伦茨中文手册资料

1、Practical introduction: 实用简介,L-force 9400 Servo Drives L-force | Engineer,2,Introduction to L-force 9400 and engineerL-force 9400 和 engineer 的介绍,9400 servo drive set-up with interfaces 9400伺服的接口设置 Parameter setting with Engineer and keypad 通过Engineer 和 操作面板进行参数设定 Technology Applications (TA) 技术应用 Di

2、agnostics and configuration of the application with the function block editor 使用功能块编辑器的应用配置和诊断 Multi axis application with horizontal CAN communication 使用CAN总线通讯的多轴应用, Next Back,3,Modular set-up ( 11 kW),Mounting base 安装底板 Power module 功率模块 Extension module 扩展模块 Accessories 附件, Next Back,4,Interface

3、s at the power module,Diagnostic interface 诊断接口,Resolver input 旋转变压器接口,Multi encoder input 编码器接口,Analog / digital IOs 模拟/数字 I/O,24 V supply and state bus 24V和状态总线,CAN on board 内置CAN,2 module receptacles for extensions 2个扩展模块插槽,Module receptacle for memory module 存储模块插槽,Module receptacle for safety t

4、echnology 安全模块插槽,LEDs 指示灯, Next Back, HighLine StateLine: 1 个扩展插槽,5,LEDs指示灯,CAN ERROR CAN 错误,DRIVE ERROR 驱动器错误,USER 用户定义,CAN RUN CAN 运行,DRIVE READY 驱动器投入,24 V,OFF= CAN inactive CAN没激活 = Pre-operational 预操作 = Operational 操作,= Bus warning 总线报警 = Bus off 总线关闭,OFF= Pulse inhibit due to an error 由于错误而禁止

5、= Controller inhibited 控制器禁止 = Controller enabled 控制器使能,OFF= OK = Error status 错误状态 = System error 系统错误,Applicable in the application 在应用中使用,ready Next Back,6,Keypad面板,4 direction keys for navigation 4个方向键用于导航 2 context-sensitive function keys 2个功能键 Run and stop keys (configurable) 运行和停止键（可配置） Statu

6、s field 状态区 Notes: 注： Diagnostic Z = 120 （左L=600mm；Z=120） right L = 535 mm; Z = 107 （右L=535mm；Z=107） Active application: “Actuator speed“ （激活应用 Actuator speed）, Next Back,8,Exercise 1: Detect the drive status by means of LEDs and keypad 通过指示灯和面板检测驱动器状态, Next Back,Switch on the supply voltages (24 V

7、and 400 V)电源上电 Make the left drive rotate:运转左侧驱动器RFRController enable (Reglerfreigabe)控制器使能 DI1Deactivation of quick stop 快停取消DI2Start 启动AI1%Speed setpoint 速度设定 Switch off the 400 V supply voltage 切断400V电源 Find out the drive status by means of the LEDs and the keypad 通过指示灯和面板观察状态 Make the logbook be

8、ing displayed at the keypad对面板显示进行记录,9,Start assistant 启动助手, Next Back,10,User interface 用户界面,Menu bar 菜单栏,Tool bar 工具栏,View bar 浏览栏,Project tree 工程树,Work space 工作区,Messages and monitor panel 信息和监视盘,ready Next Back,11,Going online 在线连接,Diagnostic adapter 诊断适配器 CAN Ethernet TCP/IP 以太网,Point-to-point-

9、connection 点对点连接,10-pole special cable RJ69 10芯RJ69电缆,ready Next Back,12,How to go online 如何连接,Select the channel of communication 选择通讯通道 Start the search for devices 搜索驱动器 Confirm the detected device 确认检测到的设备 Connect 连接,ready Next Back,13,Colour represents online 在线的颜色表示,Value in the work space:工作区

10、的颜色 yellow = modifiable 黄 = 可修改 grey yellow = read only 土黄 = 只读 red = communication error 红 = 通讯错误, Next Back,14,Exercise 2: Detect the drive status by means of the engineer 通过engineer检测驱动器状态,Start the L-force | Engineer. 启动 Create a new project by going online via diagnostic adapters and uploading

