产品使用例子ax2000驱动器

AX2000Drive

Overview(概览)ProductOverviewOperatingModesAnalogvelocitycommandIndexerSERCOSStepanddirectionElectronicgearingPowerandMotorConnectionFaultsandStatusConfigurationStorageServoloopconfigurationSection1ProductOverviewAX-PowerandDimensions

功率及尺寸Widepowerrange1.5-20Afirstrelease40A,75AsecondreleaseGlobalinputvoltage(208-480VAC)CEapprovalwithoutexternalfiltersExternal24VsupplyforlogicfunctionsandI/Oallowspositiontrackingwhen3phasepowerisdisconnectedbysafetyinterlockInternalregen.resistorwithoptionofexternalresistorInternalregenerativeshuntresistorscanbeconnectedinparalleltosharepowerinmulti-axisapplicationsSmallfootprint1.5A,3A,6Aand10A:325mmx70mm10A:325mmx120mmAX-OperatingModes

运行模式SERCOSClassAcompliantwithClassB/CsupportedIDNsAnalog+/-10Vvelocity/currentcommandCurrentlimitVelocityfeedforwardSimulatedencoderoutput:incrementalandSSIStand-aloneindexer180storedmotiontasksAdditional64taskscanbeconfiguredinvolatilememoryviaserialinterfaceTasksareselectablefromI/OorserialinterfaceHomingStepanddirectioninterfaceGearedtoexternalencoderAX-ServoPerformance

伺服性能Alldigitalservo-loopsLoopupdatesTorque:62.5usecVelocity:250usecPosition:250usecLoopparameterssetautomaticallyaftermotorselectedfrompick-listinUnilinkcommissioningsoftwareOscilloscopesimulationfortuningoptimizationafterconnectingtoloadAX-Feedback

反馈方式ResolverResolution:14bitsHyperfaceencoderSingleandmulti-turnResolution:20bitsTurncounter:12bits(4096revolutions)AX-I/O输入/输出点AnalogI/O(+/-10Volts)Input1:14bitsInput2:12bitsOutput1,2:10bitsDiscreteI/OInputs(24Vsolidstateopticallyisolated)4generalpurposeplusenableOutputs(24Vsolidstateopticallyisolatedexcludingfault)TwogeneralpurposeOnefaultrelaycontactOnebrakecontrolI/OexpansionoptionInputs(24Vsolidstateopticallyisolated)14fixedfunctionOutputs(24Vsolidstateopticallyisolated)7fixedfunctionAMMotors-ACommonOfferforAM

伺服电机Hightorque-to-inertiasamariumcobaltbrushlessmotors0.4-100NmtorquerangeIP65ratingwithIP67optionDINstandardmountingCE,ULandcULapprovalsResolverandSINCOSencoderoptionsOptionalbrake7motorsarestockitems(seenextslide)IP65ResolverfeedbackNobrakeKeyedshaftSection2OperatingModes运行模式Section2aAnalogVelocityMode模拟速度方式AnalogVelocityCommandMode模拟控制BreakoutBoxCommandandControlSignalsControllerVelocityCommandArchitecture1

速度控制结构1+MotorFB+-ppVderived-PderivedControllerDriveCurrentLimitVelocityCommandPositionFeedback+-pVff++VelocityCommandArchitecture2

速度控制结构2+-pVff+MotorFB+-ppVderived-+PderivedControllerDriveVelocityCommandPositionFeedbackVelocityFeedforwardCommandInputScaling

量程输入CommandinputsarescaledforthedesiredmaximumspeedwiththehighestpossibleresolutionCaremustbetakenthatthecommandoutputsfromthecontrollerhavethesamescalingfactorCommandInputOffsetandFiltering

偏置及滤波OffsetcanbemanuallyadjustedbyenteringavoltagemagnitudetotrimoutanymotionwhenzerospeediscommandedfromthecontrollerTheLexiumalsooffersanAutoOffsetfeaturewhicheliminatesthemanualstepsAdigitalfilterisavailabletoreducenoisepresentontheanaloginputs.Cautionmustbeexercisedinincreasingthefilteringasthisintroduceadelayintheresponsetotheinputsignal.Thiscancausestabilityproblemsinthepositionloop.SimulatedEncoderOutput

模拟编码输出ConfigurableasincrementalencoderorSSI(singleandmultiturn)SSIencodersimulationMatchparameterstocontrollerIncrementalencodersimulationResolutionmustmatchcontrollerTheencodernullcanbeoffsettoassistinhomeswitchplacementBasicDiscreteInterfacetoController

