9A文力士乐驱动器调试指引

1、MeiWeL81重点借鉴文档】1. 蓝色串口线为易损坏品，请拔F时先离线或者关闭软件2. 软件启动双击桌而上的血滩越3.软件启动后界面如下图标二 4 乂I nd(aVork$Pr ojecLOO 2I Project Explorer如果没有出现左侧的PROJECTERPLORE请按以下操作如有跳过File gdit View Projec t Diagnos tics Tools Window Help 卸曲X电O ECO辰蠢證在菜单VIEW下选择并单击PROJECTERPLORE3.出现左侧的菜单后，点击图片出现下图对话框，请按下图选择IndraDrive(SerialRS232),Mei

2、WeL81重点借鉴文档】MeiWei 81重点借鉴文档】如果IndraDrive(SerialRS232)未在右侧框内，请在左侧框内找到并选择，然后点击框中间的 指向右侧的三角，添加好后即为上图的样子。并点击NERT4上一步点击NERT后出现下图对话框，下图左侧框为目前计算机上现有通讯端口，在其中选择当前与力士乐通讯所用端口并添加到 右侧框内，添加方法同上步相同Scan for DevicesDevice: IndraDrive (serial RS232)CON PortsAviilallc：Sewnsng at:; isoooo00e.L9192003040057600115200vedd

3、H0HODefaultCOM portza and pari y. BackNext CarvzeL其他选项同上图。通讯端口如果不知道具体是那个，就全部添加上。点击NERT5如果扫描连接成功就会岀现下图，如未找到请检查线连接是否正常，端口选择是否正确,MeiWei_81重点借鉴文档】MeiWei 81重点借鉴文档】Bl Project ExplorerI ndraWorks Projec t.O 026 单击图片中的小加号展开项目7.菜单键介绍ifii 豊養就皿氤亲. b 肥刖园上图由左至右作用依次为，驱动器离线，在线，模拟在线，搜索设备，空，空，空，空，空, 空，驱动器转为参数模式，驱动器转

4、为操作模式&驱动器装态监控E Project Explorer-再lndraWork5Fyoject_002电 H CS 02.1 2.1 An 逻 ndungs 郎SAxisj 2 1 A.MasMote MoteSI hf Mea卜Sea卜 Seal MecIr Con Ope Stat Driv_j CreInitial commissioning.Device statusParaneter HandlingSt atusMonitorirg the status 4 XParaneter EditorRenan eErrcr/diagnoStic memoryAverage valu

5、e iltw for di splayPatch furictionHelp on statusClear errorP ar an a t ar GroupRemedy depending on diagjtosisProperties._j Error reaction 卜 E-Stop function Motion limit values操作方法，右键单击图中菜单中的ARIS在弹出菜单中依次如图中选择即可出现的窗口数据从上到下依次为，当前位置，当前速度，当前加速度，当前电机负载 忘 I 己截图OOOQOOOOO9 驱动器参数备份,MeiWei_81重点借鉴文档】MeiWei 81重点

6、借鉴文档】roject Explorer即 I ndraWorksProjecL002白 Axis 2.1/ a D m栄 k Met k Met (3 心 Me Sc= Sc= Mec Q I Ccn Ope k Stat$吕 Ce(3l) Ero E$Switch OfflineUpdate Offline PsrameterxzationFurctionolParametr HaadlingExport.Import.Parametw EditorParametw GroupCraato Oparating Data for MMCFirmware MaxvagementDeleteRe

7、rameProper ties.r 匚up luncuori右键单击菜单中髙亮部分，然后如图依次选择，并点击ERPORT,出现下图单击左上角的三个小点，出现下图另存为S保存左：Q妳文您7、3 F c 国HQBIWD13r*llndr?&rks Zrrcr Reports iilIwiraVorksFroject_r01Ini$ Z.lJArE O “日农 Motor 卜 MotorE Heg ：:udir ?：Cclirk Meeh E 已 Corh 卜 Operc Clalu Drive0 GreatC3 Erra E-SfoSwitch OEfliUp da te Offline Psra

8、neteriiaticnfunctional PackagesExport.Faraneter HandlingPas毗cr Zd: tr 9 XImport.Paraneter GroupCreate Operating Data for HMC.Firmware Management. XDeleteDelRenan cEroperti?s Mobon limit value?选择后在下图耳找知探葆看M文释，点击打开。出现下图对话框MeiWeL81重点借鉴文档】MeiWeL81重点借鉴文档】点击 IMPORTo11 驱动器控制参数设左（建议不要修改）I I ndraWork$ProjecL

9、OC2电 HCS02.1 2.1Anwendung$art m Ir Axis? 211 Anwendungart 匸 心 Master ccmmunicationAxis 2.1 ArwendurgsartAxis modeOperating mode MUdplex channel Signal control word Signal status word Motor卜 Motor: temperature / brake 亡)Measuring cyctem? Scaling / units Scaling / units extended Mechanical gearffi亡j C

10、ontrol Operating modes Status messages settings Diive HaltI円 Create position dafca reference+ijj Error reacfion E-Stop functionField bus diacnosticData-Exch WD+Settings Real-time input (AT) Real-time output (MDT)Master communication addressBaudra t?Cycle timeWatchdog timeLength of parameter channelL

