Lenze9400控制器培训资料课件.ppt

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1、Basic Training:基本培训,L-force 9400 Servo Drives,2,Introduction to L-force 9400 and engineerL-force 9400 和 engineer 的介绍,9400 servo drive basic introduction 9400伺服基本介绍L-force Engineer software introduction Engineer 软件介绍Technology Applications(TA)技术应用,Next Back,3,System overview系统总览,next back,4,9400 serv

2、o drive system at a glance9400伺服驱动系统概览,Innovative 创新 a completely new concept in installation全新的安装方式Tailor-made 定制系统 modular architecture 模块化结构Safety 安全功能-simply integrated 易于集成,Next Back,5,Innovative a completely new concept in installation 创新全新的安装方式,Easy installation and high system availability t

3、hanks to innovative design technology 全新的安装理念，更易于安装、提供系统可用性Separation of mounting base and drive electronics 安装底座和驱动装置分离A pluggable memory module contains all the data relevant for the application可插式存储模块中记录下系统的所有数据信息Rapid servicing and maintenance,since no tools are required维修和维护方便快捷，无需额外工具Compact,s

4、pace-saving design 结构紧凑、节省使用空间,Next Back,Mounting base up to 11 kW 安装底座功率达11kW,6,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,7,Innovative a completely new concept in installation 创新全新的安装方式,Single shield单屏蔽端口,Motor connection电机连接端口,Brake resi

5、stor connection(single drive)制动电阻端口（单轴驱动）,Integrable motor brake module内置电机制动模块,Configuration of isolated-neutral systems中性点绝缘配置端口,Mains connection电源连接端,Integrated DC busbar内置直流母线端口,DC fuse直流熔断器端口,Film Next Back,8,Design with mounting base带背板的设计数据0.37 15 kW,next back,Multi Drive多轴DC 260775 V 0%Singl

6、e Drive单轴3 x AC 180550 V 0%DC 260775 V 0%integrated brake transistor制动晶体管EMC filter(class C2)EMC滤波器,9,Design设计数据15 200 kW,45 kW,Single Drive单轴3 x AC 180(342)550 V 0%DC 260(480)777 V 0%integratedbrake transistor制动晶体管EMC filter(class C2)EMC滤波器,next back,10,Interfaces at the power module,Diagnostic int

7、erface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 bus24V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 technology安全模块插槽,LEDs 指示灯,Next Back,HighLine

8、StateLine:1 个扩展插槽,11,Available device modules应用模块,ready next back,Communication modules 通讯模块EthernetEthernet Powerlink(MN+CN)Profibus DP-V0+1CANopen(DS 301)Extension modules 扩展模块Digital frequency 数频Safety modules 安全模块SM 0SM 100(STO)SM 300(STO&SS1 with ProfiSafe)SM 301 V1.0(extended functionality wit

9、h safe supervision of the velocity with SinCos encoder)（带有正余旋编码器的安全监控的外部功能）,12,LEDs指示灯,CAN ERRORCAN 错误,DRIVE ERROR驱动器错误,USER用户定义,CAN RUNCAN 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=Con

10、troller 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,13,Complete:from simple to complex完整性：从简单到复杂,High-performance motor control 高性能电机控制Field-based servo control for synchronous and asynchronous machines 同步/异步

11、电机现场伺服控制Sensorless operating modes in preparation 无传感运行模式在筹备中Cycle times 运行周期Current/torque control 62.5 s 电流/转矩控制Speed and position control 250 s 速度/位置控制Fastest application task 最快运行速度 HighLine:1 msStateLine:500 sWord widths 字节宽度All signals 32 bit 所有信号字节为32 bit,Next Back,14,Complete:from simple to

12、complex完整性：从简单到复杂,Performance-enhancing functions 加强性能Motor model supported by electronic nameplate 电机电子铭牌Band stop filters 带阻滤波器Inverter fault compensation 变频器误差补偿Pre-control values for speed and torque 速度/转矩预控制值Inverter switching frequencies 变频器转换频率1,2,4,8,16 kHz(choice depends on power rating 频率与

13、功率相关),Next Back,15,Communicative on all channels所有信道通讯,CANopen system bus included(HighLine)内置CANopen系统总线(HighLine)Choice of fieldbus allows use throughout the world 可选用多种现场总线PROFIBUS(HighLine)CANopen(HighLine&StateLine)others in preparation 其他总线在筹备中Ethernet in the drive 控制器中的以太网Ethernet(HighLine)以太

