AC伺服控制系统标准培训

1、AC王智宽间安排:第一天伺服系统综述伺服控制系统的组成及特点伺服马达原理编码器原理伺服放大器基本原理伺服系统定位控制第二天系列定位模块应用第三天系列伺服放大器应用第一章基础知识第一节伺服控制系统的组成及特点图伺服机构的组曲图伺服机构定义以物体的位置方位姿势等为控制量组成跟踪目标的任意控制系统伺服控制系统的主要性能:最大转矩300%转动惯量小转矩恒定动态性能好0.03%调速范围宽(1:1000)用途:需要定位的机械高频度定位变速范围广的机械转矩控制第二节AC伺服马达原理1.SM型AC伺服马达一般为7.5KW以下AC伺服马达.马达定子线圈,是通过逆变器的晶体管ON-OFF,给垂直于转子磁铁的磁通的

2、线圈通电.外加电压可在数KHZ内转换.施于线圈电压的正负区间是根据接在马达轴上的检测器指示的磁极位置信号进行判断.始终保持磁通和电流被控制成垂直状态,保持转子和定子同步,即效率最高.船E招电流指令乘迭器:回,IGH7兀件速廃隔王IW1标准Jia速度控制严签电流1A相-4斗2.IM（感应）型AC伺服马达一般为7.5KW以上（不包括7.5KW）AC伺服马达.原理与异步电动机（鼠笼）相同.变频交流感应电机.矢量控制:定子电流分解为:磁通电流和转矩电流矢量.图1.14时型马达栽面第三节编码器原理1.增量编码器光电皿怖营旋转伯2信号光躱光隙抠增量编码器通过轴旋转只输出ONQFF脉冲的设备*单相型仅输出A

3、脉冲不指示轴旋转方向a2-相型输出人和日脉冲串山以判断旋转方臥如果A为ON时日肚冲川变成ON则方向判为“前,如果B为ON时A变成ON贝方庇判为反也另外还有带零信号的增星編码器。最通出的增量编码器轴每转输出100至10000牛脉冲。参考我編码器”2.机械式绝对位置编码器二进制格雷码聞定缱隙二进制代码绝对编码器这是能将山动机一转山的角度数据输出到外部H标的检测塑口绝对编码器一般能够以8到12位输出360.增駅编码器有一亍缺点：即当发並电源故障时丢失轴位置口然而.对于绝对編码器来说即使发半电源故障也不丢失轴位置*匚以输山各种代码.诸如二进制代码和BCD代码*绝对編码器比增壮编码器更餅噩、更精确、史大

4、*参考“编码器那3电子式绝对位置编码器第四节AC伺服放大器基本原理24JQ23GV50Z&0Hz甬生单元间胆故人器何服乌达PW屯流扌官令0Oel!HA-JE-氏试吋i-il.sAC伺服系统框囲第五节伺服系统定位控制位置控制方式I尢反協不叫何服机构、|过载失控停转|只有小客飜|受感速机、进给丝杆裁响容易I不稳定I减速机的间隙不石幅止纽成简单+晌应最快|控制系统稳定詞故容使麻I減速机的同隙縄傕正|需蜃髙娇的橫観检测器：|受因轮进结丝杆的瞬晌傅|燼乎稳定,响应性环能提高匸|减遽机的间晾不帑修正马达轴检测进络殖杆端部检柯半闭环77丄2ZZT7J2.定位指令装置与伺服放大器的分工A.定位指令装置功能:机

5、械进给量的指令脉冲输出决定机械速度的脉冲频率输出决定控制对象运动特性曲线记忆理论上的机械位置B.伺服放大器的功能:按照定位指令装置输出的脉冲频率和脉冲数控制马达的速度和进给量.伺服马达锁定功能进行适合机械负荷的自动增益的调整.反谥瞅冲3伺服放大器关键要件偏差计数器编码器A位置控制:偏差计数器（滞留脉冲）=指令脉冲-反馈脉冲偏差计数器=0,速度指令为0,马达停止.B速度控制:偏差计数器输入脉冲频率=指令脉冲频率*电子齿轮传动比马达加速:偏差计数器输入脉冲频率反馈脉冲频率马达减速:偏差计数器输入脉冲频率反馈脉冲频率累积牀沖由于机械的惯件GD2)*如果以i匚常状态发布定位模块速度命令.则这些命令会滞