11、the data from the right drive controller. Name the project “Practical intro“. 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”Practical intro” Open the project tree. Click on the drive controller. Evaluate the drive status by means of the tab “Diagnostics”. 打开工程树，点击控制器，通过“Diagnostics”栏监控驱动器状态 Adapt the monitor windo

12、w: Show the “Device utilisation (Ixt)” as a log with a suitable resolution.观察设备利用率“Device utilisation (Ixt)”是否合适 Save your project. 保存工程, Next Back,15,Solution: Detect the drive status检测驱动器状态, Next Back,16,Applications 应用,Application = configured function of one device 应用 = 单个驱动器配置的功能 How can applic

13、ations be created?如何建立应用？ Two possible solutions:两个可能的方法： Modify or extend a prefabricated technology application supplied by Lenze 修改和扩展伦茨预先提供的技术应用 Create the application completely by yourself (insert “No Application” or just dont insert any application. The empty application can be edited then wi

14、thin the function block editor) 完全由用户自己创建（插入“No Application” 或不插入任何应用，可以用功能块编辑器在空应用上编辑）,ready Next Back,17,Applications supplied by Lenze伦茨提供的应用,are called technology applications, e. g.我们称作“TA”，如： Actuator speed 速度 Actuator torque 转矩 Synchronism with mark synchronisation DF or MotionBus 数频或运动总线的同步

15、Electronic gearbox DF or MotionBus 数频或运动总线的电子齿轮 Table positioning 表格定位 Positioning sequence control 定位顺序控制 are part of the runtime software 应用是实时软件的一部分 use basic drive functions 使用基本的驱动功能,ready Next Back,18,Runtime software 实时软件,L-force runtime software consists of 实时软件包括： Function block libraries 功

16、能块库 Technology applications 技术应用（TA） Operating and application dialogs 操作和应用会话 Documentation and online help 文件和在线帮助 The usage of runtime software requiresMotion Control licenses, tied to memory modules 实时软件的使用需要相关存储卡中运动控制许可,MC TopLevel,MM330,Hardware equipment,granted license,ready Next Back,19,Thr

17、ee ways of processing an application 处理应用的3个方法,Parameter setting 参数设定,Configuration 配置,Programming 编程,: is prepared,ready Next Back,20,Overview of the parameter setting surface 参数界面,ready Next Back,21,Navigation in the parameter setting surface参数设定界面的导航,ready Next Back,22,Parameter list 参数列表,Tab标签 C

18、ategory目录Sub-categories 子目录 Info area 信息区,ready Next Back,23,Exercise 3: Parameter setting of application: “Actuator Speed“ 速度应用的参数设定,Make the speed setpoint come from Analog input 2.速度设定点来自模拟量输入2 Start the “Manual jog” at the handling box: 在操作盒上启动（手动） DI2 = OFF DI6 = ON Modify the settings for the

19、“Manual jog” and observe the drive. 改变手动设定并观察驱动器 Save the parameter set in the drive controller.存储参数 Go offline. 离线 Save the engineer project. 存储engineer工程, Next Back,24,Engineer project describes a real plant 用Engineer工程来描述一个真实的工厂,Clear structure 清晰的结构 Device-independent information单独的设备信息 Online w

20、ith several devices simultaneously 同时多个设备在线, Next Back,25,Project elements 工程元件,Automation module = general container for any structure 自动化模块 = 任何结构的总容器 Axis = special container for one drive 轴 = 单个驱动器的特殊容器 Component = drive controller, motor, I/O system 元件 = 驱动控制器，电机，I/O系统 Device module 设备模块 Gearbo

21、x 减速箱 Application = designed function of one device 应用 = 一个设备设计好的功能 Machine application = Coaction of several applications 机器应用 = 多应用联合 Network 网络, Next Back,26,Typical structure of a project一个工程的典型结构,Selection in the tree在树中选择 controls menus, icons, tabs 控制菜单，图标，标签 defines the element affected by u

