LENZE9400伺服中文培训.ppt

BasicTraining:基本培训,L-force9400ServoDrives,2,IntroductiontoL-force9400andengineerL-force9400和engineer的介绍,9400servodrivebasicintroduction9400伺服基本介绍L-forceEngineersoftwareintroductionEngineer软件介绍TechnologyApplications(TA)技术应用,NextBack,3,Systemoverview系统总览,nextback,4,9400servodrivesystemataglance9400伺服驱动系统概览,Innovative创新acompletelynewconceptininstallation全新的安装方式Tailor-made定制系统modulararchitecture模块化结构Safety安全功能-simplyintegrated易于集成,NextBack,5,Innovativeacompletelynewconceptininstallation创新全新的安装方式,Easyinstallationandhighsystemavailabilitythankstoinnovativedesigntechnology全新的安装理念，更易于安装、提供系统可用性Separationofmountingbaseanddriveelectronics安装底座和驱动装置分离Apluggablememorymodulecontainsallthedatarelevantfortheapplication可插式存储模块中记录下系统的所有数据信息Rapidservicingandmaintenance,sincenotoolsarerequired维修和维护方便快捷，无需额外工具Compact,space-savingdesign结构紧凑、节省使用空间,NextBack,Mountingbaseupto11kW安装底座功率达11kW,6,Modularset-up(11kW),Mountingbase安装底板Powermodule功率模块Extensionmodule扩展模块Accessories附件,NextBack,7,Innovativeacompletelynewconceptininstallation创新全新的安装方式,Singleshield单屏蔽端口,Motorconnection电机连接端口,Brakeresistorconnection(singledrive)制动电阻端口（单轴驱动）,Integrablemotorbrakemodule内置电机制动模块,Configurationofisolated-neutralsystems中性点绝缘配置端口,Mainsconnection电源连接端,IntegratedDCbusbar内置直流母线端口,DCfuse直流熔断器端口,FilmNextBack,8,Designwithmountingbase带背板的设计数据0.3715kW,nextback,MultiDrive多轴DC260775V0%SingleDrive单轴3xAC180550V0%DC260775V0%integratedbraketransistor制动晶体管EMCfilter(classC2)EMC滤波器,9,Design设计数据15200kW,45kW,SingleDrive单轴3xAC180(342)550V0%DC260(480)777V0%integratedbraketransistor制动晶体管EMCfilter(classC2)EMC滤波器,nextback,10,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,11,Availabledevicemodules应用模块,readynextback,Communicationmodules通讯模块EthernetEthernetPowerlink(MN+CN)ProfibusDP-V0+1CANopen(DS301)Extensionmodules扩展模块Digitalfrequency数频Safetymodules安全模块SM0SM100(STO)SM300(STO&SS1withProfiSafe)SM301V1.0(extendedfunctionalitywithsafesupervisionofthevelocitywithSinCosencoder)（带有正余旋编码器的安全监控的外部功能）,12,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,13,Complete:fromsimpletocomplex完整性：从简单到复杂,High-performancemotorcontrol高性能电机控制Field-basedservocontrolforsynchronousandasynchronousmachines同步/异步电机现场伺服控制Sensorlessoperatingmodesinpreparation无传感运行模式在筹备中Cycletimes运行周期Current/torquecontrol62.5s电流/转矩控制Speedandpositioncontrol250s速度/位置控制Fastestapplicationtask最快运行速度HighLine:1msStateLine:500sWordwidths字节宽度Allsignals32bit所有信号字节为32bit,NextBack,14,Complete:fromsimpletocomplex完整性：从简单到复杂,Performance-enhancingfunctions加强性能Motormodelsupportedbyelectronicnameplate电机电子铭牌Bandstopfilters带阻滤波器Inverterfaultcompensation变频器误差补偿Pre-controlvaluesforspeedandtorque速度/转矩预控制值Inverterswitchingfrequencies变频器转换频率1,2,4,8,16kHz(choicedependsonpowerrating频率与功率相关),NextBack,15,Communicativeonallchannels所有信道通讯,CANopensystembusincluded(HighLine)内置CANopen系统总线(HighLine)Choiceoffieldbusallowsusethroughouttheworld可选用多种现场总线PROFIBUS(HighLine)CANopen(HighLine&StateLine)othersinpreparation其他总线在筹备中Ethernetinthedrive控制器中的以太网Ethernet(HighLine)以太网ETHERNETPowerlinkensuresrealtimecapability*确保实时控制Remotemaintenancetodrivelevel控制器远程维护,NextBack,*-inpreparation筹备中,16,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：Diagnostic¶metersettingonly仅用于诊断和参数设定Applicationisstoredinthememorymodule应用存储在存储模块中,readyNextBack,17,Variousdatastores(memorylocations)多种数据存储(存储单元),Firmware,Mainmemory,etc.