6、后L4；能够跟踪。因此，对于伺服也动机来说，就使用一种方法，通过偏耀计数器;I：累积来延迟速度命令融冲。这些累积的脉冲称为累积脉冲出在机器停止时倔差计数器发出所有的脉冲并返到CL电爪4.位置控制基本功能自动定位手动控制校正原点回归原点回归方法:近点狗方法限位器方法计数方法自动定位曲线手动控制近点狗方法限位器方法计数方法OPR方法（6）：计数方法2）nopr7x_z不EiXXop地址和的值以匸表示“方法2）”OPR方法的运ff概述。当不能接收“零信号”时“计数方法.2）、方法有效弋（注意与BI数方法1）”方法相比，使用该方法会导致机器OPR期间停止位置有更大的偏差亠）当检测到近点狗ON时机器开始

7、减速a机器减速壬“蠕动速度”，井且晡后以该速度移动。当机器从近点狗Ohl位置起的FF3TI近点狗ON后的位移量设置”中设置的拉移量完成时，来自QD75的脉冲输出会停止#且金完成OPR起动机器OPFL（机器以PFOPR方向中指定的方向开始Fi3TOPR加速时间选择中指定的加速-然后当加厘.忙成叮以“OPR速度榻动.、P-朝OPR速度OPR起动:b3OFF”Md一26|轴运行狀态OPR请求标志丽可状东OPR完成标蛊H伽31|状态：b4，|Pr.即近点WON后的位移量设置rPr-47|动速度不二药）!（存储机器移劲何值画国近点狗ON硏的位移址咖.四当前进给值1刚机器进给值|丽.甜近点狗ON后的位移量

8、!厂从0P惶置到近点狗J_OFF留下足够的距离ION近点狗off厂运行图ZoN(1)OFF油IONiOFF、第二章系列定位模块应用QD75MGarTacannnriandEk1ee；3Idiflputs为呃(ReferIhEECliDn3.32)Fig.1.2OutlineoftheoperationofpositioningsystemusingQD75：Upperbmit或劉厨):Lozierlinitsignal)(ExbemaiDonirandiEgna/switohingsignal)|：坤5郭ta】：i(Near-poTi1doszfinaO)SpeedfeedbasicResit

9、cnfewtsiakManu.aipu穽generatorA-phe&B-phe&eOGrtoming+Mnlr-ul*Curnent+oarlrcl-FLSRLS-GF3STOPDOGRead,wrEleandetc.RaalieningccmmandFaihofilngCtnLrdca-maraQD75P/D与各模块之间通讯信号QD75M与各模块之间通讯信号QD75PLCCPUn良EhDElgral再OD百尺EADslgnailAllaxisaerwOlElgnalSyncranlzallpnnagY3rAYC,VEY0.YB.YD.YFFormartirunJQGsiarlgggjgru

10、nJOGEtmrtEdgrslSSCNET手电cuttanpMiDHiDnnagExtaTialnterfaceOperatingInrarmallDnofnbseivnarrpurerPoeIU口nlngcwnmand,centralccrnnianniServeparameterannlif&rY1D.Y11.Y12.Y13XH.XIS.XIS.XI?Positzoningstartsignal視PdEilllDniHjgcgmplmlEElgeal_Manualpulse;ManualpusegeriratarlS-pnaEegeneratcr:-sXC.XD.XE.XFX1D.X11J

11、C12.X13Y4.Y5.Ya.Y7BUSYslgrTiJlSlarlconifletsAxleFlapslgrulUppentiMerlimitsignalNear-polnndogsignalX4.X5.Xa,X7耳里gggggjjElgrmlExlerrt-aJcommafid创&ML1：:ringsignalStopsignalExternalsignalInterfacewitiiPLCCPUX8.X9.XA.XB.辰rrorcatadlDolfnalData!.vrute/readParamalarArLa.TssdPcstllonngdataTtle/r&aJBtickEl2i1

12、data/rlteeacPeripJienraldeviceinterfacedoaiepotlllDnreflwTaperarlan:厂鹹：IJOGcrattsn.hcrirgcp=r3U;n=?：_=DElUorlng叩eratJanrrssifiPeripheraldevice集电极开路方式:1)OpencollectorsystemConnectasshownbelow:Theexplanationassumesthattheinputwaveformhasbeensettothenegativelogicandforwardandi-eveisetotationpulsetrains

