LENZE9400伺服中文培训[行业特制]

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 Drives Introduction to L-force 9400 and engineer L-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 Applicatio

2、ns (TA) 技术应用 Next Back 2 行业经验 9400 Servo Drives System overview系统总览系统总览 next back 3 行业经验 9400 Servo Drives 9400 servo drive system at a glance 9400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 integrate

3、d 易于集成 Next Back 4 行业经验 9400 Servo Drives Innovative 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 memo

4、ry 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, space-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 5 行业经验 9400 Servo Drives Modular set-up ( 11 kW) M

5、ounting base 安装底板 Power module 功率模块 Extension module 扩展模块 Accessories 附件 Next Back 6 行业经验 9400 Servo Drives Innovative 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）

6、Integrable motor brake module 内置电机制动模块内置电机制动模块 Configuration of isolated- 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 Back 7 行业经验 9400 Servo Drives Design 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

7、 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 0 % integrated brake transistor制动晶体管 EMC filter (class C2)EMC滤波器 Unit sizeIIIIII E94AME. from to .0134 .0244 .0074 .0094 .0024 .0044 E94ASE. from to .0134 .0244 .0044 .0074 .0024 .0034 max. output power up to kWMulti D

8、rive1141.5 8 行业经验 9400 Servo Drives Design设计数据设计数据 15 200 kW Unit size98X876 E94ASE. from to .2454 .3664 .1724 .2024 .1454.0864 .1044 .0324 .0594 max. 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 filte

9、r (class C2) EMC滤波器 next back 9 行业经验 9400 Servo Drives Interfaces at the power module Diagnostic interface 诊断接口诊断接口 Resolver input 旋转变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/O 24 V supply and state bus 24V和状态总线和状态总线 CAN on board 内置内置CAN 2 module receptacles for ex

10、tensions 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 Back HighLine StateLine: 1 个扩展插槽 10 行业经验 9400 Servo Drives Available device modules应用模块应用模块 ready next back Communication modules 通讯模块 Ethernet Ethernet Pow

11、erlink (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 ProfiSafe) 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） 11 行业经验 9400 Serv

12、o Drives LEDs 指示灯指示灯 CAN ERROR CAN 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 RUN CAN 运行运行 DRIVE READY 驱动器投入驱动器投入 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 = Controller inhibited 控制器禁止 = Contro

13、ller 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 12 行业经验 9400 Servo Drives Complete: from simple to complex 完整性：从简单到复杂完整性：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 ma

14、chines 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 HighLine: 1 ms StateLine: 500 s Word widths 字节宽度 All signals 32 bit 所有信号字节为32 bit Next Back 13

15、行业经验 9400 Servo Drives Complete: 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 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 fre

16、quencies 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 Back 14 行业经验 9400 Servo Drives Communicative 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 of fieldbus allows use throughout the world 可选用多种现场总线 PROFIBUS (HighLine)

17、 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 preparation 筹备中 15 行业经验 9400 Servo Drives Keypad 面板面板 4 direction key

18、s 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 ready Next Back 16 行业经验 9400 Servo Drives Various data store

19、s (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 17 行业经验 9400 Servo Drives Product information产品信息产品信息 Flye

20、r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 back 18 行业经验 9400 Servo Drives Technical documentation Servo 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 & Wiring (Quick start) 试运转准备

21、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 back 19 行业经验 Welcome! 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 Drives 9400 Servo D

22、rives Runtime 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 requires Motion Control licenses, tied to memo

23、ry modules 实时软件的 使用需要相关存储卡中运动控制许可 MC HighLevel MM220 MC TopLevel MM330MM110 MC StateLevel PLC MM440 : is prepared Hardware equipmentgranted license ready Next Back 21 行业经验 9400 Servo Drives Engineer 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-indepe

24、ndent information单独的 设备信息 Online with several devices simultaneously 同时多个设备在线 Next Back 22 行业经验 9400 Servo Drives Going 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 Back 23 行业经验 9400 Servo D

25、rives How to go online 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 Back 24 行业经验 9400 Servo Drives User 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

26、工程树 Work space 工作区工作区 Messages and monitor panel 信息和监视盘信息和监视盘 ready Next Back 25 行业经验 9400 Servo Drives Colour 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 Back 26 行业经验 9400 Servo D

27、rives Overview of the parameter setting surface 参数界面参数界面 the same for all applications application specific ready Next Back 27 行业经验 9400 Servo Drives Navigation 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 Back 28 行业经验 9400 Servo Drives Parameter list 参数列表参数列表 Tab 标签 Category 目录 Su

28、b- categories 子目录 Info area 信息区 ready Next Back 29 行业经验 9400 Servo Drives The function block editor as 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 Back 30 行业经验 9400 Servo Drives Usa

29、ge 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 / Parameter dialog 帮助/参数会话 ready Next Back Go to 连接至 31 行业经验 9400 Servo Drives Block and signal types块和信号类型块和信号类型 Next Back Code / variable 代码/变量 Port 端口 L_function block 功能块 LS_system bl

30、ock 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 Bit rev Speed 速度 rpm Scaled signal 比例信号% Acceleration 加速 rpm / s Time 时间s Status word 状态- Not standardised 非标准- Control/status signal 控制/状态信号1 Bit 32 行业经验 9400 Servo Drives The enabled function block editor 激活功能块编辑器激活功

31、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 33 行业经验 Welcome! 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 & communicati

32、on 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 9400 Servo Drives Applications 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

33、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 completely by yourself (insert “No Application” or just dont insert any application. The empty application can be edited then within t

34、he 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 35 行业经验 9400 Servo Drives Applications supplied by Lenze伦茨提供的应伦茨提供的应 用用 are called technology applications, e. g.我们称作“TA”，如： Actuator speed 速度 Actuator torque 转矩 Synchronism with mark synchronisation D

