Lenze9400控制器培训资料课件.ppt

1、Welcome!2009年7月20日培训人：王天将，周建明，曹海笑Basic Training : 基本培训基本培训L-force 9400 Servo Drives 9400 Servo Drives2Introduction to L-force 9400 and engineerL-force 9400 和和 engineer 的介绍的介绍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)

2、 技术应用 Next Back9400 Servo Drives3System overview系统总览系统总览 next back9400 Servo Drives49400 servo drive system at a glance9400伺服驱动系统概览伺服驱动系统概览 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 Back9400 Ser

3、vo Drives5Innovative a completely new concept in installation 创新全新的安装方式创新全新的安装方式 Easy installation and high system availability thanks 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 rel

4、evant 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, space-saving design 结构紧凑、节省使用空间 Next BackMounting base up to 11 kW 安装底座功率达11kW 9400 Servo Drives6Modular set-up ( 11 kW) Mounting base 安装底板 Power module 功率模块 Extension mo

5、dule 扩展模块 Accessories 附件 Next Back9400 Servo Drives7Innovative a completely new concept in installation 创新全新的安装方式创新全新的安装方式Single shield单屏蔽端口单屏蔽端口Motor connection电机连接端口电机连接端口Brake resistor connection (single drive)制动电阻端口（单轴驱动）制动电阻端口（单轴驱动）Integrable motor brake module内置电机制动模块内置电机制动模块Configuration of i

6、solated-neutral systems中性点绝缘配置端口中性点绝缘配置端口Mains connection电源连接端电源连接端Integrated DC busbar内置直流母线端口内置直流母线端口DC fuse直流熔断器端口直流熔断器端口 Film Next Back9400 Servo Drives8Design with mounting base带背板的设计数据带背板的设计数据0.37 15 kW next back Multi Drive多轴多轴 DC 260775 V 0 % Single Drive单轴单轴 3 x AC 180550 V 0 % DC 260775 V

7、0 % integrated brake transistor制动晶体管 EMC filter (class C2)EMC滤波器Unit sizeIIIIIIE94AME.fromto.0134.0244.0074.0094.0024.0044E94ASE.fromto.0134.0244.0044.0074.0024.0034max. output power up to kWMulti Drive1141.59400 Servo Drives9Design设计数据设计数据15 200 kWUnit size98X876E94ASE. fromto.2454.3664.1724.2024.1

8、454.0864.1044.0324.0594max. output power up to kW200110755530 45 kW Single Drive单轴单轴 3 x AC 180 (342 )550 V 0 % DC 260 (480 )777 V 0 % integrated brake transistor制动晶体管 EMC filter (class C2) EMC滤波器 next back9400 Servo Drives10Interfaces at the power moduleDiagnostic interface诊断接口诊断接口Resolver input旋转变

9、压器接口旋转变压器接口Multi encoder input编码器接口编码器接口Analog / digital IOs模拟模拟/数字数字 I/O24 V supply and state bus24V和状态总线和状态总线CAN on board 内置内置CAN2 module receptacles for extensions 2个扩展模块插槽个扩展模块插槽Module receptacle for memory module存储模块插槽存储模块插槽Module receptacle for safety technology安全模块插槽安全模块插槽LEDs 指示灯指示灯 Next Bac

10、k HighLine StateLine: 1 个扩展插槽9400 Servo Drives11Available device modules应用模块应用模块ready next back Communication modules 通讯模块 Ethernet Ethernet Powerlink (MN + CN) Profibus DP-V0+1 CANopen (DS 301)Extension modules 扩展模块 Digital frequency 数频Safety modules 安全模块 SM 0 SM 100 (STO) SM 300 (STO & SS1 with Pr

11、ofiSafe) SM 301 V1.0 (extended functionality with 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）9400 Servo Drives12LEDs指示灯指示灯CAN ERRORCAN 错误错误DRIVE ERROR驱动器错误驱动器错误USER用户定义用户定义CAN RUNCAN 运行运行DRIVE READY驱动器投入驱动器投入24 VOFF= CAN inactive CAN没激活 = Pre-operational 预操作= Operationa

12、l 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= 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 Back9400 Servo Drives13Complete: from simple to complex完整性：从简单到复杂完整性：从简单到复杂H

13、igh-performance motor control 高性能电机控制 Field-based servo control for synchronous and asynchronous machines 同步/异步电机现场伺服控制 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

14、 HighLine: 1 msStateLine: 500 sWord widths 字节宽度 All signals 32 bit 所有信号字节为32 bit Next Back9400 Servo Drives14Complete: from simple to complex完整性：从简单到复杂完整性：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 compensati