13、(pafametefNo.21hasbeensecco0010).Tltewavefounsnthecablen(al,(1)oftltJssectionarevoltagewavefotinsofPPandNPbasedonSG.TheirrehtLonshlpswithtransistorON/OFFareasfollows:ForAandratalonpuls?train,：3=f：.(on;(ofz;(ON)(CFFj(transstor)*1Reverserotadonpulsstrain(transstor)(OKIbFj,(ON)差动驱动方式2)Differentiallnedt

14、lvei-systemConnectassltowitbelow：Tlieexplatiadonassutnestltactlteinputwavefoi-mhasbeensettotltenegativeLogcandfoiAViandteversefotationpuIsetratnsipai-amecerNo.21hasbeensetcoOO1O).ForthedtfYerentiallinedriverthewaveformsinthetablein(a),(1)ofthissectionareasfolloxTliewavefofinsofPP.PG.NPandNGai-ebased

15、ontlmtoftltegroundofcbedifferentia11driver.0002脉冲串输入(1)Pulsetraininput(a)InputptilsewaveformselecdonEncoderpulsesmaybeinputInanyofthreedifferentforms,forwhichpositiveo：rnegativelogiccanbecliiosen.SetthecommandpulsetrainforminparameterNo.2LArrow_fLor_TLinthetableindicatestlietimingofimportingapulsetr

16、ainaA-andB-phasepulsetraiifisareimportedaftertheyhavebeenmultipl)ledby4.PulsetrainfonrnForwardrotationpulsetrainRevererotationpulsetrainForwardrotationcommandReverserotationcommandParameterNo.21fComniandpuk已train)ppqjumj001000020011PPLTLUJITPulstrain-ksignNP00020002A-phasepulsetrainB-phasepulsetrain

17、0012FomardrotationpulsetrainReverserotationpulsetrainppWLTLfL0000Pulstrain-hsign000100020002A-phasepulsetrainPPB-phasepulsetrainQD75P/D输入/输出接口内部电路(1)输入(QD75P1和QD75D1公用)B9A20予动脉聲圾丄辭Q25不理用TISLS时1A111A121AB1A91A10信号名称是否需要接线來近点狗信号DOGA上限LS信号FLSO下限LS信号RLSO停止信号STOPA外部命令信号CHGA公用COMO乎动肮冲发生器A相PULSERA+PULSERA-

18、AF动肮冲发生器B相PULSERB+PULSERB-驱动裝置READYREADYO驰动装址READY鱼用RDYCOMO寒信号PG024PG05A寒信号公用PGOCOM是否鬧要接线一栏的符号表示下列意賀;O：宦位祚要接线。A：依据惜况决宦是否需耍接线(2)输出(QD75P1)外部接线引脚编号内部电路信号名称是否蘇接线1A13-1偏差计数器清零CLEARO1A14公用CLEARCOM1A15-、CWA相脉冲PULSEF1A16PULSECOMo1A17CCW日柑SIGNPULSER1A182PULSECOM输出（QD75D1）外部接线引脚编号内部电路信号名称是否需要接斜1A13偏差计数器清零CLE

19、ARO1A14多6公用CLEARCOM1A15CW脉冲PULSEF+o1A16PULSEF-1A17CCWBM：SIGNPULSER+1A18PULSER-水：是否需要接线一栏的符号表示下列意义O：宦位需要接线。恠抵怙况决定琵否需要接线QD75M输入/输出接口内部电路Eh:&1侶IwilingHarmmlpu昶ganarator:MR-HDPD1；PinNo.1A11A21A31A41A51A61A7E1A19（-）1B19E1A201B201A111A121A&1A91A10WhenupparMim:XlsIenatu&EdSignalnameNeedforwiring*Upper-limi

20、tLSsignalFLSOLower-limitLSsignalRLSONear-pointdogsignalDOGAStopsignalSTOPAExternalcommandsignal.S.vizchingsignalCHGACommonCOMOh/lanualpulsegeneratorAphasePULSEDA+APULSERA-h/lanualpulsegeneratorBphasePULSEDB+PULSERB-*:ThesymbolsinNeedforfiringcolumnindicatethefollowingmeanings:O:Wiringisnecessaryforp

21、ositioning.A:Wiringisnecessarydependingonthesituation.QD75P/D外部设备接头连接器的信号QD75P1RUhQAX1AX1QD75P4RUNDAX1AX2UAX3ERRQAX4AX3AX4AX1AX2引懈布局轴卸AX4)细3(AX3)丄2(AX2)1AXD引腾編号信号名称引脚编号信号容称惜号名称引腾编号信号名商2B2Q空2A20空1B20PULSER1A2QPULSERB+2B19空2A19空1B19PULSER1A19PULSERA+B20A202B1&*3PULSECOMPULSER-2A1E*3PULSECOMPULSER-1B18

