwindow:Showthe“Deviceutilisation(Ixt)”asalogwithasuitableresolution.观察设备利用率“Deviceutilisation(Ixt)”是否合适Saveyourproject.保存工程,NextBack,14,Solution:Detectthedrivestatus检测驱动器状态,NextBack,15,Applications应用,Application=configuredfunctionofonedevice应用=单个驱动器配置的功能Howcanapplicationsbecreated?如何建立应用？Twopossiblesolutions:两个可能的方法：ModifyorextendaprefabricatedtechnologyapplicationsuppliedbyLenze修改和扩展伦茨预先提供的技术应用Createtheapplicationcompletelybyyourself(insert“NoApplication”orjustdontinsertanyapplication.Theemptyapplicationcanbeeditedthenwithinthefunctionblockeditor)完全由用户自己创建（插入“NoApplication”或不插入任何应用，可以用功能块编辑器在空应用上编辑）,readyNextBack,16,ApplicationssuppliedbyLenze伦茨提供的应用,arecalledtechnologyapplications,e.g.我们称作“TA”，如：Actuatorspeed速度Actuatortorque转矩SynchronismwithmarksynchronisationDForMotionBus数频或运动总线的同步ElectronicgearboxDForMotionBus数频或运动总线的电子齿轮Tablepositioning表格定位Positioningsequencecontrol定位顺序控制arepartoftheruntimesoftware应用是实时软件的一部分usebasicdrivefunctions使用基本的驱动功能,readyNextBack,17,Runtimesoftware实时软件,L-forceruntimesoftwareconsistsof实时软件包括：Functionblocklibraries功能块库Technologyapplications技术应用（TA）Operatingandapplicationdialogs操作和应用会话Documentationandonlinehelp文件和在线帮助TheusageofruntimesoftwarerequiresMotionControllicenses,tiedtomemorymodules实时软件的使用需要相关存储卡中运动控制许可,MCTopLevel,MM330,Hardwareequipment,grantedlicense,readyNextBack,18,Threewaysofprocessinganapplication处理应用的3个方法,Parametersetting参数设定,Configuration配置,Programming编程,:isprepared,readyNextBack,19,Overviewoftheparametersettingsurface参数界面,readyNextBack,20,Navigationintheparametersettingsurface参数设定界面的导航,readyNextBack,21,Parameterlist参数列表,Tab标签Category目录Sub-categories子目录Infoarea信息区,readyNextBack,22,Exercise3:Parametersettingofapplication:“ActuatorSpeed“速度应用的参数设定,MakethespeedsetpointcomefromAnaloginput2.速度设定点来自模拟量输入2Startthe“Manualjog”atthehandlingbox:在操作盒上启动（手动）DI2=OFFDI6=ONModifythesettingsforthe“Manualjog”andobservethedrive.改变手动设定并观察驱动器Savetheparametersetinthedrivecontroller.存储参数Gooffline.离线Savetheengineerproject.存储engineer工程,NextBack,23,Engineerprojectdescribesarealplant用Engineer工程来描述一个真实的工厂,Clearstructure清晰的结构Device-independentinformation单独的设备信息Onlinewithseveraldevicessimultaneously同时多个设备在线,NextBack,24,Projectelements工程元件,Automationmodule=generalcontainerforanystructure自动化模块=任何结构的总容器Axis=specialcontainerforonedrive轴=单个驱动器的特殊容器Component=drivecontroller,motor,I/Osystem元件=驱动控制器，电机，I/O系统Devicemodule设备模块Gearbox减速箱Application=designedfunctionofonedevice应用=一个设备设计好的功能Machineapplication=Coactionofseveralapplications机器应用=多应用联合Network网络,NextBack,25,Typicalstructureofaproject一个工程的典型结构,Selectioninthetree在树中选择controlsmenus,icons,tabs控制菜单，图标，标签definestheelementaffectedbyuserinput定义用户输入激活的元件Structure结构Modulardesign模块设计Networkscancontainelementsofthesameoralowerlevelonly网络可以包含相同的或者更低级元件,NextBack,26,Usageofprefabricatedapplications预制应用的使用,Catalogue目录,Project工程,9400MotionControllicense,readyNextBack,27,Exercise4:Extendyourproject延伸你的工程,Gooffline.离线Extendyourexistingprojectbysuitableelements,sothatitrepresentsthecompletetrainingstructurewith2axes.