力士樂驅(qū)動器調(diào)試指南

1、1. 藍色串口線為易損壞品，請拔F時先離線或者關(guān)閉軟件2. 軟件啟動雙擊桌而上的血灘越3.軟件啟動后界面如下圖標二 4 乂I nd(aVork$Pr ojecLOO 2I Project ExplorerFile gdit View Projec t Diagnos tics Tools Window Help 卸曲X電O ECO辰蠢證如果沒有出現(xiàn)左側(cè)的PROJECTERPLORE請按以下操作如有跳過在菜單VIEW下選擇并單擊PROJECTERPLORE3. 出現(xiàn)左側(cè)的菜單后，點擊圖片出現(xiàn)下圖對話框，請按下圖選擇IndraDrive(SerialRS232),如果IndraDrive(Seri

2、alRS232)未在右側(cè)框內(nèi)，請在左側(cè)框內(nèi)找到并選擇，然后點擊框中間的 指向右側(cè)的三角，添加好后即為上圖的樣子。并點擊NERT4上一步點擊NERT后出現(xiàn)下圖對話框，下圖左側(cè)框為目前計算機上現(xiàn)有通訊端口，在其中選擇當前與力士樂通訊所用端口并添加到 右側(cè)框內(nèi)，添加方法同上步相同Scan for DevicesDevice: IndraDrive (serial RS232)CON PortsAviilallc：Sewnsng at:; isoooo00e.L9192003040057600115200veddH0HODefaultCOM portza and pari y. BackNext Ca

3、rvzeL其他選項同上圖。通訊端口如果不知道具體是那個，就全部添加上。點擊NERT5如果掃描連接成功就會岀現(xiàn)下圖，如未找到請檢查線連接是否正常，端口選擇是否正確,Bl Project ExplorerI ndraWorks Projec t.O 026 單擊圖片中的小加號展開項目7.菜單鍵介紹ifii 豊養(yǎng)就皿氤親. b 肥刖園上圖由左至右作用依次為，驅(qū)動器離線，在線，模擬在線，搜索設(shè)備，空，空，空，空，空, 空，驅(qū)動器轉(zhuǎn)為參數(shù)模式，驅(qū)動器轉(zhuǎn)為操作模式&驅(qū)動器裝態(tài)監(jiān)控E Project Explorer-再lndraWork5Fyoject_002電 H CS 02.1 2.1 An 邏 nd

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5、upRemedy depending on diagjtosisProperties._j Error reaction 卜 E-Stop function Motion limit values操作方法，右鍵單擊圖中菜單中的ARIS在彈出菜單中依次如圖中選擇即可出現(xiàn)的窗口數(shù)據(jù)從上到下依次為，當前位置，當前速度，當前加速度，當前電機負載 忘 I 己截圖OOOQOOOOO9 驅(qū)動器參數(shù)備份,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 S

6、tat$呂 Ce(3l) Ero E$Switch OfflineUpdate Offline PsrameterxzationFurctionolParametr HaadlingExport.Import.Parametw EditorParametw GroupCraato Oparating Data for MMCFirmware MaxvagementDeleteRerameProper ties.r 匚up luncuori右鍵單擊菜單中髙亮部分，然后如圖依次選擇，并點擊ERPORT,出現(xiàn)下圖單擊左上角的三個小點，出現(xiàn)下圖另存為S保存左：Q妳文您7、3 F c 國HQBIWD13

7、r*llndr?&rks Zrrcr Reports iilIwiraVorksFroject_r01Ini$ Z.lJArE O “日農(nóng) Motor 卜 MotorE Heg ：:udir ?：Cclirk Meeh E 已 Corh 卜 Operc Clalu Drive0 GreatC3 Erra E-SfoSwitch OEfliUp da te Offline Psraneteriiaticnfunctional PackagesExport.Faraneter HandlingPas毗cr Zd: trImport.Paraneter GroupCreate Operating D

8、ata for HMC.Firmware Management. XDeleteDelRenan cEroperti?s Mobon limit value?選擇后在下圖耳找知探葆看M文釋，點擊打開。出現(xiàn)下圖對話框點擊 IMPORTo11 驅(qū)動器控制參數(shù)設(shè)左（建議不要修改）I I ndraWork$ProjecLOC2電 HCS02.1 2.1Anwendung$art m Ir Axis? 211 Anwendungart 匸 心 Master ccmmunicationAxis 2.1 ArwendurgsartAxis modeOperating mode MUdplex channel