22、-3PULSECOMPULSER-IA1&*3PULSECOMPULSERB19&A192B17PULSER2A17PULSER1B17PULSER1A17PULSEFB18B17I?O0OAl8A17*3PULSER4-水3PULSER4*3PULSER43PULSERB16B15B1I4B13&DDA16A15A1I4A132B16*3PULSECOM2A16*3PULSECOM1B16K3PULSECOM1A16：.?PULSECOMb&DOPULSEF-PULSEF-PULSEF-PULSEFB12aoAl22B15PULSEF2A15PULSEF1B15PULSEF1A15PULSE

23、FB11B10B9i?pAllA10A9*3PULSEF+PULSEF+*3PULSEF+*3PULSEFDDD2B14CLRCOM2A14CLRCOM1B14CLRCOMIA14CLRCOkB80OAS2B13CLEAR2A13CLEAR1613CLEARIA13CLEARB7B6DQOA7A62B12RDYCOM2A12RDYCOM1B12RDYCOM1A12RDYCOhB5oA52B11READY2A11READY1B11READYIA11READYB4B3B2&白A4A3A22B10PGOCOM2A10PGOCOM1B10PGOCOMIA10PGOCORDOao2B9PGO52A9PG

24、OS1B9PG051A9PG05B10oA1I2B6PG0242A3PG0241B8PG0241ASPG024L2B7COM2A7COM1B7COM1A7COM径挾旳前盪国2B6COM2A5COM1B6COM1A6COM2B5CHG2A5CHG1B5CHG1A5CHG2B4STOP2A4STOP1B4STOP1A4STOP2B3DOG2A3DOG1B3DOG1A3DOG2B2RLS2A2RLS1B2RLS1A2RLS2B1FLS2A1FLS1B1FLS1AIFLS*1：引脚编号!-表示右边连接器的引腾编号.引詞编号烷表示左边连接器的引脚编号。*2t当便用单轴模块时.引脚编号IB1至1B18是“

25、空的口*3t上面一厅表示QD75P1/QD75P2/QD75P4的信号名称，F面一行表示QD75D1/QD75D2/QD75D4的信号名称口QD75M外部设备接头连接器的信号QD71HLWnnAtI_QD75M4_hwDAXI战211鯨戈tmJkX电AXlAJC4KH2wWPinlayoutAxis4(AX4)Axis3(AX3)Axis2(AX2)Axisl(AXI)PinNo.SignalnamePinNo.SignalnamePinNo.SignalnamePinNo.Signalname2B20Hoconnect2A20Hoconnect1B20PULSERA1A3QPULSERIB+

26、B2DDA202B19Noconnect2A19Noconnect1B19PULSERM1A19PULSERA-EEE-J0gOooA19A18A172BiabJoconnect2A.iaMoconnect1B1-3Noconnect1A18Noconnectaa2B17Hoconnect2A17Noconnect1B17Noconnect1A17NoconnectB16B15B1400A10A15A142B15Noconnect2A.15Noconnect1B16Noconnect1A16Noconnect00oa2B15Moconnect2A15Noconnect1B15Noconnect

27、1A15NoconnectB13口口A132B14Noconnect2M4Noconnect1B14Noconnect1A14NoconnectB12B11A12A11.2B13MoconnectNoconnect1B13Noconnect1A13NoconnectB1DA102B12Noconnect2A12Noconnect1B12Noconnect1A12NoconnectB9B8B7口aA9ASA72B11Noconnect2A.11Noconnect1B11Noconnect1A11Noconnectaa2B10Moconnect2A10Noconnect1B1QNoconnect1

28、A10NoconnectB6aM2B9Noconnect2A9Noconnect11B9Noconnect1A9Noconnect65B4o口AaA42B6Noconnect2A.&NoconnectieaNoconnectIASNoconnectB3oA32B7COW2A7COM1B7COM1A7COMB2B1aA2A12B6COM2A6COM11B6COM1A6COM2B5CHG2A5CHG11B5CHGTASCHG2B4STOP2A4STOP1B4STOP1A4STOPFrontviewof2B3DOG2A3DOG冋DOG1A3CGthsmndulA2B2RLS2A2RLS1B2RLS1