22、ser input 定义用户输入激活的元件 Structure 结构 Modular design 模块设计 Networks can contain elements of the same or a lower level only 网络可以包含相同的或者更低级元件, Next Back,27,Usage of prefabricated applications预制应用的使用,Catalogue目录,Project 工程,9400 MotionControl license,ready Next Back,28,Exercise 4: Extend your project 延伸你的工程

23、,Go offline.离线 Extend your existing project by suitable elements, so that it represents the complete training structure with 2 axes.延伸工程完成2轴的结构 For the newly inserted drive controller select the technology application “Positioning sequence control” 对新加入的驱动选择“定位顺序控制”应用 Give a suitable name to the axe

24、s and the drive controllers in the project. 对工程中的轴和控制器命名 Save the project. 保存工程, Next Back,29,Update the devices (Build project) 更新设备,Prior to download, the device-specific representation of the project data must be up-to-date. The Engineer builds this from the project. This processing includes step

25、s such as consistency checking, setting parameters, and compiling the application.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 The user can start the processing at any time by clicking on .通过点击 ，用户可以在任何时间开始处理。 When going online, he will be prompted to do so, provided that this has not happened yet. 当

26、在线连接时，如果还没有处理，会提示你这样做, Next Back,30,Transferring the application to the device将应用传递到设备,ready Next Back,31,Operating mode of the positioning sequence control定位顺序控制模式,ready Next Back,32,Structure of the positioning program定位控制结构,Positioning program 定位程序,Action 动作,Homing 回零,Positioning 定位,Waiting 等待,Co

27、unting 计算,Positioning profile,Position,Speed,Acceleration,100,10 action types 10动作类型,1,50,25,20,Counter计数器,10,100,100,50,50,different possible settings 不同设定,Next step 下一步,Step 步,100, Next Back,33,Preset positioning program 先设置定位程序, Next Back,34,Exercise 5: Start up the positioning sequence control启动

28、定位顺序控制,Plug the diagnostic adapter to the other drive controller 调试线接到另一驱动器 Transmit the positioning sequence control to the device (without application information) and adapt the brake control to your training system 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 Start the positioning program 启动定位控制RFRController enab

29、le (Reglerfreigabe) 使能DI1Deactivation of quick stop 快停取消DI3Positive limit switch of travel range (LOW active) 正限位DI4Negative limit switch of travel range (LOW active) 负限位DI5Reset error and positioning program 复位错误和定位程序 DI6Start positioning program (sequence control) 启动定位程序（顺序控制） Modify program step

30、3 in a way that the drive covers 5 motor rotations.修改程序第3步使驱动器包含5个人电机旋转, Next Back,35,The function block editor as a “viewer“功能块编辑器可作为浏览器,Online diagnostics 在线诊断 Better comprehension of the applications function 易于应用功能的理解 Alternative parameter access 可选择参数通道, Next Back,36,Usage of the function block

31、 editor功能块编辑器的使用,Free text search 文字搜索,Enlarge the operating range 放大操作范围,Help / Parameter dialog 帮助/参数会话,ready Next Back,Go to 连接至,37,Block and signal types块和信号类型, Next Back,Code / variable 代码/变量,Port 端口,L_function block 功能块,LS_system block 系统块,38,Exercise 6: Getting to know the function block edit

32、or 了解功能块编辑器,Switch to the tab function block editor 切换到功能块编辑标签(positioning sequence control, online)（位置顺序控制，在线） Detect the source of the signal, which makes the yellow UserLED light up. At this block activate the “Online help” and explain the meaning of the signal.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

33、信号含义 Switch to the tab “Terminal assignment”. For the digital output 2 select the signal source “645: Seq. control is active”. Switch back to the function block editor and check the result.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 Find the block L_PosPositionerTable and open its parameter d