9、 Signal control word Signal status word Motor卜 Motor: temperature / brake 亡)Measuring cyctem? Scaling / units Scaling / units extended Mechanical gearffi亡j Control Operating modes Status messages settings Diive HaltI円 Create position dafca reference+ijj Error reacfion E-Stop functionField bus diacno

10、sticData-Exch WD+Settings Real-time input (AT) Real-time output (MDT)Master communication addressBaudra t?Cycle timeWatchdog timeLength of parameter channelLongth o cyeli c rofil-tima uhannolLength of cyclic command channelMASTERCOMMUNICATIONADDRESS 驅(qū)動器通訊地址BAUDRATE通訊波特率CRCLETIME循環(huán)時間LENGTHOFCRCLEREAL

11、TIMECHANNEL 輸入字字長LENGTHOFCRCLECOMMANDCHANNE 輸出字字長S電ttiii2： .畦.m.y.叫巴L.竝jj Real-time output (MDT)Frofile typeFreely configurable moActivate profile typNo. Config 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

12、 4 一P4078驅(qū)動器狀態(tài)字，S0051位置反饋，S0040速度反饋P4077驅(qū)動器控制字,S0282位置命令，S0259速度命令12軸類型，即轉(zhuǎn)向的修改2】內(nèi)wendm尹凱i |2.1 Amv=rdjngrt 匸）Mastef o：fnrr_rica!ion卜 Seitrigs Mdbplw chonntsl Sixlconbol wjd Sixd 5talu5 Aord Motor Motor: tenpeiabe / bialic FTM 爲 urina 亦 kKSSffll / -ScifO7 丄 riSrten戈曠 Mechonrd crri Corliol Operating S

13、tatus$ettrios Drrve H目 try Create pwticn data retererce r1 Errcc reaction E-Siop function卜 Moton lirrit巾上總Ai5 2.1 AnwcncLnze*ttypotitvrynearAlmg; not uaifrnPosition data fern41 ftbsolutaO modulo| 託C.0000Exsolution .on of position velocity and toraue/force dataExtended.O 口。0警lion not unifornB&ta aith

14、 reference to LadHolur iLiitHara reternce not7 rm: form雙擊菜單中的SCALING/UNITS右上的圈內(nèi)從上到下依次為，轉(zhuǎn)動軸（主軸），直線軸（進給） 右下的圈內(nèi)改變RES.NO即可改變電機轉(zhuǎn)向13螺距，傳動比，最大行程范用設(shè)左!.l IZlJAnwendungsartAxis 2.1 Anwerdungsartlr Master ccmmunication Sellings Multiplex channel Signal control word Sicnal status word Motor Motor: temperature /

15、 brakeIrl Measuring systems Scaling / units Suzjing ! unit gytgndmdC/M： L乙丄c* wci iuui igai un2b I1cmf OS11 in0二Mechanical gear _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

16、function Motion lirrit values雙擊 MECHANICALGEAR, 齒數(shù)14 操作模式改變右側(cè)圈內(nèi)從上到下依次為，最大行程，螺距，輸出齒數(shù)，輸入Lf2 l I 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* SW

17、ussellings Diwe HakQ Ciee pociio仃 daia lefeierce Dola icluience mdor erco Daio retoiorcG cchonoi 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-

18、jnterakl mlerpol&lion4 encoder 1 interpolation Logic c/codcr 】jrivft-coxitrflTrttdpcsic&2dcr 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 posil

19、ionijuu encoder 】iPrive-conlroiled positioning encoder 1Driv*-contrallwd positioning moodor 1Uriv*-c5Mr&lld positioning aneodar 1ConfigurationCofigiiraiion*z I Ccnfigurticnv ( CflAfiwationv I Confiuraiionv | Configurglion雙* OPERATING,點擊下拉鍵，紅色框內(nèi)為歐三項目所用的操作模式，逍依茨的DKM029 也是這種方法.歐三的DK093以及道依茨項目的英他機床使用的都是

20、髙亮的POSITIONINGBLOCKMODELAGESSENCODER1使用第一種方法的各工位位置在PLC程序中修改，第二種方法的需要在右上角紅框內(nèi)的 CONFIGURATION中修改，并在程序中找是否有路點，有的也需要修改。15零點的設(shè)上，設(shè)定時請按下急停按鈕!殆 HC5C2.1 21ArT/icndunasoil 3 Ax |2.1 AnwcnzLr磐dQ 口 M決訕 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