29、A2RLS2B1IFLS2A1IHLS1B1IHLS1A1FLS1:PinNo.COOindicatesthepinNo.northsrightconnectof.IPinMo.2Oind祀atestiiepinMo.fortheleftoonnectar.#2:Whena1-axis.moduleisused,pinNos.1B1Ito1B18areNoconnect.3:For1-axismoduleand2-axismodjledonothaveAX3呂ndAX4connectoroftheleftside.PrecautionsforSSCNETcablewiringIftheduct

30、isbelowthebottomofthemodule:leavesufficientclearancetoeliminateeffectsontheSSCNETcable,limitthespaceheightto70nm(2.76inch)MIN.Unt:rrnljincnjII-7IMR.-J2HBUSLM1O12O-0OODEL(cofmector)10120-8CX5DEL(connectorJ10320-3210-000(shellkh)1QS20-321D-000*h创kitMaker3MMaker3M7定5位模块参数5.2.1基本参数1项目讣置僅、设住范围默认值设置僅緩冲行忻，

31、器也址用外他匮备设置的值用顺控程序讣器的亚轴I轴2轴3轴4PrTl草位设芒0r0301503004501t英寸12r度23:脉冲3毎-转的脉冲数Ap）（单位t脉冲）11至655351至655351至32767:讣置为十进制32768y65535:转换成彳7进制井设置200001151301451Pr.3每转的也移量（A1）搖照凹匚1单位设蛋蛙置萱范同不同“此SL设呂农1范围内的帖。200002152302452下一页I.的衰1单杭放大倍率Am）1:1-ffi11315330345310：10-ffi10100：100咅10010GQ：WOO-ffi1000Pr.1单位设置设置用：定文定位运行的

32、单位依据控制口杠类型的不同从下列单位中选择毫米、英寸、度或脉冲*不同的轴（轴1至4）可以定义不同的单位（例子）不同的单位（毫米、英丁、度和脉冲）适用于不同的系统占亳米或英寸.X-YT作台、传送带侬据机器规格选择毫米或英寸。）度旋转休3沈度/旋转）脉冲X-Y:r.作台传送常比当你更改单位时，注意其它参数和数据的值不会动变化.在更改单位后.检査参数和数据值是否在容许范围之内匚设置以“度”为单位来执行速度-位置切换控制（ABS模式）。(1)电了齿轮的槪念对于输人的脉冲*可以乘上任意的倍率使机械运行CMXNi：l3CDV参数Z4:电机|编码器AP:鬧服电机旋转I周的所对应的脉冲数.AL:电机旋转周的听

33、对阪胸进给量,AM：单位倍率。侗服电机伺服电机的分辨率为131072(脉冲/转)何服电机的速度和指今脉冲频率之间的关系如下，听示：伺服电机速度r/minl所需的指令脉冲频率2000131072*2000/6()=436066卩盟3000|J107ZK2000/60-655300ppsOK-NoCDV-f：输人脉冲频率ppsjNo:何眼电机速度r/mirtP；伺服电机编码器的分辨率脉冲/转20()*qgCDV3吨60131072CMX_3000CDV-_j31W2=J-gOPJf,)72_4Q96却U60*20000C-25仏）1脉冲相半于Mm进给量的场合:伺服电机131072puIse/rev

34、机械规格滚珠丝杆进给量:Pb-IOiim减速比：21/二何服电机编码器分辨率Pt-131072【脉冲/转】1310722621443276SMip-顾右在“帀=心IE.10125斯以设定CMX-32768CDV=125注意:*下面是计算电子齿轮比所用到的符号：Fb;滚珠丝杆进给蚩（rum）11:减速比Pt:甸1R电机编码器分辨率（脉冲/转U包脉冲.也诃忖进给量（mm/脉沖）S:电机每转对应的进给量（mm/转）Ae:每脉冲对应的角度L/脉冲）A6:毎转对砲的角度广/转）(b)传送甫设定例1脉冲和当于旋转0卩的场合:机械规格转盘：360/iv减速比：H-4/64伺服电机编码器分辨率；Pt=1310

35、72脉冲/转伺服电机131C72purse/rev需就嚅一幣M)凶为CMX的值超出设定范出L所以将CMX;和CD约分.戌至两个值在设迅范围以汕小数点右而四舍佢人。CMX_turnedON/OFFwiththesequenceprogram.ThePLCREADYsignalisturnedONduringpositioningcontrol,OPRcontrd,JOGoperaticn：inchingoperation,andmanualpulsegeneratoropeiiforiuni歸wthesystefnisinttieperipheraldevicetestmode.Alienpar