34、ialog.找到L_PosPositioner块并打开它的参数会话框, Next Back,39,The enabled function block editor激活功能块编辑器,New possibilities: 还可以做： Delete / draw lines.删除/拖拽连线 Make inputs and outputs invisible / visible.使输入和输出隐藏/可见 Delete / insert blocks. 删除/插入块 Use several tasks 使用多任务,ready Next Back,40,Exercise 7: Enable functio

35、n block editor功能块编辑器,Go offline and enable the function block editor (Positioning sequence control)离线并打开功能块编辑器（定位顺序控制） What is different on tab “Application parameters”? 和“应用参数标签”有何不同？ Supply the signal “Seq. control is active” to digital output 3 which as well activates the UserLED 信号“顺序控制激活”输出到数字输

36、出3，同时也激活用户定义LED (L_PosSequencer1.bProgramBusy). At the block LS_MotorInterface make all unused outputs invisible, except the signal MI_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, Next Back,41,Solution: Making outputs invisible 使输出隐含, Next Back,42,Example: Multi axis

37、 application 多轴应用,MasterCAN node 1,SlaveCAN node 2,Positioning 定位,Following 跟随, Next Back,43,Structure of multi axis applications多轴应用结构,Ports of applications 应用端口 Machine application 机械应用 Network 网络 Compilation of the complete project 整个工程编译(update of the devices), Next Back,44,Ports of applications

38、 应用端口,Task: Data exchange between applications 应用之间的数据交换,Ports of the supplied technology applications from the catalogue,The structure of application variables defines what is to be communicated via the port.,ready Next Back,45,Machine application 机械应用,By interconnecting several applications to one

39、 machine application information can be exchanged between independent devices.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,Proper connection of the ports 适当的多口连接,ready Next Back,46,Network 网络,defines the participants of the communication 定义参加通讯设备 configures the communication parameters of bus devices配置总线设备的通讯参数,r

40、eady Next Back,47,Exercise 8: Multi-axis applicationCreation and transmission to the slave 创建和传输到从设备,Insert a CAN network to the automation module “Training structure”. Set the positioning drive as NMT Master.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 Switch to the machine application. Connect the following p

41、orts:切换到机器应用，连接下列端口 Start the build process for the complete project (activate the option Rebuild all“).启动创建整个工程 Go online with the slave via diagnostic adapter.通过诊断适配器连接到从设备 In the tab “Application parameter” modify the signal source for the speed setpoint to “122: Axis port: In2 (32bit)”.在“应用参数”标签

42、里修改速度设定源为“122：轴端口：In2(32位) Save the parameter set in the slave and go offline.保存参数到从设备后离线, Next Back,48,Exercise 8: Multi axis applicationTransmission to the master 传送到主设备,Plug the diagnostic adapter on the master and go online 将诊断适配器插到主设备并在线连接 Switch to the function block editor. Make the connectio

43、n: 切换到功能块编辑器，连通下面：, Next Back,49,Exercise 8: Multi axis applicationStart of the CAN communication 启动通讯,In the project tree click on the system bus (CAN) and activate a reset node at the master via the context menu. Consider also the LED Can-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 When both drives rotate

44、continuously tap your partner on his right shoulder! 当两个驱动器连续运转，轻拍你的同伴右肩以示庆祝, Next Back,50,Solution: Update of the complete project 整个工程更新,1. Mark,2. Start, Next Back,51,Solution: Copy the speed setpoint from the port 从端口拷贝速度设定点, Next Back,52,Solution: Creating a connection with the function block e

45、ditor 用功能块创建连接,2. Accepted message,1. Draw a line,3. Enable the controller, Next Back,53,Solution: Activate reset node at the master激活主站的复位, Next Back,54,Go online via system bus (CAN)通过系统总线的联机,CAN plug with terminating resistor 带终端电阻的CAN插头 DIP switch on the memory module 存储模块的DIP开关 Parameter channel 1 参数通道1, Next Back,55,Go online via Ethernet TCP/IP通过以太网联机,Extension module Ethernet扩展以太网模块 Establishment of a TCP/IP network, e. g.: 网络建立 Patch or Cros