延伸工程完成2轴的结构Forthenewlyinserteddrivecontrollerselectthetechnologyapplication“Positioningsequencecontrol”对新加入的驱动选择“定位顺序控制”应用Giveasuitablenametotheaxesandthedrivecontrollersintheproject.对工程中的轴和控制器命名Savetheproject.保存工程,NextBack,28,Updatethedevices(Buildproject)更新设备,Priortodownload,thedevice-specificrepresentationoftheprojectdatamustbeup-to-date.TheEngineerbuildsthisfromtheproject.Thisprocessingincludesstepssuchasconsistencychecking,settingparameters,andcompilingtheapplication.下载前，Engineer创建设备细节更新，这个处理包括连贯性检查，设定参数和编译应用Theusercanstarttheprocessingatanytimebyclickingon.通过点击，用户可以在任何时间开始处理。Whengoingonline,hewillbepromptedtodoso,providedthatthishasnothappenedyet.当在线连接时，如果还没有处理，会提示你这样做,NextBack,29,Transferringtheapplicationtothedevice将应用传递到设备,readyNextBack,30,Operatingmodeofthepositioningsequencecontrol定位顺序控制模式,readyNextBack,31,Structureofthepositioningprogram定位控制结构,Positioningprogram定位程序,Action动作,Homing回零,Positioning定位,Waiting等待,Counting计算,Positioningprofile,Position,Speed,Acceleration,100,10actiontypes10动作类型,1,50,25,20,Counter计数器,10,100,100,50,50,differentpossiblesettings不同设定,Nextstep下一步,Step步,100,NextBack,32,Presetpositioningprogram先设置定位程序,NextBack,33,Exercise5:Startupthepositioningsequencecontrol启动定位顺序控制,Plugthediagnosticadaptertotheotherdrivecontroller调试线接到另一驱动器Transmitthepositioningsequencecontroltothedevice(withoutapplicationinformation)andadaptthebrakecontroltoyourtrainingsystem传送定位顺序控制至驱动器（无应用信息）并调整制动器控制Startthepositioningprogram启动定位控制RFRControllerenable(Reglerfreigabe)使能DI1Deactivationofquickstop快停取消DI3Positivelimitswitchoftravelrange(LOWactive)正限位DI4Negativelimitswitchoftravelrange(LOWactive)负限位DI5Reseterrorandpositioningprogram复位错误和定位程序DI6Startpositioningprogram(sequencecontrol)启动定位程序（顺序控制）Modifyprogramstep3inawaythatthedrivecovers5motorrotations.修改程序第3步使驱动器包含5个人电机旋转,NextBack,34,Thefunctionblockeditorasa“viewer“功能块编辑器可作为浏览器,Onlinediagnostics在线诊断Bettercomprehensionoftheapplicationsfunction易于应用功能的理解Alternativeparameteraccess可选择参数通道,NextBack,35,Usageofthefunctionblockeditor功能块编辑器的使用,Freetextsearch文字搜索,Enlargetheoperatingrange放大操作范围,Help/Parameterdialog帮助/参数会话,readyNextBack,Goto连接至,36,Blockandsignaltypes块和信号类型,NextBack,Code/variable代码/变量,Port端口,L_functionblock功能块,LS_systemblock系统块,37,Exercise6:Gettingtoknowthefunctionblockeditor了解功能块编辑器,Switchtothetabfunctionblockeditor切换到功能块编辑标签(positioningsequencecontrol,online)（位置顺序控制，在线）Detectthesourceofthesignal,whichmakestheyellowUserLEDlightup.Atthisblockactivatethe“Onlinehelp”andexplainthemeaningofthesignal.检测使黄色UserLED灯亮的信号源，在此功能块激活“在线帮助”来解释信号含义Switchtothetab“Terminalassignment”.Forthedigitaloutput2selectthesignalsource“645:Seq.controlisactive”.Switchbacktothefunctionblockeditorandchecktheresult.切换到“端子配置”标签，对数字输出2选择信号源“645：顺序控制激活”，回到功能块编辑器并检查结果FindtheblockL_PosPositionerTableandopenitsparameterdialog.找到L_PosPositioner块并打开它的参数会话框,NextBack,38,Theenabledfunctionblockeditor激活功能块编辑器,Newpossibilities:还可以做：Delete/drawlines.删除/拖拽连线Makeinputsandoutputsinvisible/visible.使输入和输出隐藏/可见Delete/insertblocks.