AX2000驱动器讲义

1、,AX2000 Drive,Overview(概览),Product Overview Operating Modes Analog velocity command Indexer SERCOS Step and direction Electronic gearing Power and Motor Connection Faults and Status Configuration Storage Servo loop configuration,Section 1 Product Overview,AX - Power and Dimensions功率及尺寸,Wide power ra

2、nge 1.5 - 20A first release 40A, 75A second release Global input voltage (208-480 VAC) CE approval without external filters External 24V supply for logic functions and I/O allows position tracking when 3 phase power is disconnected by safety interlock Internal regen. resistor with option of external

3、 resistor Internal regenerative shunt resistors can be connected in parallel to share power in multi-axis applications Small footprint 1.5A, 3A, 6A and 10A: 325mm x 70mm 10A: 325mm x 120mm,AX - Operating Modes运行模式,SERCOS Class A compliant with Class B/C supported IDNs Analog +/-10V velocity/current

4、command Current limit Velocity feedforward Simulated encoder output: incremental and SSI Stand-alone indexer 180 stored motion tasks Additional 64 tasks can be configured in volatile memory via serial interface Tasks are selectable from I/O or serial interface Homing Step and direction interface Gea

5、red to external encoder,AX - Servo Performance伺服性能,All digital servo-loops Loop updates Torque: 62.5 usec Velocity: 250 usec Position: 250 usec Loop parameters set automatically after motor selected from pick-list in Unilink commissioning software Oscilloscope simulation for tuning optimization afte

6、r connecting to load,AX - Feedback反馈方式,Resolver Resolution: 14 bits Hyperface encoder Single and multi-turn Resolution: 20 bits Turn counter: 12 bits (4096 revolutions),AX - I/O 输入/输出点,Analog I/O (+/-10 Volts) Input 1: 14 bits Input 2: 12 bits Output 1,2: 10 bits Discrete I/O Inputs (24V solid state

7、 optically isolated) 4 general purpose plus enable Outputs (24V solid state optically isolated excluding fault) Two general purpose One fault relay contact One brake control I/O expansion option Inputs (24V solid state optically isolated) 14 fixed function Outputs (24V solid state optically isolated

8、) 7 fixed function,AM Motors - A Common Offer for AM 伺服电机,High torque-to-inertia samarium cobalt brushless motors 0.4 - 100 Nm torque range IP65 rating with IP67 option DIN standard mounting CE, UL and cUL approvals Resolver and SINCOS encoder options Optional brake 7 motors are stock items (see nex

9、t slide) IP65 Resolver feedback No brake Keyed shaft,Section 2 Operating Modes 运行模式,Section 2a Analog Velocity Mode 模拟速度方式,Analog Velocity Command Mode模拟控制,Breakout Box,Command and Control Signals,Controller,Velocity Command Architecture 1速度控制结构1,Velocity Command Architecture 2速度控制结构2,+,-,+,Motor,FB

10、,+,-,Icomp,Vderived,-,+,Pderived,Controller,Drive,Velocity Command,Position Feedback,Velocity Feedforward,Command Input Scaling量程输入,Command inputs are scaled for the desired maximum speed with the highest possible resolution Care must be taken that the command outputs from the controller have the sa

11、me scaling factor,Command Input Offset and Filtering偏置及滤波,Offset can be manually adjusted by entering a voltage magnitude to trim out any motion when zero speed is commanded from the controller The Lexium also offers an Auto Offset feature which eliminates the manual steps A digital filter is availa

12、ble to reduce noise present on the analog inputs. Caution must be exercised in increasing the filtering as this introduce a delay in the response to the input signal. This can cause stability problems in the position loop.,Simulated Encoder Output模拟编码输出,Configurable as incremental encoder or SSI (si

13、ngle and multiturn) SSI encoder simulation Match parameters to controller Incremental encoder simulation Resolution must match controller The encoder null can be offset to assist in home switch placement,Basic Discrete Interface to Controller开关量与控制器接口,Controller,Drive,Enable,Fault,Ground Reference,M

14、achine Overtravel Limits,Reset,Optional Discrete Interface to Controller可选接口,Controller,Drive,Integral Gain Off,Select Current Limit,Regen Power Exceeded,Torque Mode,Current Value,Power Stage Ready,Bus Voltage Value,Section 2b Indexer Mode 组合方式,Indexer Mode 1 - Discrete I/O Interface数字量I/O接口,I/O Exp

15、ansion Board,Control Signals,Controller,Indexer Mode 2 - Serial Interface串行接口,Ascii Commands on RS232,Machine I/O,Controller,Indexer Mode 3 - Standalone 独立使用,I/O Expansion Board,Control Signals,3,2,Simple Control Panel,Parameters Common to all Indexes,Linear or rotary indexes Velocity and accelerati

16、on limits In position window Resolution Software limits Output triggers on position programmed value,Setting Resolution 设定分辨率,The resolution parameter relates the linear or rotary movement of the load to motor revolutions via gearboxes, leadscrews etc.,In Position Window,Velocity,Time,In Position,De

17、fining an Index,Velocity,Run Speed,Time,ta,tr,td,Variable S-Curve Profiles,S-Curve,Variable,Creating Index Sequences,Immediate,Dwell,Input,Index 1,Index 4,Index 2,Index 3,Blending Indexes,Velocity,Time,Transition,Dwell,Index 1,Index 4,Index 2,Index 3,Transition,Homing and Jog Mode寻原点和点动,6 Homing opt