36、ametersarechanged,ItiePLCREADYsignalisturnedOFFdependingontheparamet-sf(RefertoCnapter7.).Thefollowingpnocea&ssarecairnedojtwJientJiePLCREADYsignalturnsfromOFFtoON.Theparametersettingrangeischecked.-TheQD75READYsignalXOturnsOHidThefollowingprocessesarecarriedoutwhenthePLCREADY宫ign创turnsfromONtoOFF.I

37、nthesecases,theOFFtimeshouldbesettoIMmsormore.-TheQD75READYsignal凶)turnsOFF.1Theoperatingaxisstops.1TheMcodeONsignalX4toX7|foreachaxisturnsOFF,andCTisstoredin|油日圧|ValidMcode.(e)AlienparametersorpositioningdataNo.11to6DD)arewrittenfromthepeiriphsaldeviceorPLCCPUtotheflashROM,thePLCREADYsignalwillturn

38、OFF.Y1AllaxisservoONIOFF:SaoOFFON:SawON1TheseivoforallthesefvoampliftefBconn&ctedtotheQD75isturnedONorOFF.Axis1Axis2Axis3Axis4AxisstopOFF:AxisstopriotrequestedON:Axisstoprequested1WhentheaxisstopsignaltjmsON.theOPRcontrol,pcnsitionongcontrol,JOGoperation,inchingoperaticnandmanualpulsegeneratoroperat

39、ionwilistop.ByturningtheaxisstopsignalONduringpositioningoperation：thepositioningoperationwillbestopped,Whethertodecelerateorsuddentystopcanbe&i&ctedwith13|Stopgroup3suddenstopselection.Duringinterpolationcontrdofthepositioningoperation,iftheaxisstop宫ign日1ofanyaxisturnsON,allaxesintheinterpolationco

40、ntrolwilld&cetefateandstop.AxislAxislAxis2Axis2Axis3Axis3Axis4Axis4ForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReerserunJOGstartCFF:JOGnotskirtedCN:JOGstartedWhentheJOGstartsignalisON,JOGoperationwillbecannedoutstttw或存

41、IJOGspeed.WhentbsJOGstartsignalturnsOFF,theoperafcriwilld&celefateandstop.Wheninchingmovementamountiss&t,thedesignatedmavenwntamountis.outputraronecontrolcycleandthentheoperatiofistops.10111213Axis1Axis2Axis3Axis4PositioningstartOFF:PositioningstartnotrequestedON:Positioningstartrequested1OPRoperati

42、cnorpositionSngopefationis.started.Thepositioningstartsignalisvalidattherisongedge,andtheoperatianisstarted,WhenthepositioningstartsignalturnsONduringBUSY,theoperationstarlingwarningwilloccur(warningcode:100).14Y151617AxislAxis2A:is3Axis4ExecutionprohibitionflagOFF:MotduringexecirtionprctiibiticnON:

43、DuringexecutionprctiibitiontftheexecLftionprohibitionfagisONAientJiepositioningstartsignalturnsON,positioningcontroldoesnotstartuntiltheexecutionprohibitionflagturnsOFF.LfeedwithtiePre-readingstartfunction.(RefuteSection12.7.8)控制上机操作151815191618161917181719例于L当|匚山口IOG速度”徙为a20000.00是米/为钟”IM，耀神存储器存储OD

44、CuDCFrT亳米(xW2-英寸(xior3：度X1Q3度耐)脉冲际冲丿秒)口至20000000Q0口至20000000000至20000000000至1000000使用该数据项目设置JOG速度在下列范围内设置值：n单症-2度/井胖Q脉冲/秒|118181819rCdT17|JOGspeed-Fig.11.4JOGoperationPLCREADYsignalQD75READYsignalON2j3)4/7OFFION一o-*ON甲OFFFFd1ONFFF1ON!OFFPNJu1FarAandrunJOGstartsignal11-4控制上机操作连续控制上机操作起动程序该程序用于用起动命令起动