开关量与控制器接口ControllerDriveEnableFaultGroundReferenceMachineOvertravelLimitsResetOptionalDiscreteInterfacetoController

可选接口ControllerDriveIntegralGainOffSelectCurrentLimitRegenPowerExceededTorqueModeCurrent<>ValueITExceeded2PowerStageReadyBusVoltage<>ValueSection2bIndexerMode组合方式IndexerMode1-DiscreteI/OInterface

数字量I/O接口I/OExpansionBoardControlSignalsControllerIndexerMode2-SerialInterface

串行接口AsciiCommandsonRS232MachineI/OControllerIndexerMode3-Standalone独立使用I/OExpansionBoardControlSignals32SimpleControlPanelParametersCommontoallIndexes

LinearorrotaryindexesVelocityandaccelerationlimitsInpositionwindowResolutionSoftwarelimitsOutputtriggersonposition<>programmedvalueSettingResolution设定分辨率

Theresolutionparameterrelatesthelinearorrotarymovementoftheloadtomotorrevolutionsviagearboxes,leadscrewsetc.InPositionWindowVelocityTimeInPositionDefininganIndexVelocityRunSpeedTimetatrtdVariableS-CurveProfilesaccelvelocityaccelvelocityS-CurveVariableCreatingIndexSequencesVelocityTimeImmediateDwellInputIndex1Index4Index2Index3BlendingIndexesVelocityTimeTransitionDwellIndex1Index4Index2Index3TransitionHomingandJogMode

寻原点和点动6HomingoptionsSpecifyseek-speed,directionandaccel/deccelDefineHomeOffsetDefineJogSpeed(negativesignchangesdirection)On-lineinitiationofhomingandjoggingHomeSwitchPlacement

原点开关放置

Ifthehomeswitchistooclosetothefeedbacknull,itispossibletomissthenullandrotateawholerevolutiontothenextnullTheswitchshouldnotinactive,45degreeseachsideofthenull45-315degreesI/OExpansionCard

扩展卡14dedicatedinputs8moveselectlines(move0ishomingsequence)Startselectedmove(risingedgestarts,fallingedgeholds)ContinuemoveheldbyfallingedgeonStartHomelimitswitch(reference)ClearfollowingerrorfaultStartjoginprogrammeddirectionatprogrammedspeedStartnexttaskinsequenceifdefinedastriggeredbyI/Otransition7dedicatedoutputs4positionregister(transitionon<>definedpositionorsoftwarelimit)FollowingerrorfaultInpositionInposition(sequence)Section2cSERCOSMode网络方式SercosModeSERCOSRingControllerSERCOSArchitecturePositionCommand+-pVff++-ppVderived-+PderivedDrivePositionFeedbackConfiguringSERCOS

Configurethebaudrateandfiberopticcablelength(fiberopticdriversareoptimizedforcablelength)TheSERCOSaddresscanbeconfiguredunderBasicSetuporviatheup/downarrowkeysonthefrontpanelSERCOSDiscreteI/OSERCOSDriveOvertravelLimitHomeSwitchPositionRegisterFaultPositionRegisterOvertravelLimitProbeSERCOSAnalogI/OSERCOSDriveAnalogInput1AnalogInput2Homing寻原点

HomingislimitedtoonemodeZeroreferenceisdefinedbyHomeswitchandfeedbacknull.Section2dStep/Direction,EncoderTrackingMode编码跟随方式StepandDirectionModeOpenLoopStepandDirectionControllerEncoderTrackingModeGearedMotorEncoderInductionMotorElectronicGearing+-pVff++-ppVderived-+PderivedDriveGearPositionFeedbackPositionCommandSection3Power/MotorConnectionSingleAxis,InternalRegenPowerConnectionAX200024VFusesContactorSingleAxis,ExternalRegenPowerConnectionAX200024VFusesContactorMultiAxis,InternalRegenPowerConnectionAX200024VFusesContactorAX2000AX2000BusBusMotorConnectionAX200024VFusesContactorChokeMotorBrakeBrakeTimingEnableInputSpeedBrakeOutputEnablePowerSectionEmergencyStop-PreferredAX200024VFusesContactorMotor3PhaseContactorDynamicBrakingResistorsEmergencyStop-AlternativeAX200024VFusesContactorMotorEnableContactorEnableMotorFeedbackOptionsEncoderResolverMotorOvertemperatureAX200024VFusesContactorMotorFeedbackandOvertemperaturePowerMotorMSET