固件,Engineerproject工程项目,readyNextBack,18,Productinformation产品信息,Flyer彩页Productpresentation产品介绍Systemoverview系统一览Catalog手册Selectionandorder选型及采购,nextback,19,TechnicaldocumentationServoDrives9400技术文件,Mountinginstruction安装说明Safetyinstructions安全说明Preparationofthecommissioning:Mounting&Wiring(Quickstart)试运转准备安装及接线(快速)Manual手册AdditionstotheMountingInstruction,e.g配合安装说明.Technicaldata技术数据Featuresandfunctionsofthehardware特点及功能Usecases应用案例,nextback,L-forceEngineerintroduction:L-forceEngineer软件介绍,L-force9400ServoDrives,21,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,22,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,23,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,24,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,25,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,26,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,27,Overviewoftheparametersettingsurface参数界面,readyNextBack,28,Navigationintheparametersettingsurface参数设定界面的导航,readyNextBack,29,Parameterlist参数列表,Tab标签Category目录Sub-categories子目录Infoarea信息区,readyNextBack,30,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,31,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,32,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,33,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,TechnicalApplication:技术应用-multi-axisapplication&communicationintroduction多轴应用及通讯介绍-Positioningprocessapplication定位顺序应用-electricshaft&synchronousapplication电子轴及同步应用,L-force9400ServoDrives,35,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,36,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,37,Threewaysofprocessinganapplication处理应用的3个方法,Parametersetting参数设定,Configuration配置,Programming编程,:isprepared,readyNextBack,38,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,39,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,40,Usageofprefabricatedapplications预制应用的使用,Catalogue目录,Project工程,9400MotionControllicense,readyNextBack,41,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,42,Transferringtheapplicationtothedevice将应用传递到设备,readyNextBack,43,Multiaxisapplicationintroduction多轴应用介绍,MasterCANnode1,SlaveCANnode2,Positioning定位,Following跟随,NextBack,44,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,45,Portsofapplications应用端口,Task:Dataexchangebetweenapplications应用之间的数据交换,Portsofthesuppliedtechnologyapplicationsfromthecatalogue,Thestructureofapplicationvariablesdefineswhatistobecommunicatedviatheport.,readyNextBack,46,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,47,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,48,Solution:Updateofthecompleteproject整个工程更新,1.Mark,2.Start,NextBack,49,Solution:Copythespeedsetpointfromtheport从端口拷贝速度设定点,NextBack,50,Solution:Creatingaconnectionwiththefunctionblockeditor用功能块创建连接,2.Acceptedmessage,1.Drawaline,3.Enablethecontroller,NextBack,51,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,52,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PatchorCrossovercable转接或交叉电缆Hub/switch集线器/交换机LAN局域网Settingasuitableaddressinthe9400设定合适的地址,TCP/IPnetwork,NextBack,53,Comparison:比较：,Fast快速,Simple简单,Expandable扩展,Transmissionspeedbit/s传输速度,Connectionandsetting连接和设定,Participants,length站数，长度,Diagnostic,Ethernet,3M,100K,CAN,1,128,1:1connection,TCP/IPknow-ledge,1M,5.5K,100M,100K,LANInternet,effectiveforfiletransfer文件传输Nominal标称,NextBack,54,Solution:Machineviewintheengineer在engineer中浏览,NextBack,55,positioningsequencecontrolIntroduction定位顺序控制介绍,readyNextBack,ApplicationsforthePositioningsequencecontrol定位顺序控制的应用,Generalapplicationforthecontrolledprocessingoftime-dependenttravelprofiles:一般应用于与时间相关的运动轮廓的控制过程：,NextBack,Timedhandlingequipment时间处理装置Rotarydistributors旋转分配器Dosingpumps,fillingsystems计量泵，灌装系统Stopadjustment停止调整Barriers安全栅栏Rollerdoorsandslidingdoors辊道门和滑动门Hoists提升机械,FeaturesofthePositioningsequencecontrol定位顺序控制的特性,Point-to-pointpositioning点对点定位Limited,unlimitedormodulotraversingranges限位，非限位或模数转换范围Positioninginvariousmodes多种定位方式Absolute绝对定位Relative相对定位incombinationwithTouchProbe(residualpathpositioning)探针组合定位（剩余路径定位）bytheshortestroute(rotarytable)最短路径方式（旋转台）Configurablesequencecontrolwithupto100individualsteps:最多有100步可组态的顺序控制：positioning,counting,waiting,branching,switching,etc.