Lenze 9400 控制器培訓(xùn)資料

1、Welcome!2009年7月20日培訓(xùn)人：王天將，周建明，曹海笑Basic Training : 基本培訓(xùn)基本培訓(xùn)L-force 9400 Servo Drives 9400 Servo Drives2Introduction to L-force 9400 and engineerL-force 9400 和和 engineer 的介紹的介紹9400 servo drive basic introduction 9400伺服基本介紹L-force Engineer software introduction Engineer 軟件介紹Technology Applications (TA)

2、 技術(shù)應(yīng)用 Next Back9400 Servo Drives3System overview系統(tǒng)總覽系統(tǒng)總覽 next back9400 Servo Drives49400 servo drive system at a glance9400伺服驅(qū)動(dòng)系統(tǒng)概覽伺服驅(qū)動(dòng)系統(tǒng)概覽 Innovative 創(chuàng)新 a completely new concept in installation全新的安裝方式 Tailor-made 定制系統(tǒng) modular architecture 模塊化結(jié)構(gòu) Safety 安全功能 - simply integrated 易于集成 Next Back9400 Ser

3、vo Drives5Innovative a completely new concept in installation 創(chuàng)新全新的安裝方式創(chuàng)新全新的安裝方式 Easy installation and high system availability thanks to innovative design technology 全新的安裝理念，更易于安裝、提供系統(tǒng)可用性Separation of mounting base and drive electronics 安裝底座和驅(qū)動(dòng)裝置分離A pluggable memory module contains all the data rel

4、evant for the application可插式存儲(chǔ)模塊中記錄下系統(tǒng)的所有數(shù)據(jù)信息Rapid servicing and maintenance, since no tools are required維修和維護(hù)方便快捷，無需額外工具Compact, space-saving design 結(jié)構(gòu)緊湊、節(jié)省使用空間 Next BackMounting base up to 11 kW 安裝底座功率達(dá)11kW 9400 Servo Drives6Modular set-up ( 11 kW) Mounting base 安裝底板 Power module 功率模塊 Extension mo

5、dule 擴(kuò)展模塊 Accessories 附件 Next Back9400 Servo Drives7Innovative a completely new concept in installation 創(chuàng)新全新的安裝方式創(chuàng)新全新的安裝方式Single shield單屏蔽端口單屏蔽端口Motor connection電機(jī)連接端口電機(jī)連接端口Brake resistor connection (single drive)制動(dòng)電阻端口（單軸驅(qū)動(dòng)）制動(dòng)電阻端口（單軸驅(qū)動(dòng)）Integrable motor brake module內(nèi)置電機(jī)制動(dòng)模塊內(nèi)置電機(jī)制動(dòng)模塊Configuration of i

6、solated-neutral systems中性點(diǎn)絕緣配置端口中性點(diǎn)絕緣配置端口Mains connection電源連接端電源連接端Integrated DC busbar內(nèi)置直流母線端口內(nèi)置直流母線端口DC fuse直流熔斷器端口直流熔斷器端口 Film Next Back9400 Servo Drives8Design with mounting base帶背板的設(shè)計(jì)數(shù)據(jù)帶背板的設(shè)計(jì)數(shù)據(jù)0.37 15 kW next back Multi Drive多軸多軸 DC 260775 V 0 % Single Drive單軸單軸 3 x AC 180550 V 0 % DC 260775 V

7、0 % integrated brake transistor制動(dòng)晶體管 EMC filter (class C2)EMC濾波器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設(shè)計(jì)數(shù)據(jù)設(shè)計(jì)數(shù)據(jù)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單軸單軸 3 x AC 180 (342 )550 V 0 % DC 260 (480 )777 V 0 % integrated brake transistor制動(dòng)晶體管 EMC filter (class C2) EMC濾波器 next back9400 Servo Drives10Interfaces at the power moduleDiagnostic interface診斷接口診斷接口Resolver input旋轉(zhuǎn)變