15、on 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 频率与功率相关) Next Back9400 Servo Drives15Communicative on all channels所有信道通讯所有信道通讯 CANopen system bus included (HighLine) 内置CANopen系统总线(HighLine) Choice o

16、f 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

17、 preparation 筹备中9400 Servo Drives16Keypad面板面板 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 & parameter 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 r

18、eady Next Back9400 Servo Drives17Various data stores (memory locations)多种数据存储多种数据存储(存储单元存储单元)Firmware,Main memory, etc. 固件 Communication data,application, parameters (safe against mains failure), etc. 数据交换Engineer project 工程项目Motor parameters,encoder information, etc.电机参数ready Next Back 9400 Servo D

19、rives18Product information产品信息产品信息 Flyer彩页彩页 Product presentation产品介绍 System overview系统一览 Catalog手册手册 Selection and order选型及采购 next back9400 Servo Drives19Technical documentationServo Drives 9400技术文件技术文件 Mounting instruction 安装说明安装说明 Safety instructions安全说明 Preparation of the commissioning: Mounting

20、 & Wiring (Quick start) 试运转准备 安装及接线(快速) Manual手册手册 Additions to the Mounting Instruction, e. g 配合安装说明. Technical data技术数据 Features and functions of the hardware特点及功能 Use cases 应用案例 next backWelcome!2009年7月20日培训人：王天将，周建明，曹海笑L-force Engineer introduction : L-force Engineer 软件介绍软件介绍L-force 9400 Servo D

21、rives 9400 Servo Drives21Runtime software 实时软件实时软件 L-force runtime software consists of 实时软件实时软件包括： Function block libraries 功能块库 Technology applications 技术应用（TA） Operating and application dialogs 操作和应用会话 Documentation and online help 文件和在线帮助 The usage of runtime software requiresMotion Control lice

22、nses, 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 HighLevelMM220MC TopLevelMM330MM110MC StateLevelPLCMM440 : is preparedHardware equipmentgranted license ready Next Back9400 Servo Drives22Engineer project describes a real plant 用用Engineer工程来描述一个真实的工厂工程来描述一个真实的工厂Clear structure 清晰的结构Device-indepen

23、dent information单独的设备信息Online with several devices simultaneously 同时多个设备在线 Next Back9400 Servo Drives23Going online 在线连接在线连接 Diagnostic adapter 诊断适配器 CAN Ethernet TCP/IP 以太网Point-to-point-connection 点对点点对点连接连接10-pole special cable RJ69 10芯芯RJ69电缆电缆 ready Next Back9400 Servo Drives24How to go online

24、如何连接如何连接1. Select the channel of communication 选择通讯通道2. Start the search for devices 搜索驱动器 3. Confirm the detected device 确认检测到的设备4. Connect 连接 ready Next Back9400 Servo Drives25User interface 用户界面用户界面Menu bar菜单栏菜单栏Tool bar工具栏工具栏View bar浏览栏浏览栏Project tree工程树工程树Work space工作区工作区Messages and monitor pa

25、nel信息和监视盘信息和监视盘 ready Next Back9400 Servo Drives26Colour represents online 在线的颜色表示在线的颜色表示Value in 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 Back9400 Servo Drives27Overview of the parameter setting surface 参数界面参数界面the same for

26、 all applicationsapplication specific ready Next Back9400 Servo Drives28Navigation in the parameter setting surface参数设定界面的导航参数设定界面的导航 ready Next Back9400 Servo Drives29Parameter list 参数列表参数列表Tab标签 Category目录Sub-categories子目录Info area信息区 ready Next Back9400 Servo Drives30The function block editor as

27、a “viewer“功能块编辑器可作为浏览器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 Back9400 Servo Drives31Usage of the function block editor功能块编辑器的使用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 / Par

28、ameter dialog帮助/参数会话 ready Next BackGo to连接至9400 Servo Drives32Block and signal types块和信号类型块和信号类型 Next BackCode / variable 代码/变量Port 端口L_function block 功能块LS_system block 系统块Signal type 信号类型信号类型Symbol 符号符号Resolution分辨率分辨率Unit 单位单位Position 位置 / 32 BitrevSpeed 速度rpmScaled signal 比例信号%Acceleration 加速rp

29、m / sTime 时间sStatus word 状态-Not standardised 非标准-Control/status signal 控制/状态信号1 Bit9400 Servo Drives33The enabled function block editor激活功能块编辑器激活功能块编辑器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 sever