18、ions Specify seek-speed, direction and accel/deccel Define Home Offset Define Jog Speed (negative sign changes direction) On-line initiation of homing and jogging,Home Switch Placement原点开关放置,If the home switch is too close to the feedback null, it is possible to miss the null and rotate a whole revo

19、lution to the next null The switch should not inactive, 45 degrees each side of the null,45-315 degrees,I/O Expansion Card扩展卡,14 dedicated inputs 8 move select lines (move 0 is homing sequence) Start selected move (rising edge starts, falling edge holds) Continue move held by falling edge on Start H

20、ome limit switch (reference) Clear following error fault Start jog in programmed direction at programmed speed Start next task in sequence if defined as triggered by I/O transition 7 dedicated outputs 4 position register (transition on defined position or software limit) Following error fault In pos

21、ition In position (sequence),Section 2c SERCOS Mode 网络方式,Sercos Mode,SERCOS Ring,Controller,SERCOS Architecture,Position Command,Configuring SERCOS,Configure the baud rate and fiber optic cable length (fiber optic drivers are optimized for cable length) The SERCOS address can be configured under Bas

22、ic Setup or via the up/down arrow keys on the front panel,SERCOS Discrete I/O,SERCOS Analog I/O,SERCOS Drive,Analog Input 1,Analog Input 2,Homing 寻原点,Homing is limited to one mode Zero reference is defined by Home switch and feedback null.,Section 2d Step/Direction, Encoder Tracking Mode 编码跟随方式,Step

23、 and Direction Mode,Open Loop Step and Direction,Controller,Encoder Tracking Mode,Geared Motor,Encoder,Induction Motor,Electronic Gearing,Section 3 Power/Motor Connection,Single Axis, Internal Regen Power Connection,AX2000,Fuses,Contactor,Single Axis, External Regen Power Connection,AX2000,Fuses,Con

24、tactor,Multi Axis, Internal Regen Power Connection,Fuses,Contactor,Bus,Bus,Motor Connection,AX2000,Fuses,Contactor,Choke,Motor,Brake,Brake Timing,Emergency Stop - Preferred,AX2000,Fuses,Contactor,Motor,3 Phase Contactor,Emergency Stop - Alternative,AX2000,Fuses,Contactor,Motor,Enable Contactor,Enabl

25、e,Motor Feedback Options,Encoder,Resolver,Motor Overtemperature,AX2000,Fuses,Contactor,Motor,Feedback and Overtemperature,Power,Motor MSET,In a brushless servomotor system, it is necessary to know the relative position of the feedback device and the motor poles so that the motor can be commutated AM

26、 motors and associated feedback devices are aligned in the factory. The relative position of feedback device and motor poles is expressed as a default feedback offset in the drive No MSET is required for AM motors A third party motor must be MSET,Section 4 Faults and Status 错误及指示,Warnings and Errors

27、,Warnings Generated when a non-fatal fault occurs Drive stays enabled with fault relay contact closed Some non-fatal faults result in a controlled shutdown (ramp down to zero speed) but with drive still enabled Errors Drive is disabled and fault relay opens Faults can be cleared by a power cycle or

28、reset (from Drive or via pre-configured input),Drive Status,A complete status of internal drive variables can be accessed via the Monitor icon on the main screen Motion information: position, speed, following error Internal temperature Regen power Analog inputs Current and bus voltage,Analog Output

29、Diagnostics/Status,Internal servo loop variables can be made available on either analog output as a +/-10V signal Actual velocity Commanded veocity Actual current Commanded current Following error,Discrete Output Diagnostics/Status,Discrete outputs can be configured to provide status Velocity preset

30、 value Current preset value Continuous current rating exceeded Bus voltage preset value Regen power dissipation exceeded Any error, following error or warning The on/off status of discrete inputs and outputs on the I/O expansion card are displayed in Drive,Section 5 Configuration Storage 组态储存,Intern

31、al Memory,File Storage,Drive configurations can be stored on a PC using the Drive browser A file can be loaded from disk and modified off-line before downloading to the drive,Section 6 Tuning 运行,The Step Response,How a control loop responds to a small step change is a good indicator of how well the

32、system has been tuned The rise-time (tr) is shorter if the bandwidth is high The higher the proportional gain the higher the bandwidth The red curve shows some ringing and indicates that we are starting to see some phase shift. The green curve shows a critically damped control loop with close to the

33、 ideal response In practice a small amount of ringing is acceptable since the rise-time is a little shorter i.e. faster response,Tuning - The Golden Rules,Command the System to Do Only What it is Capable of If the motor and drive is incorrectly sized for the desired motion profile no amount of tunin

34、g will yield the desired results Tune Inside Out It is essential to tune the inner loops first. A common mistake is to have a low bandwidth, poorly tuned velocity loop then try to tune the position loop. The position loop can never be properly tuned because of the phase shift in the inner loop Prope

35、r Grounding and Shielding Great care must be taken in following the grounding and shielding procedures in the installation manual. If there is excessive system noise the system must be detuned (low bandwidth) so that it is not excited by high frequency noise Robust Mechanical Design Ensure that ther

36、e is minimum flexibility in the mechanical system and that couplings are tight. Without a good mechanical design, resonances will be introduced which again force system detuning,Velocity Control Architecture,Position Control Architecture,+,-,P+I,Vff,+,+,-,P+I,Vderived,-,+,Pderived,Position Feedback,

37、Proportional Velocity Loop,Oscilloscope,Oscilloscope Operating Modes,Reversing - step change in velocity Constant speed Constant torque Constant current,The Current Loop,The current loop is configured automatically when the motor is selected. It is usually not necessary to modify parameters.,The Velocity Loop,The goal is to tune the com