9、壓器接口旋轉(zhuǎn)變壓器接口Multi encoder input編碼器接口編碼器接口Analog / digital IOs模擬模擬/數(shù)字?jǐn)?shù)字 I/O24 V supply and state bus24V和狀態(tài)總線和狀態(tài)總線CAN on board 內(nèi)置內(nèi)置CAN2 module receptacles for extensions 2個(gè)擴(kuò)展模塊插槽個(gè)擴(kuò)展模塊插槽Module receptacle for memory module存儲(chǔ)模塊插槽存儲(chǔ)模塊插槽Module receptacle for safety technology安全模塊插槽安全模塊插槽LEDs 指示燈指示燈 Next Bac

10、k HighLine StateLine: 1 個(gè)擴(kuò)展插槽9400 Servo Drives11Available device modules應(yīng)用模塊應(yīng)用模塊ready next back Communication modules 通訊模塊 Ethernet Ethernet Powerlink (MN + CN) Profibus DP-V0+1 CANopen (DS 301)Extension modules 擴(kuò)展模塊 Digital frequency 數(shù)頻Safety modules 安全模塊 SM 0 SM 100 (STO) SM 300 (STO & SS1 wit

11、h ProfiSafe) SM 301 V1.0 (extended functionality with safe supervision of the velocity with SinCos encoder)（帶有正余旋編碼器的安全監(jiān)控的外部功能）9400 Servo Drives12LEDs指示燈指示燈CAN ERRORCAN 錯(cuò)誤錯(cuò)誤DRIVE ERROR驅(qū)動(dòng)器錯(cuò)誤驅(qū)動(dòng)器錯(cuò)誤USER用戶定義用戶定義CAN RUNCAN 運(yùn)行運(yùn)行DRIVE READY驅(qū)動(dòng)器投入驅(qū)動(dòng)器投入24 VOFF= CAN inactive CAN沒激活 = Pre-operational 預(yù)操作= Operat

12、ional 操作= Bus warning 總線報(bào)警= Bus off 總線關(guān)閉OFF= Pulse inhibit due to an error 由于錯(cuò)誤而禁止= Controller inhibited 控制器禁止= Controller enabled 控制器使能OFF= OK= Error status 錯(cuò)誤狀態(tài)= System error 系統(tǒng)錯(cuò)誤Applicable in the application在應(yīng)用中使用 ready Next Back9400 Servo Drives13Complete: from simple to complex完整性：從簡(jiǎn)單到復(fù)雜完整性：從簡(jiǎn)單

13、到復(fù)雜High-performance motor control 高性能電機(jī)控制 Field-based servo control for synchronous and asynchronous machines 同步/異步電機(jī)現(xiàn)場(chǎng)伺服控制 Sensorless operating modes in preparation 無傳感運(yùn)行模式在籌備中Cycle times 運(yùn)行周期 Current/torque control 62.5 s 電流/轉(zhuǎn)矩控制 Speed and position control 250 s 速度/位置控制 Fastest application task 最快

14、運(yùn)行速度 HighLine: 1 msStateLine: 500 sWord widths 字節(jié)寬度 All signals 32 bit 所有信號(hào)字節(jié)為32 bit Next Back9400 Servo Drives14Complete: from simple to complex完整性：從簡(jiǎn)單到復(fù)雜完整性：從簡(jiǎn)單到復(fù)雜Performance-enhancing functions 加強(qiáng)性能 Motor model supported by electronic nameplate 電機(jī)電子銘牌 Band stop filters 帶阻濾波器 Inverter fault compen

15、sation 變頻器誤差補(bǔ)償 Pre-control values for speed and torque 速度/轉(zhuǎn)矩預(yù)控制值Inverter switching frequencies 變頻器轉(zhuǎn)換頻率 1, 2, 4, 8, 16 kHz (choice depends on power rating 頻率與功率相關(guān)) Next Back9400 Servo Drives15Communicative on all channels所有信道通訊所有信道通訊 CANopen system bus included (HighLine) 內(nèi)置CANopen系統(tǒng)總線(HighLine) Choi

16、ce of fieldbus allows use throughout the world 可選用多種現(xiàn)場(chǎng)總線 PROFIBUS (HighLine) CANopen (HighLine & StateLine) others in preparation 其他總線在籌備中 Ethernet in the drive 控制器中的以太網(wǎng) Ethernet (HighLine) 以太網(wǎng) ETHERNET Powerlink ensures realtime capability* 確保實(shí)時(shí)控制 Remote maintenance to drive level 控制器遠(yuǎn)程維護(hù) Next