45、控制D可以用下面两种方法起动控制匚1通过输入定位起动信号Y10.YlLY12.Y13起动2通过输入外部命令倍号起动1）按照要起动的控制在K应定位起动编号”中设置“定位起动编号（上述例子中，设置定位数据编号“什“）2）输入定位起动信号Y或外部命令信氐3）定位数据编号M1会起动匚图6一2起动控制（用于轴I）的步骤1iWhenstartngoositioningwiththewcmnaftsrthecompledonopositoning：insertX1asaninterocksotnatpositoni世isstartedaftsrY10isUniBdOFFandX1isUrnsdOFF.Con

46、trolwithpositoni世data2i3)SetthepositioningstartNo.inCd.11|PositioningstartNo.accordingtothecontroltobestarted.(Intheaboveexample,setpositioningdataNo.I.)InputthepositioningstartsignalY1Cl;Y1I,Y12ortheexternalstartsignal.ThepositioningdataNo.1willstart.Fig6.2ProceduresforstartingcontrolIHJ.I|IUOILIUI

47、IIIIJIOLjSILIMUSetzingitenSettingvalueSeeingdetailsBuffernemoryaddressAxis1Axis2Axis3Positioningstarthe.=_1zo6009CD19C029C037C0Cto7010PositioningdataNo.MachinezeropointreturnHigh-speedzerop-ointrezurnCurrentvaluechangeBlockNo.(Foradvancedpositioningcontrol)115012Q01250Cd.11定位起动信号时序定位起动信号Y10；PLCREADY

48、f;iY0QD75READY仁号X0：定匮起动完成忆号X10BUSY信号吃出错检测伫号XSCd.3K位起动编号OPR诂求标志状态:b3OPR完成抓忑|Md.311猿态：岡OFF.：Oj:近点殉:零信号1I41OFF:1X90011：OFF；Y10IYUYOXQXCXflONTimechartforstartingmachineOPRFig.6.4TimechartforstartingmachineOPR；Near-pointdogPcssitioningstartsignalAlliaxisservoONRLCREADYsignalQD75READYsigns!Positioningstar

49、tcomplete宫ignlBUSYsignalOFFErrordetectionsignalOFF(D|ON(1)OFF(D)|C|.3PositioningstartNo.OPRcompleteflag|Md.311Status:b4OPRrequestflagMd.31|Staikis:b3iiIZerosignalTuIiIOFF1丿iON!OFFJL1ONCFFirON1ofONIICFFhJ4ONOFF“电气零”：2)TimechartforstartingfastOPR卩ositioningstartsignalAllaxisserOONPLCREADYsignalQD75REA

50、D7signalStartcompletesignalBUSYsignalErrordetectionsignal|Cd.3|Fo5tioningstartNo.Y101YDXCJpeiogXCxaCN；:.-OFFJ1ONOFFC-Noff】L1ON:lOFF*L1rONOFF*L2J：FaOFF)/9002Fiq.E.5TimechartforstartinqfastOPR地址的内容传送至和7.2数据传送处理出=面所示的步骤门）至（即在QD75存储器之间传送数据水下一页上的编号（巧至（阳的数据传送形式与上一页上的编号（至（8）对应PLCCPU4)FRO閘命令缓冲存诸器|QD75裁数区a）E

51、HPrTI（1）接通电源FPLCCPU臭也PLGCPU备忘区|Pr.43|PLCREADY仁号YOOFFfON闪存ROM參数K（a）蕃数怀心定位数据区编匕1至EH块起动数据区7000至7004:DatatransmissionprocessThedataistransmittedbetweentheQD75memorieswithsteps(1)to(10)shownbelow.Thedatatrailsmissionpatternsnumbered(1)to(10)ontherightpagecorresponcthenumbers(1)to(1Q)ontheleftpage.4)FROMc

52、orrnFndBuffermemoryParameterareaParameterarea(b)Servoparameterarea(No.3D10闪存ROMiiV求:写PLCCPU5)闪URQM码奉敌区r3）打讥|bPLCCPU备忘区（6）闪存ROM诘求（S）蔘数凶i3）参数1afPMlrFTl|Pr.li|卒|P.A|FT洞至阿丽|Pr.150|參数区Cb)|=T.a|Pr12|梓数恆b!崖位数据区F编I至型、块起动数据区（舗号了DDO.乍了0041崖位数据区编打1至型2块起动数据区lQ-3D1DDto30499MonitordataareaParameterarea(a)也to凹王四匹3