35、F 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 basic drive functions 使用基本的驱动功能 ready Next Back 36 行业经验 9400 Servo Drives Three ways of processing an application

36、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 Back 37 行业经验 9400 Servo Drives Project elements 工程元件工程元件 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

37、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 网络 Next Back 38 行业经验 9400 Servo Drives Typical structure of a project 一个工程的典型结构一个

38、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 网络可以包含 相同的或者更低级元件 Next Back 39 行业经验 9400 Servo Drives Usage of prefabrica

39、ted applications 预制应用的使用预制应用的使用 Catalog ue目录 Project 工程 9400 MotionControl license ready Next Back 40 行业经验 9400 Servo Drives Update 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-to-date. The Engineer builds this from the pro

40、ject. 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 online, he will be prompted to do so, provi

41、ded 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 41 行业经验 9400 Servo Drives Transferring the application to the device 将应用传递到设备将应用传递到设备 ready Next Back 42 行业经验 9400 Servo Drives Multi axis application introduction 多轴应用介绍多轴应用介绍 Master CAN node 1 Slave CAN node 2 Positioning 定位Foll

42、owing 跟随 Next Back 43 行业经验 9400 Servo Drives Structure 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 Back 44 行业经验 9400 Servo Drives Ports of applications 应用端口应用端口 Task: Da

43、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 45 行业经验 9400 Servo Drives Machine application 机械应用机械应用 By interconnecting several appli

44、cations to one 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 行业经验 9400 Servo Drives Network 网络网络 defines the participants of the communication 定义参加通讯设备 configures the communicatio

45、n parameters of bus devices配置 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 Back 47 行业经验 9400 Servo Drives Solution: Update of the complete project 整个工程更新整个工程更新 1. Mark 2. Start Next Back 48 行业经验 9400 Servo

46、 Drives Solution: Copy the speed setpoint from the port 从端口拷贝速度设定点从端口拷贝速度设定点 Next Back 49 行业经验 9400 Servo Drives Solution: 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 message 1. Draw a line 3. Enable the controller Next Back 50 行业经验 9400 Servo Drives Go online v

47、ia 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 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 51 行业经验 9400 Servo Drives Go 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 netw

48、ork, e. g.: 网络建立 Patch or Crossover cable 转接或交叉电缆转接或交叉电缆 Hub /switch 集线器集线器/交换机交换机 LAN 局域网局域网 Setting a suitable address in the 9400 设定合 适的地址 TCP/IP network Next Back 52 行业经验 9400 Servo Drives Comparison: 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

49、 连接和设定 Participants, length 站数，长度 DiagnosticEthernet 3M 100K CAN 1 128 1:1 connection TCP/IP know- ledge 1M 5.5K 100M 100K LAN Internet effective for file transfer 文件传输 Nominal 标称 Next Back 53 行业经验 9400 Servo Drives Solution: Machine view in the engineer 在在engineer中浏览中浏览 Next Back 54 行业经验 9400 Servo

50、 Drives positioning sequence control Introduction 定位顺序控制介绍定位顺序控制介绍 Profile data Profile number Control signals Positioning profiles Positionin g tool Sequence control ready Next Back 55 行业经验 9400 Servo Drives Applications 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 fo

51、r 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 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 行业经验 9400 Servo Drives

52、 Features 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 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

53、 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，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

54、 Next Back 行业经验 9400 Servo Drives Structure of the positioning program 定位控制结构定位控制结构 Positioning program 定位程序 Action 动作 Homing 回零 Positioning 定位 Waiting 等待 Counting 计算 Positioning profile PositionSpeedAcceleration 100 10 action types 10动作类型 1502520 Counter计数器10 100 1005050 different possible settings

55、 不同设定 Next step 下一步 Step 步100 Next Back 58 行业经验 9400 Servo Drives Preset positioning program 先设置定位程序先设置定位程序 Next Back 59 行业经验 9400 Servo Drives Positioning basic function: 定位的基本功能定位的基本功能 Who services the LS_Positioner LS_定位控制器怎样工作定位控制器怎样工作 ready Next Back 行业经验 9400 Servo Drives Positioning sequence

56、control 定位顺序控制器定位顺序控制器 Contents of the sequence table 顺序表的内容顺序表的内容 Act. number + Act.type 作用号作用类型作用号作用类型 Action parameter 作用参数作用参数 Output 2 输出 2 Output 1 输出 1 none None 无 (basic function基本功能) Comment 说明 Profile number Input 输入 Sequence step number Profile 1 Profile 2 Profile 3 Profile 4 Mode Positio

57、n Speed Acceleration Delay ready Next Back Comment 说明 Waiting time 等待时间 Input 输入 顺序步号 行业经验 9400 Servo Drives 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用来定位顺序控制和定义程序流的参数设置对话框参数设置对话框 Next Back 行业经验 9400 Servo Drives Parameter setti

58、ng dialogues for the Positioning sequence control & Short setup 用来定位顺序控制和快速设置的用来定位顺序控制和快速设置的参数设置对话框参数设置对话框 Next Back 行业经验 9400 Servo Drives Terminal assignment for the Positioning sequence control (default setting) 用来定位顺序控制（默认设置）的用来定位顺序控制（默认设置）的端子分配端子分配 Next Back AIN1 Setpoint speed override 设定值速度超越

59、 AIN2 Setpoint acceleration override设定加速度超越 RFRController enable 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 control DI6Start sequence control 启动顺序控制 DI7Pause sequence control 暂停顺序控制

60、 DI8Input 8 sequence control / Input for Touch Probe sensor 输入8顺序控制 / 用于探针传感器输入 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 行业经验 9400 Servo Drives Interconnection via electrical shaft introduction 通过电