30、al tasks 使用多任务 ready Next BackWelcome!2009年7月20日培训人：王天将，周建明，曹海笑Technical Application : 技术应用技术应用- multi-axis application & communication introduction 多轴应用及多轴应用及 通讯介绍通讯介绍- Positioning process application定位顺序应用定位顺序应用- electric shaft & synchronous application电子轴及同步应用电子轴及同步应用L-force 9400 Servo Drives 940

31、0 Servo Drives35Applications 应用应用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？如何建立应用？Two possible solutions:两个可能的方法：1. 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2. Create the application completel

32、y by yourself (insert “No Application” 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 Back9400 Servo Drives36Applications supplied by Lenze伦茨提供的应伦茨提供的应用用 are called tec

33、hnology 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 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 应用是实时软件实时软件的一部分 use

34、 basic drive functions 使用基本的驱动功能 ready Next Back9400 Servo Drives37Three ways of processing an application 处理应用的处理应用的3个方法个方法Parameter setting参数设定Configuration配置Programming编程: is prepared ready Next Back9400 Servo Drives38Project elements 工程元件工程元件Automation module = general container for any structur

35、e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

36、络 Next Back9400 Servo Drives39Typical structure of a project一个工程的典型结构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 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

37、以包含相同的或者更低级元件 Next Back9400 Servo Drives40Usage of prefabricated applications预制应用的使用预制应用的使用Catalogue目录Project 工程9400MotionControl license ready Next Back9400 Servo Drives41Update the devices (Build project) 更新设备更新设备Prior to download, the device-specific representation of the project data must be up-

38、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 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 o

39、nline, 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 Back9400 Servo Drives42Transferring the application to the device将应用传递到设备将应用传递到设备 ready Next Back9400 Servo Drives43Multi axis application introduction多轴应用介绍多轴应用介绍MasterCAN node 1SlaveCAN node 2

40、Positioning 定位Following 跟随 Next Back9400 Servo Drives44Structure of multi axis applications多轴应用结构多轴应用结构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 Back9400 Servo Drives45Ports of applications 应用端口应用端口Task: Data ex

41、change between applications 应用之间的数据交换Ports of the supplied technology applications from the catalogueThe structure of application variables defines what is to be communicated via the port. ready Next Back9400 Servo Drives46Machine application 机械应用机械应用By interconnecting several applications to one ma

42、chine 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 Back9400 Servo Drives47Network 网络网络 defines the participants of the communication 定义参加通讯设备configures the communication parameters of bus devices配置

43、总线设备的通讯参数In the project tree all bus devices of a network have to be in the same or a lower level. 在工程树里，一个网络的所有总线设备必须是相同或更低级别 ready Next Back9400 Servo Drives48Solution: Update of the complete project 整个工程更新整个工程更新1. Mark2. Start Next Back9400 Servo Drives49Solution: Copy the speed setpoint from the

44、 port 从端口拷贝速度设定点从端口拷贝速度设定点 Next Back9400 Servo Drives50Solution: Creating a connection with the function block editor 用功能块创建连接用功能块创建连接2. Accepted message1. Draw a line3. Enable the controller Next Back9400 Servo Drives51Go online via system bus (CAN)通过系统总线的联机通过系统总线的联机 CAN plug with terminating resis

45、tor 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 Back9400 Servo Drives52Go online via Ethernet TCP/IP通过以太网联机通过以太网联机 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 Hub /switch 集线器/交换机 LAN 局域网 Se

46、tting a suitableaddress in the 9400 设定合适的地址TCP/IP network Next Back9400 Servo Drives53Comparison:比较：比较：Fast 快速快速Simple 简单简单Expandable 扩展扩展Transmission speed bit/s 传输速度Connection and setting连接和设定Participants, length站数，长度DiagnosticEthernet3M100KCAN11281:1 connectionTCP/IPknow-ledge1M5.5K100M100KLAN In

47、ternet effective for file transfer 文件传输 Nominal 标称 Next Back9400 Servo Drives54Solution: Machine view in the engineer在在engineer中浏览中浏览 Next Back9400 Servo Drives55positioning sequence control Introduction定位顺序控制介绍定位顺序控制介绍Profile dataProfile numberControl signalsPositioning profilesPositioning toolSequ

48、ence control ready Next Back9400 Servo DrivesApplications for the Positioning sequence control定位顺序控制的应用定位顺序控制的应用 General application for the 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 BackTimed handling equipment 时间处理装置Rotary distributors 旋转分配器Dosing pumps, f

49、illing 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9400 Servo DrivesFeatures of the Positioning sequence control 定位顺序控制的特性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

50、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）Configurable 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