Inabrushlessservomotorsystem,itisnecessarytoknowtherelativepositionofthefeedbackdeviceandthemotorpolessothatthemotorcanbecommutatedAMmotorsandassociatedfeedbackdevicesarealignedinthefactory.TherelativepositionoffeedbackdeviceandmotorpolesisexpressedasadefaultfeedbackoffsetinthedriveNoMSETisrequiredforAMmotorsAthirdpartymotormustbeMSETSection4FaultsandStatus错误及指示WarningsandErrors

WarningsGeneratedwhenanon-fatalfaultoccursDrivestaysenabledwithfaultrelaycontactclosedSomenon-fatalfaultsresultinacontrolledshutdown(rampdowntozerospeed)butwithdrivestillenabledErrorsDriveisdisabledandfaultrelayopensFaultscanbeclearedbyapowercycleorreset(fromDriveorviapre-configuredinput)DriveStatus

AcompletestatusofinternaldrivevariablescanbeaccessedviatheMonitoricononthemainscreenMotioninformation:position,speed,followingerrorInternaltemperatureRegenpowerAnaloginputsCurrentandbusvoltageAnalogOutputDiagnostics/Status

Internalservoloopvariablescanbemadeavailableoneitheranalogoutputasa+/-10VsignalActualvelocityCommandedveocityActualcurrentCommandedcurrentFollowingerrorDiscreteOutputDiagnostics/Status

DiscreteoutputscanbeconfiguredtoprovidestatusVelocity<>presetvalueCurrent<>presetvalueContinuouscurrentratingexceededBusvoltage<>presetvalueRegenpowerdissipationexceededAnyerror,followingerrororwarningTheon/offstatusofdiscreteinputsandoutputsontheI/OexpansioncardaredisplayedinDriveSection5ConfigurationStorage组态储存InternalMemoryWorkingMemoryNonVolatileDefaultsFileStorage

DriveconfigurationscanbestoredonaPCusingtheDrivebrowserAfilecanbeloadedfromdiskandmodifiedoff-linebeforedownloadingtothedriveSection6Tuning运行TheStepResponseHowacontrollooprespondstoasmallstepchangeisagoodindicatorofhowwellthesystemhasbeentunedTherise-time(tr)isshorterifthebandwidthishighThehighertheproportionalgainthehigherthebandwidthTheredcurveshowssomeringingandindicatesthatwearestartingtoseesomephaseshift.ThegreencurveshowsacriticallydampedcontrolloopwithclosetotheidealresponseInpracticeasmallamountofringingisacceptablesincetherise-timeisalittleshorteri.e.fasterresponseTimeActualVelocityRingingTrTuning-TheGoldenRulesCommandtheSystemtoDoOnlyWhatitisCapableofIfthemotoranddriveisincorrectlysizedforthedesiredmotionprofilenoamountoftuningwillyieldthedesiredresultsTuneInsideOutItisessentialtotunetheinnerloopsfirst.Acommonmistakeistohavealowbandwidth,poorlytunedvelocityloopthentrytotunethepositionloop.ThepositionloopcanneverbeproperlytunedbecauseofthephaseshiftintheinnerloopProperGroundingandShieldingGreatcaremustbetakeninfollowingthegroundingandshieldingproceduresintheinstallationmanual.Ifthereisexcessivesystemnoisethesystemmustbedetuned(lowbandwidth)sothatitisnotexcitedbyhighfrequencynoiseRobustMechanicalDesignEnsurethatthereisminimumflexibilityinthemechanicalsystemandthatcouplingsaretight.Withoutagoodmechanicaldesign,resonanceswillbeintroducedwhichagainforcesystemdetuningVelocityControlArchitecture++-P+IP+IVderived-PderivedPositionFeedbackProportionalPlusIntegralVelocityLoopPositionControlArchitecture+-P+IVff++-PP+IVderived-+PderivedPositionFeedbackProportionalVelocityLoopOscilloscopeTimeVelocityOscilloscopeOperatingModes

Reversing-stepchangeinvelocityConstantspeedConstanttorqueConstantcurrentTheCurrentLoopThecurrentloopisconfiguredautomaticallywhenthemotorisselected.Itisusuallynotne