17、Back*-in preparation 籌備中9400 Servo Drives16Keypad面板面板 4 direction keys for navigation 4個(gè)方向鍵用于導(dǎo)航 2 context-sensitive function keys 2個(gè)功能鍵 Run and stop keys (configurable) 運(yùn)行和停止鍵（可配置） Status field 狀態(tài)區(qū)Notes:注： Diagnostic & parameter setting only 僅用于診斷和參數(shù)設(shè)定 Application is stored in the memory module

18、應(yīng)用存儲(chǔ)在存儲(chǔ)模塊中 ready Next Back9400 Servo Drives17Various data stores (memory locations)多種數(shù)據(jù)存儲(chǔ)多種數(shù)據(jù)存儲(chǔ)(存儲(chǔ)單元存儲(chǔ)單元)Firmware,Main memory, etc. 固件 Communication data,application, parameters (safe against mains failure), etc. 數(shù)據(jù)交換Engineer project 工程項(xiàng)目Motor parameters,encoder information, etc.電機(jī)參數(shù)ready Next Back

19、9400 Servo Drives18Product information產(chǎn)品信息產(chǎn)品信息 Flyer彩頁(yè)彩頁(yè) Product presentation產(chǎn)品介紹 System overview系統(tǒng)一覽 Catalog手冊(cè)手冊(cè) Selection and order選型及采購(gòu) next back9400 Servo Drives19Technical documentationServo Drives 9400技術(shù)文件技術(shù)文件 Mounting instruction 安裝說明安裝說明 Safety instructions安全說明 Preparation of the commissioni

20、ng: Mounting & Wiring (Quick start) 試運(yùn)轉(zhuǎn)準(zhǔn)備 安裝及接線(快速) Manual手冊(cè)手冊(cè) Additions to the Mounting Instruction, e. g 配合安裝說明. Technical data技術(shù)數(shù)據(jù) Features and functions of the hardware特點(diǎn)及功能 Use cases 應(yīng)用案例 next backWelcome!2009年7月20日培訓(xùn)人：王天將，周建明，曹海笑L-force Engineer introduction : L-force Engineer 軟件介紹軟件介紹L-fo

21、rce 9400 Servo Drives 9400 Servo Drives21Runtime software 實(shí)時(shí)軟件實(shí)時(shí)軟件 L-force runtime software consists of 實(shí)時(shí)軟件實(shí)時(shí)軟件包括： Function block libraries 功能塊庫(kù) Technology applications 技術(shù)應(yīng)用（TA） Operating and application dialogs 操作和應(yīng)用會(huì)話 Documentation and online help 文件和在線幫助 The usage of runtime software requiresMot

22、ion Control licenses, tied to memory modules 實(shí)時(shí)軟件的使用需要相關(guān)存儲(chǔ)卡中運(yùn)動(dòng)控制許可MC HighLevelMM220MC TopLevelMM330MM110MC StateLevelPLCMM440 : is preparedHardware equipmentgranted license ready Next Back9400 Servo Drives22Engineer project describes a real plant 用用Engineer工程來描述一個(gè)真實(shí)的工廠工程來描述一個(gè)真實(shí)的工廠Clear structure 清晰的

23、結(jié)構(gòu)Device-independent information單獨(dú)的設(shè)備信息Online with several devices simultaneously 同時(shí)多個(gè)設(shè)備在線 Next Back9400 Servo Drives23Going online 在線連接在線連接 Diagnostic adapter 診斷適配器 CAN Ethernet TCP/IP 以太網(wǎng)Point-to-point-connection 點(diǎn)對(duì)點(diǎn)點(diǎn)對(duì)點(diǎn)連接連接10-pole special cable RJ69 10芯芯RJ69電纜電纜 ready Next Back9400 Servo Drives24H

24、ow to go online 如何連接如何連接1. Select the channel of communication 選擇通訊通道2. Start the search for devices 搜索驅(qū)動(dòng)器 3. Confirm the detected device 確認(rèn)檢測(cè)到的設(shè)備4. Connect 連接 ready Next Back9400 Servo Drives25User interface 用戶界面用戶界面Menu bar菜單欄菜單欄Tool bar工具欄工具欄View bar瀏覽欄瀏覽欄Project tree工程樹工程樹Work space工作區(qū)工作區(qū)Message