11、ongth o cyeli c rofil-tima uhannolLength of cyclic command channelMASTERCOMMUNICATIONADDRESS 驱动器通讯地址BAUDRATE通讯波特率CRCLETIME循环时间LENGTHOFCRCLEREALTIMECHANNEL 输入字字长LENGTHOFCRCLECOMMANDCHANNE 输出字字长S电ttiii2： .畦.m.y.叫巴L.竝jj Real-time output (MDT)Frofile typeFreely configurable moActivate profile typNo. Con

12、fig list cyclic actual data channelF-Q-4O78 : Field bus： status word2 S-0-0051 : Position feedback 1 valuw3 S-0-0040 : Velocity fedb&ek value J 4 一P4078驱动器状态字，S0051位置反馈，S0040速度反馈MeiWei_81重点借鉴文档】MeiWei 81重点借鉴文档】P4077驱动器控制字,S0282位置命令，S0259速度命令12轴类型，即转向的修改2】內wendm尹凱i |2.1 Amv=rdjngrt 匸）Mastef o：fnrr_ri

13、ca!ion卜 Seitrigs Mdbplw chonntsl Sixlconbol wjd Sixd 5talu5 Aord Motor Motor: tenpeiabe / bialic FTM 爲 urina 亦 kKSSffll / -ScifO7 丄 riSrten戈旷 Mechonrd crri Corliol Operating Status$ettrios Drrve H目 try Create pwticn data retererce r1 Errcc reaction E-Siop function卜 Moton lirrit巾上总Ai5 2.1 AnwcncLnze*

14、ttypotitvryPosition data fern41 ftbsolutaO modulo| 託C.0000Exsolution .on of position velocity and toraue/force datanearAlmg; not uaifrnExtended.O 口。0警lion not unifornB&ta aith reference to LadHolur iLiitHara reternce not7 rm: form双击菜单中的SCALING/UNITS右上的圈内从上到下依次为，转动轴（主轴），直线轴（进给） 右下的圈内改变RES.NO即可改变电机转向1

15、3螺距，传动比，最大行程范用设左!.l IZlJAnwendungsartAxis 2.1 Anwerdungsartlr Master ccmmunication Sellings Multiplex channel Signal control word Sicnal status word Motor Motor: temperature / brakeIrl Measuring systems Scaling / units Suzjing ! unit gytgndmdC/M： L乙丄c* wci iuui igai un2b I1cmf OS11 in0二Mechanical ge

16、ar _二 筍 dnHol Operating modes Status messages settings卜 Drive HaltCreate position data reference Data reference motor enco ； Da$ reference optional enIr Error reaciion E-Stop function Motion lirrit values双击 MECHANICALGEAR, 齿数14 操作模式改变右侧圈内从上到下依次为，最大行程，螺距，输出齿数，输入MeiWei_81重点借鉴文档】MeiWei 81重点借鉴文档】Lf2 l I

17、 Cl2205 I Mattei comrnuncaiicn Seltngs MUbplex cJiarnei Silcoftiolccd Siyal st at us vxd Motor Motel； lernpsfaixiie ) biaje Q Meownng 割 Swing Scalrig Z unfc? derided Mechancd gwi j Qontrd.卜 Operalingmoda* SWussellings Diwe HakQ Ciee pociio仃 daia lefeierce Dola icluience mdor erco Daio retoiorcG ccho

18、noi en Q Eiror leaciicri E-Stop Fbndonmo ary eoua cz opor.eccnd.Second.3becond.seoona.iacona.5opcropex.op*?rop*rop*reperDriv*-contrallwd positioning 6ncod6r 1Conf j mirationopcrnodenodenodenoaanodanola)rive-jnterakl mlerpol&lion4 encoder 1 interpolation Logic c/codcr 】jrivft-coxitrflTrttdpcsic&2dcr

19、1)rixre; con trolled positioning less. encoder t ?osj lionanc block n ode, encoder 1 sea圜血QSBBSamS3EBXlEBSESK3S3nilHIPosition control ivi匕b scoduYdriLa-aontFollodPrive-cctrolldencdr 】Ilrire-conlr plied posilionijuu encoder 】iPrive-conlroiled positioning encoder 1Driv*-contrallwd positioning moodor 1

20、Uriv*-c5Mr&lld positioning aneodar 1ConfigurationCofigiiraiion*z I Ccnfigurticnv ( CflAfiwationv I Confiuraiionv | Configurglion双* OPERATING,点击下拉键，红色框内为欧三项目所用的操作模式，逍依茨的DKM029 也是这种方法.欧三的DK093以及道依茨项目的英他机床使用的都是髙亮的POSITIONINGBLOCKMODELAGESSENCODER1使用第一种方法的各工位位置在PLC程序中修改，第二种方法的需要在右上角红框内的 CONFIGURATION中修改

21、，并在程序中找是否有路点，有的也需要修改。15零点的设上，设定时请按下急停按钮!殆 HC5C2.1 21ArT/icndunasoil 3 Ax |2.1 AnwcnzLr磐dQ 口 M决讪 communcabcn Settrg? Miitiplex ckiannel SirnEiozriiolwoid Sicnd slobas wjrd Mdoi Mctoi: temperstuie / brate HJ Q Meaurrg 即名teem卜 Seeing/uritt S edinrj / units “伽知 Mcchonioal Q Cortrd Opiating mode? S latii? me?age? setting?k Dfi応 H