14、网ETHERNET Powerlink ensures realtime capability*确保实时控制Remote maintenance to drive level 控制器远程维护,Next Back,*-in preparation 筹备中,16,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）Status field 状态区Notes:注：Diagnostic¶

15、meter setting only 仅用于诊断和参数设定Application is stored in the memory module 应用存储在存储模块中,ready Next Back,17,Various data stores(memory locations)多种数据存储(存储单元),Firmware,Main memory,etc.固件,Engineer project 工程项目,ready Next Back,18,Product information产品信息,Flyer彩页Product presentation产品介绍System overview系统一览Catal

16、og手册Selection and order选型及采购,next back,19,Technical documentationServo Drives 9400技术文件,Mounting instruction 安装说明Safety instructions安全说明Preparation of the commissioning:Mounting&Wiring(Quick start)试运转准备 安装及接线(快速)Manual手册Additions to the Mounting Instruction,e.g 配合安装说明.Technical data技术数据Features and f

17、unctions of the hardware特点及功能Use cases 应用案例,next back,L-force Engineer introduction:L-force Engineer 软件介绍,L-force 9400 Servo Drives,21,Runtime software 实时软件,L-force runtime software consists of 实时软件包括：Function block libraries 功能块库Technology applications 技术应用（TA）Operating and application dialogs 操作和应

18、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,22,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

19、结构Device-independent information单独的设备信息Online with several devices simultaneously 同时多个设备在线,Next Back,23,Going online 在线连接,Diagnostic adapter 诊断适配器CANEthernet TCP/IP 以太网,Point-to-point-connection 点对点连接,10-pole special cable RJ69 10芯RJ69电缆,ready Next Back,24,How to go online 如何连接,Select the channel of

20、 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,25,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,26,Colour represents online 在线的颜色表示,Value i

21、n the work space:工作区的颜色yellow=modifiable黄=可修改grey yellow=read only土黄=只读red=communication error 红=通讯错误,Next Back,27,Overview of the parameter setting surface 参数界面,ready Next Back,28,Navigation in the parameter setting surface参数设定界面的导航,ready Next Back,29,Parameter list 参数列表,Tab标签 Category目录Sub-categor

22、ies子目录Info area信息区,ready Next Back,30,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,31,Usage of the function block editor功能块编辑器的使用,Free text search文字搜索,Enlarge the op

23、erating range 放大操作范围,Help/Parameter dialog帮助/参数会话,ready Next Back,Go to连接至,32,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,33,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 outpu

24、ts 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,Technical Application:技术应用-multi-axis application&communication introduction 多轴应用及 通讯介绍-Positioning process application定位顺序应用-electric shaft&synchronous application电子轴及同步应用,L-force 9400 Servo Drives,35

25、,Applications 应用,Application=configured function of one device应用=单个驱动器配置的功能How can applications 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 Applicati

26、on”or just dont insert any application.The empty application can be edited then within 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,36,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

27、 torque 转矩Synchronism with mark synchronisation DF or MotionBus 数频或运动总线的同步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,37,Three ways of processin

28、g 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,38,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

29、，电机，I/O系统Device module 设备模块Gearbox 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,39,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 elemen

30、t affected by user 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,40,Usage of prefabricated applications预制应用的使用,Catalogue目录,Project 工程,9400MotionControl license,ready Next Back,41,Update the devices(Build pro

31、ject)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 steps 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 u

32、ser 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.当在线连接时，如果还没有处理，会提示你这样做,Next Back,42,Transferring the application to the device将应用传递到设备,ready Next Back,43,Multi axis application introduct

33、ion多轴应用介绍,MasterCAN node 1,SlaveCAN node 2,Positioning 定位,Following 跟随,Next Back,44,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,45,Ports of applications 应用端口,Task:Da

34、ta 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,46,Machine application 机械应用,By interconnecting several applications to one machine appli

35、cation 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,47,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,ready Next Back,4

36、8,Solution:Update of the complete project 整个工程更新,1.Mark,2.Start,Next Back,49,Solution:Copy the speed setpoint from the port 从端口拷贝速度设定点,Next Back,50,Solution:Creating a connection with the function block editor 用功能块创建连接,2.Accepted message,1.Draw a line,3.Enable the controller,Next Back,51,Go online v

37、ia 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,52,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 Crossover cable 转接或交叉电缆H