25、s and monitor panel信息和監(jiān)視盤信息和監(jiān)視盤 ready Next Back9400 Servo Drives26Colour represents online 在線的顏色表示在線的顏色表示Value in the work space:工作區(qū)的顏色yellow = modifiable黃 = 可修改grey yellow = read only土黃 = 只讀red = communication error 紅 = 通訊錯(cuò)誤 Next Back9400 Servo Drives27Overview of the parameter setting surface 參數(shù)界面

26、參數(shù)界面the same for all applicationsapplication specific ready Next Back9400 Servo Drives28Navigation in the parameter setting surface參數(shù)設(shè)定界面的導(dǎo)航參數(shù)設(shè)定界面的導(dǎo)航 ready Next Back9400 Servo Drives29Parameter list 參數(shù)列表參數(shù)列表Tab標(biāo)簽 Category目錄Sub-categories子目錄Info area信息區(qū) ready Next Back9400 Servo Drives30The function

27、block editor as a “viewer“功能塊編輯器可作為瀏覽器功能塊編輯器可作為瀏覽器 Online diagnostics 在線診斷 Better comprehension of the applications function 易于應(yīng)用功能的理解 Alternative parameter access 可選擇參數(shù)通道 Next Back9400 Servo Drives31Usage of the function block editor功能塊編輯器的使用功能塊編輯器的使用Free text search文字搜索Enlarge the operating range

28、放大操作范圍Help / Parameter dialog幫助/參數(shù)會(huì)話 ready Next BackGo to連接至9400 Servo Drives32Block and signal types塊和信號(hào)類型塊和信號(hào)類型 Next BackCode / variable 代碼/變量Port 端口L_function block 功能塊LS_system block 系統(tǒng)塊Signal type 信號(hào)類型信號(hào)類型Symbol 符號(hào)符號(hào)Resolution分辨率分辨率Unit 單位單位Position 位置 / 32 BitrevSpeed 速度rpmScaled signal 比例信號(hào)%A

29、cceleration 加速rpm / sTime 時(shí)間sStatus word 狀態(tài)-Not standardised 非標(biāo)準(zhǔn)-Control/status signal 控制/狀態(tài)信號(hào)1 Bit9400 Servo Drives33The enabled function block editor激活功能塊編輯器激活功能塊編輯器New possibilities: 還可以做： Delete / draw lines.刪除/拖拽連線 Make inputs and outputs invisible / visible.使輸入和輸出隱藏/可見 Delete / insert blocks.

30、刪除/插入塊 Use several tasks 使用多任務(wù) ready Next BackWelcome!2009年7月20日培訓(xùn)人：王天將，周建明，曹海笑Technical Application : 技術(shù)應(yīng)用技術(shù)應(yīng)用- multi-axis application & communication introduction 多軸應(yīng)用及多軸應(yīng)用及 通訊介紹通訊介紹- Positioning process application定位順序應(yīng)用定位順序應(yīng)用- electric shaft & synchronous application電子軸及同步應(yīng)用電子軸及同步應(yīng)用L-for

31、ce 9400 Servo Drives 9400 Servo Drives35Applications 應(yīng)用應(yīng)用Application = configured function of one device應(yīng)用 = 單個(gè)驅(qū)動(dòng)器配置的功能How can applications be created?如何建立應(yīng)用？如何建立應(yīng)用？Two possible solutions:兩個(gè)可能的方法：1. Modify or extend a prefabricated technology application supplied by Lenze 修改和擴(kuò)展倫茨預(yù)先提供的技術(shù)應(yīng)用2. Create t

32、he application completely by yourself (insert “No Application” or just dont insert any application. The empty application can be edited then within the function block editor) 完全由用戶自己創(chuàng)建（插入“No Application” 或不插入任何應(yīng)用，可以用功能塊編輯器在空應(yīng)用上編輯） ready Next Back9400 Servo Drives36Applications supplied by Lenze倫茨提供的