删除/插入块Useseveraltasks使用多任务,readyNextBack,39,Exercise7:Enablefunctionblockeditor功能块编辑器,Goofflineandenablethefunctionblockeditor(Positioningsequencecontrol)离线并打开功能块编辑器（定位顺序控制）Whatisdifferentontab“Applicationparameters”?和“应用参数标签”有何不同？Supplythesignal“Seq.controlisactive”todigitaloutput3whichaswellactivatestheUserLED信号“顺序控制激活”输出到数字输出3，同时也激活用户定义LED(L_PosSequencer1.bProgramBusy).AttheblockLS_MotorInterfacemakeallunusedoutputsinvisible,exceptthesignalMI_dnSpeedSetpoint_n.在块LS_MotorInterface中使所有没有用到的输出隐含，但保留信号MI_dnSpeedSetpoint_n,NextBack,40,Solution:Makingoutputsinvisible使输出隐含,NextBack,41,Example:Multiaxisapplication多轴应用,MasterCANnode1,SlaveCANnode2,Positioning定位,Following跟随,NextBack,42,Structureofmultiaxisapplications多轴应用结构,Portsofapplications应用端口Machineapplication机械应用Network网络Compilationofthecompleteproject整个工程编译(updateofthedevices),NextBack,43,Portsofapplications应用端口,Task:Dataexchangebetweenapplications应用之间的数据交换,Portsofthesuppliedtechnologyapplicationsfromthecatalogue,Thestructureofapplicationvariablesdefineswhatistobecommunicatedviatheport.,readyNextBack,44,Machineapplication机械应用,Byinterconnectingseveralapplicationstoonemachineapplicationinformationcanbeexchangedbetweenindependentdevices.通过将几个应用互联到一个机器上，各独立设备的信息可以相互交换,Properconnectionoftheports适当的多口连接,readyNextBack,45,Network网络,definestheparticipantsofthecommunication定义参加通讯设备configuresthecommunicationparametersofbusdevices配置总线设备的通讯参数,readyNextBack,46,Exercise8:Multi-axisapplicationCreationandtransmissiontotheslave创建和传输到从设备,InsertaCANnetworktotheautomationmodule“Trainingstructure”.SetthepositioningdriveasNMTMaster.插入一个CAN网络到自动化模块“培训结构”，将定位驱动器设定为主Switchtothemachineapplication.Connectthefollowingports:切换到机器应用，连接下列端口Startthebuildprocessforthecompleteproject(activatetheoptionRebuildall“).启动创建整个工程Goonlinewiththeslaveviadiagnosticadapter.通过诊断适配器连接到从设备Inthetab“Applicationparameter”modifythesignalsourceforthespeedsetpointto“122:Axisport:In2(32bit)”.在“应用参数”标签里修改速度设定源为“122：轴端口：In2(32位)Savetheparametersetintheslaveandgooffline.保存参数到从设备后离线,NextBack,47,Exercise8:MultiaxisapplicationTransmissiontothemaster传送到主设备,Plugthediagnosticadapteronthemasterandgoonline将诊断适配器插到主设备并在线连接Switchtothefunctionblockeditor.Maketheconnection:切换到功能块编辑器，连通下面：,NextBack,48,Exercise8:MultiaxisapplicationStartoftheCANcommunication启动通讯,Intheprojecttreeclickonthesystembus(CAN)andactivatearesetnodeatthemasterviathecontextmenu.ConsideralsotheLEDCan-Run.在工程树中，点击系统总线（CAN）并通过文本菜单复位主设备Whenbothdrivesrotatecontinuouslytapyourpartneronhisrightshoulder!当两个驱动器连续运转，轻拍你的同伴右肩以示庆祝,NextBack,49,Solution:Updateofthecompleteproject整个工程更新,1.Mark,2.Start,NextBack,50,Solution:Copythespeedsetpointfromtheport从端口拷贝速度设定点,NextBack,51,Solution:Creatingaconnectionwiththefunctionblockeditor用功能块创建连接,2.Acceptedmessage,1.Drawaline,3.Enablethecontroller,NextBack,52,Solution:Activateresetnodeatthemaster激活主站的复位,NextBack,53,Goonlineviasystembus(CAN)通过系统总线的联机,CANplugwithterminatingresistor带终端电阻的CAN插头DIPswitchonthememorymodule存储模块的DIP开关Parameterchannel1参数通道1,NextBack,54,GoonlineviaEthernetTCP/IP通过以太网联机,ExtensionmoduleEthernet扩展以太网模块EstablishmentofaTCP/IPnetwork,e.g.:网络建立PatchorC