38、ub/switch 集线器/交换机LAN 局域网Setting a suitableaddress in the 9400 设定合适的地址,TCP/IP network,Next Back,53,Comparison:比较：,Fast 快速,Simple 简单,Expandable 扩展,Transmission speed bit/s 传输速度,Connection and setting连接和设定,Participants,length站数，长度,Diagnostic,Ethernet,3M,100K,CAN,1,128,1:1 connection,TCP/IPknow-ledge,1M

39、,5.5K,100M,100K,LAN Internet,effective for file transfer 文件传输Nominal 标称,Next Back,54,Solution:Machine view in the engineer在engineer中浏览,Next Back,55,positioning sequence control Introduction定位顺序控制介绍,ready Next Back,Applications for the Positioning sequence control定位顺序控制的应用,General application for the

40、 controlled processing of time-dependent travel profiles:一般应用于与时间相关的运动轮廓的控制过程：,Next Back,Timed handling equipment 时间处理装置Rotary distributors 旋转分配器Dosing pumps,filling systems 计量泵，灌装系统Stop adjustment 停止调整Barriers 安全栅栏Roller doors and sliding doors 辊道门和滑动门Hoists 提升机械,Features of the Positioning sequenc

41、e control 定位顺序控制的特性,Point-to-point positioning 点对点定位Limited,unlimited or modulo traversing ranges 限位，非限位或模数转换范围Positioning in various modes 多种定位方式Absolute 绝对定位Relative 相对定位in combination with Touch Probe(residual path positioning)探针组合定位（剩余路径定位）by the shortest route(rotary table)最短路径方式（旋转台）Configurab

42、le sequence control with up to 100 individual steps: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Standard positioning features:标准定位特性 override,overchange,teach,jerk reduction 超控，过度改变，示教，急减速,Next Back,58,Structure of the positioning program定位控制结构,Positioning p

43、rogram 定位程序,Action 动作,Homing回零,Positioning定位,Waiting等待,Counting计算,Positioning profile,Position,Speed,Acceleration,100,10 action types10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,59,Preset positioning program 先设置定位程序,Next Back,Positio

44、ning basic function:定位的基本功能 Who services the LS_Positioner LS_定位控制器怎样工作,ready Next Back,Positioning sequence control 定位顺序控制器 Contents of the sequence table 顺序表的内容,Act.number+Act.type作用号作用类型,Action parameter作用参数,Output 2 输出 2,Output 1 输出 1,none,None 无(basic function基本功能),Comment 说明,Profile number,Inp

45、ut 输入,Sequence step number,Profile 1,Profile 2,Profile 3,Profile 4,Mode,Position,Speed,Acceleration,Delay,ready Next Back,Comment 说明,Waiting time 等待时间,Input 输入,顺序步号,Parameter setting dialogues for the Positioning sequence control&Definition of the program flow用来定位顺序控制和定义程序流的参数设置对话框,Next Back,Paramet

46、er setting dialogues for the Positioning sequence control&Short setup用来定位顺序控制和快速设置的参数设置对话框,Next Back,Terminal assignment for the Positioning sequence control(default setting)用来定位顺序控制（默认设置）的端子分配,Next Back,AIN1 Setpoint speed override 设定值速度超越AIN2 Setpoint acceleration override设定加速度超越,RFRController ena

47、ble via terminal 端子使能DI1Deactivate quick stop 快停无效DI2Home mark 原位标记DI3Limit switch positive 正向限位开关DI4Limit switch negative 负向限位开关DI5Reset error/Reset sequence controlDI6Start sequence control 启动顺序控制DI7Pause sequence control 暂停顺序控制DI8Input 8 sequence control/Input for Touch Probe sensor 输入8顺序控制/用于探针传

48、感器输入,DO1Drive is ready 驱动器准备状态DO2Positioning target reached 到达定位目标DO3Motor control in limitation 电动机控制处于限制状态DO4Error is active 出现错误,错误复位/顺序控制复位,Interconnection via electrical shaft introduction 通过电轴相互连接应用,Electronic gearbox 电子齿轮减速箱Synchronism 同步with register formation and mark synchronisation 套准和标记同

49、步with register control 套准控制同步Table synchronism(electronic cam)列表同步（电子凸轮）,Film Next Back,:in preparation 即将投产,Synchronisation application 同步应用,Synchronism 同步Absolute synchronism 绝对同步 There is an absolute,firm reference between master angle/value and tool/material position,e.g.cloth feeder,press feede

50、r,sealing machines,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Relative synchronism(with mark synchronisation)相对同步（带标记同步）There is no absolute,firm reference between master angle/value and tool/material position,e.g.in continuous processes without collision risk such as printing rolls,cross