33、應(yīng)倫茨提供的應(yīng)用用 are called technology applications, e. g.我們稱作“TA”，如： Actuator speed 速度 Actuator torque 轉(zhuǎn)矩 Synchronism with mark synchronisation DF or MotionBus 數(shù)頻或運(yùn)動(dòng)總線的同步 Electronic gearbox DF or MotionBus 數(shù)頻或運(yùn)動(dòng)總線的電子齒輪 Table positioning 表格定位 Positioning sequence control 定位順序控制 are part of the runtime soft

34、ware 應(yīng)用是實(shí)時(shí)軟件實(shí)時(shí)軟件的一部分 use basic drive functions 使用基本的驅(qū)動(dòng)功能 ready Next Back9400 Servo Drives37Three ways of processing an application 處理應(yīng)用的處理應(yīng)用的3個(gè)方法個(gè)方法Parameter setting參數(shù)設(shè)定Configuration配置Programming編程: is prepared ready Next Back9400 Servo Drives38Project elements 工程元件工程元件Automation module = general co

35、ntainer for any structure自動(dòng)化模塊 = 任何結(jié)構(gòu)的總?cè)萜鰽xis = special container for one drive軸 = 單個(gè)驅(qū)動(dòng)器的特殊容器Component = drive controller, motor, I/O system 元件 = 驅(qū)動(dòng)控制器，電機(jī)，I/O系統(tǒng)Device module 設(shè)備模塊Gearbox 減速箱Application = designed function of one device應(yīng)用 = 一個(gè)設(shè)備設(shè)計(jì)好的功能Machine application = Coaction of several applicati

36、ons機(jī)器應(yīng)用 = 多應(yīng)用聯(lián)合Network 網(wǎng)絡(luò) Next Back9400 Servo Drives39Typical structure of a project一個(gè)工程的典型結(jié)構(gòu)一個(gè)工程的典型結(jié)構(gòu) Selection in the tree在樹中選擇 controls menus, icons, tabs 控制菜單，圖標(biāo)，標(biāo)簽 defines the element affected by user input 定義用戶輸入激活的元件 Structure 結(jié)構(gòu) Modular design 模塊設(shè)計(jì) Networks can contain elements of the same o

37、r a lower level only 網(wǎng)絡(luò)可以包含相同的或者更低級(jí)元件 Next Back9400 Servo Drives40Usage of prefabricated applications預(yù)制應(yīng)用的使用預(yù)制應(yīng)用的使用Catalogue目錄Project 工程9400MotionControl license ready Next Back9400 Servo Drives41Update the devices (Build project) 更新設(shè)備更新設(shè)備Prior to download, the device-specific representation of the

38、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.下載前， Engineer創(chuàng)建設(shè)備細(xì)節(jié)更新，這個(gè)處理包括連貫性檢查，設(shè)定參數(shù)和編譯應(yīng)用The user can start the processing at any time by clicking on .通過點(diǎn)擊 ，用戶

39、可以在任何時(shí)間開始處理。When going online, he will be prompted to do so, provided that this has not happened yet. 當(dāng)在線連接時(shí)，如果還沒有處理，會(huì)提示你這樣做 Next Back9400 Servo Drives42Transferring the application to the device將應(yīng)用傳遞到設(shè)備將應(yīng)用傳遞到設(shè)備 ready Next Back9400 Servo Drives43Multi axis application introduction多軸應(yīng)用介紹多軸應(yīng)用介紹MasterC

40、AN node 1SlaveCAN node 2Positioning 定位Following 跟隨 Next Back9400 Servo Drives44Structure of multi axis applications多軸應(yīng)用結(jié)構(gòu)多軸應(yīng)用結(jié)構(gòu)Ports of applications 應(yīng)用端口Machine application 機(jī)械應(yīng)用Network 網(wǎng)絡(luò)Compilation of the complete project 整個(gè)工程編譯(update of the devices) Next Back9400 Servo Drives45Ports of applicatio

41、ns 應(yīng)用端口應(yīng)用端口Task: Data exchange between applications 應(yīng)用之間的數(shù)據(jù)交換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 機(jī)械應(yīng)用機(jī)械應(yīng)用By interconnecting severa