53、J7:c|Fr.mF|Pr200Pararreterarea(b)PrT|:c|Pr10|PE岡to|FT.421Servoamplifier7定5位模块专用指令14.4PSTRT1.PSTRT2.PSTRT3,PSTRT4使用软元杵内部软元件文杵寄存器MELSECNET/WdirectJLILI特殊模块LOG口变址寄存器Zn常数其它也字也字K、H、S(S)0(D)OO这些专用指用于起动指定轴的定位口捋令符号.PSTRTIPSTRT2PSTRT1.PSTRT2.PSTRT3和PSTR74彼此公用时.把它们衷川为PSTRT匚TZP.PSTRT1Un(S)(DiPSTRT3ZP.PSTRT2Un(

54、S)ZP.PSTRT3Un(S)(DiZP.PSTRT4Un(S)Q设宜建据设置内容设置方数揭类型“UrTQD75起始1,9地址C00至FE：以位数v农示的高也两位数0地汕）用户BIN16(S)存储控制数据的软元杵的起始地址软元件(D)在指令完成时，使运行变为ON并持续一次扫描时间的位牧元杵的起始地址。果异常完成指令.耻（+n也会变成on,系统位注）各个本地软元件和程序的文件寄存器不能用作设宜数据的软元件。控制数据软元件项目设誉数据设置范围设置方（胡s)+0系统冋(S)+1完成狀态存储完成时的狐态0:止常完成除0之外；异常完成C出错代码）系统(S)+2起动编号指定下列要通过PSTRT指令起动的

55、数据编号定位数据编号：1至EOO块起动：70007004机器OFH:9001怏速OPR:9002当前值更改：90胎歩个轴同吋起动：90041至6007000至70049000至9004用户木1:设置方的数据如下：用户;在执行专用指令前ElIIU户存储的数矍系统；在执行专用指令后由PLCCPU存储的数据卑2：关于异常完成时的出惜代码.参考第152节n功能扭厅要处理的轴的定位起动见下而）PSTRT1：轴1PSTRT2：轴2PSTRT3：轴3PSTRT4：轴4可以通过设置（S）+2）中的“起动编号”兀I00至7004/9001至9004执行块起动、OPR起动、当前值更改和多个轴同时起动。可以使用完成

56、软丿訥（D）+0）和（D）+1）确认PSTRT指令完成*（a）完成软元件D+0）通过定成PSTRT指令的扫描的END处理，该软元件变成ON，并通过下一次END处理变成OFF.I-4ModelpositioncontrolModelspeedcontrolVirtualencodefVirtualmotorModelpositionModel&eedModeltorqueActualpositionActualspeedCurrentcontrolcontrolcontrolI/OranirolServoonStartFailure,etc.Controller_Electra-鶯magneti

57、c-brake!第三章系列伺服放大器应用Note:1.Thebuilt-inregenerativebrakeresistorisnotprovidedfortheMR-JI2S-10A(1l).For1-phase230VAC,connect1tiepowersupplytoLigandleaveLjopen,Lzisnotprovidedfora1-phase10Dto120VACpowersupply.ForMR-J2S-35Dorless.Junctonterminalblock(FR-BALwcnQ1aLrPCPersonalcomputetH!Note:1TheHC-SFS,HC-

58、IRFSserieshavecannonconnectors.2-A1-phase230VACpowersupplymaybeusedwitiittieservoamplifierofMR-J2S-7DAorless.Connectthepower寻叩plytoLiandLsterminal吕andleaveL3open.ServomotorServoamplifier(Notel)EncodercableControlcircuitterminalblock.(Notel)jqRmversupplyleadRegenerativebrake*option*忖o-fusebreaker(NMB

59、)orfuseMagneticcontactor(MC)ToCNIBF3口factorServoconfigurationsoft/are-MRZJW3-SETUP121ECHARGE*ToCN3irrrprovingreactorToCN2；l)MR-J2S-100Aorless(a)For3-phase200Vto230VACor1-phase230VAC(Note23-phase20DVto230VACpcwsfsupplyar1-phase23DVACpowersupplyjProtectiveeafth(PE)terminalCommanddeviceToCN1IAOptions自n

60、dauxiliaryequipmentRefertoNo-fusebreakerSection1322MagneticcontajctorSection13.2.2Serv!oconfigurationsoftwareSeccion134.8Options自ndauxiliaryequipnteniRefertoRegeneratlxnebrakeoptionSection13.1.1CablesSection13.2.1PowerfactorimprovingreactorSection13.2.2电蒲12匚14H梅.TtPEPEPCtlLSPLZLZR12卫b515111212215卫jT