定位，计数，等待，分支，开关转换等Standardpositioningfeatures:标准定位特性override,overchange,teach,jerkreduction超控，过度改变，示教，急减速,NextBack,58,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,59,Presetpositioningprogram先设置定位程序,NextBack,Positioningbasicfunction:定位的基本功能WhoservicestheLS_PositionerLS_定位控制器怎样工作,readyNextBack,Positioningsequencecontrol定位顺序控制器Contentsofthesequencetable顺序表的内容,Act.number+Act.type作用号作用类型,Actionparameter作用参数,Output2输出2,Output1输出1,none,None无(basicfunction基本功能),Comment说明,Profilenumber,Input输入,Sequencestepnumber,Profile1,Profile2,Profile3,Profile4,Mode,Position,Speed,Acceleration,Delay,readyNextBack,Comment说明,Waitingtime等待时间,Input输入,顺序步号,ParametersettingdialoguesforthePositioningsequencecontrol&Definitionoftheprogramflow用来定位顺序控制和定义程序流的参数设置对话框,NextBack,ParametersettingdialoguesforthePositioningsequencecontrol&Shortsetup用来定位顺序控制和快速设置的参数设置对话框,NextBack,TerminalassignmentforthePositioningsequencecontrol(defaultsetting)用来定位顺序控制（默认设置）的端子分配,NextBack,AIN1Setpointspeedoverride设定值速度超越AIN2Setpointaccelerationoverride设定加速度超越,RFRControllerenableviaterminal端子使能DI1Deactivatequickstop快停无效DI2Homemark原位标记DI3Limitswitchpositive正向限位开关DI4Limitswitchnegative负向限位开关DI5Reseterror/ResetsequencecontrolDI6Startsequencecontrol启动顺序控制DI7Pausesequencecontrol暂停顺序控制DI8Input8sequencecontrol/InputforTouchProbesensor输入8顺序控制/用于探针传感器输入,DO1Driveisready驱动器准备状态DO2Positioningtargetreached到达定位目标DO3Motorcontrolinlimitation电动机控制处于限制状态DO4Errorisactive出现错误,错误复位/顺序控制复位,Interconnectionviaelectricalshaftintroduction通过电轴相互连接应用,Electronicgearbox电子齿轮减速箱Synchronism同步withregisterformationandmarksynchronisation套准和标记同步withregistercontrol套准控制同步Tablesynchronism(electroniccam)列表同步（电子凸轮）,FilmNextBack,:inpreparation即将投产,Synchronisationapplication同步应用,Synchronism同步Absolutesynchronism绝对同步Thereisanabsolute,firmreferencebetweenmasterangle/valueandtool/materialposition,e.g.clothfeeder,pressfeeder,sealingmachines,在主轴的角度/值与工具/材料位置，例如纺织品的喂料，压力机械的喂料，封装机械，之间存在一个绝对的固定的参考Relativesynchronism(withmarksynchronisation)相对同步（带标记同步）Thereisnoabsolute,firmreferencebetweenmasterangle/valueandtool/materialposition,e.g.incontinuousprocesseswithoutcollisionrisksuchasprintingrolls,crosscutters,在主轴的角度/值与工具/材料位置，例如无碰撞风险的连续过程，像印刷机械的辊筒，横切机械之间不存在一个绝对的固定的参考-Proportionalsynchronism比例同步（电子减速箱同步）Speedsynchronismorangularsynchronism,thetransmissionratiocanbesetonline速度同步或角度同步，传输比可以在线设定,ReadyDetailsNextBack,ExamplesofuseforTA“electronicgearbox”对“电子减速箱”技术应用的使用举例,Usedfor:使用于：Slitters分切机Calenderdrives压光机驱动Linedrives生产线传动Conveyingbelts皮带输送机Vibrators振动装置Rollermills轧机Stretchingmachines拉伸机械Wiredrawingmachines拉丝机,NextBack,PerformancefeaturesofTA“electronicgearbox”“电子减速箱”技术应用的性能特点,Virtualmasterwithinching,handwheelDFin,stopfunctionandreducedspeed虚拟主机带点动，手轮Dfin，停止功能和减速功能。Alternativelyrailorcascadestructure能替换使用“轨道”结构和“级联”结构Virtualclutchwithemergencystopandbasicspeed虚拟离合器带紧急停机和基本速度功能Adjustabletransmissionratiovia32-bitnumerator/denominator由32位的分子/分母实现可调传输比Trimmingfunctionviaprofilegenerator通过轮廓曲线发生器实现修改功能Setpointsandactualvaluesinapplicationunits以应用单位表示设定值和实际值Furtherbasicfunctionsincluded其它的基本功能包括Positionfollower(LS_PositionFollower)位置跟随器（LS_位置跟随器）Speedfollower(LS_SpeedFollower)速度跟随器（LS_速度跟随器）Homing(LS_Homing)原位功能（LS_原位）Brakecontrol(LS_Brake)制动控制（LS_制动）Positioning(LS_Positioner)定位功能（LS_定位器）Manualjog(LS_ManualJog)手动进给（LS_手动进给）,NextBack,Synchronisationapplication同步应用-synchronismwithmarksynchronisation用标记同步的TA同步应用,Applicationswithrelativesynchronism相对同步的应用Printingunits印刷机械Perforatingmachines穿孔机械Insertters插元件机械Vibratingdrives振动驱动Linedrives生产线传动Asynchronouscrosscutters异步横切机Labellingmachines贴标机械,NextBack,PerformancefeaturesofTA“synchronismwithmarksynch