42、l applications to one machine application information can be exchanged between independent devices.通過將幾個(gè)應(yīng)用互聯(lián)到一個(gè)機(jī)器上，各獨(dú)立設(shè)備的信息可以相互交換Proper connection of the ports適當(dāng)?shù)亩嗫谶B接 ready Next Back9400 Servo Drives47Network 網(wǎng)絡(luò)網(wǎng)絡(luò) defines the participants of the communication 定義參加通訊設(shè)備configures the communication par

43、ameters of bus devices配置總線設(shè)備的通訊參數(shù)In the project tree all bus devices of a network have to be in the same or a lower level. 在工程樹里，一個(gè)網(wǎng)絡(luò)的所有總線設(shè)備必須是相同或更低級(jí)別 ready Next Back9400 Servo Drives48Solution: Update of the complete project 整個(gè)工程更新整個(gè)工程更新1. Mark2. Start Next Back9400 Servo Drives49Solution: Copy the

44、 speed setpoint from the port 從端口拷貝速度設(shè)定點(diǎn)從端口拷貝速度設(shè)定點(diǎn) Next Back9400 Servo Drives50Solution: Creating a connection with the function block editor 用功能塊創(chuàng)建連接用功能塊創(chuàng)建連接2. Accepted message1. Draw a line3. Enable the controller Next Back9400 Servo Drives51Go online via system bus (CAN)通過系統(tǒng)總線的聯(lián)機(jī)通過系統(tǒng)總線的聯(lián)機(jī) CAN plu

45、g with terminating resistor 帶終端電阻的CAN插頭 DIP switch on the memory module 存儲(chǔ)模塊的DIP開關(guān) Parameter channel 1 參數(shù)通道1 Next Back9400 Servo Drives52Go online via Ethernet TCP/IP通過以太網(wǎng)聯(lián)機(jī)通過以太網(wǎng)聯(lián)機(jī) Extension module Ethernet擴(kuò)展以太網(wǎng)模塊 Establishment of a TCP/IP network, e. g.: 網(wǎng)絡(luò)建立 Patch or Crossover cable 轉(zhuǎn)接或交叉電纜 Hub /s

46、witch 集線器/交換機(jī) LAN 局域網(wǎng) Setting a suitableaddress in the 9400 設(shè)定合適的地址TCP/IP network Next Back9400 Servo Drives53Comparison:比較：比較：Fast 快速快速Simple 簡(jiǎn)單簡(jiǎn)單Expandable 擴(kuò)展擴(kuò)展Transmission speed bit/s 傳輸速度Connection and setting連接和設(shè)定Participants, length站數(shù)，長(zhǎng)度DiagnosticEthernet3M100KCAN11281:1 connectionTCP/IPknow-l

47、edge1M5.5K100M100KLAN Internet effective for file transfer 文件傳輸 Nominal 標(biāo)稱 Next Back9400 Servo Drives54Solution: Machine view in the engineer在在engineer中瀏覽中瀏覽 Next Back9400 Servo Drives55positioning sequence control Introduction定位順序控制介紹定位順序控制介紹Profile dataProfile numberControl signalsPositioning prof

48、ilesPositioning toolSequence control ready Next Back9400 Servo DrivesApplications for the Positioning sequence control定位順序控制的應(yīng)用定位順序控制的應(yīng)用 General application for the controlled processing of time-dependent travel profiles: 一般應(yīng)用于與時(shí)間相關(guān)的運(yùn)動(dòng)輪廓的控制過程： Next BackTimed handling equipment 時(shí)間處理裝置Rotary distribut

49、ors 旋轉(zhuǎn)分配器Dosing pumps, filling systems 計(jì)量泵，灌裝系統(tǒng)Stop adjustment 停止調(diào)整Barriers 安全柵欄Roller doors and sliding doors 輥道門和滑動(dòng)門Hoists 提升機(jī)械9400 Servo DrivesFeatures of the Positioning sequence control 定位順序控制的特性定位順序控制的特性Point-to-point positioning 點(diǎn)對(duì)點(diǎn)定位Limited, unlimited or modulo traversing ranges 限位，非限位或模數(shù)轉(zhuǎn)換范

50、圍Positioning in various modes 多種定位方式Absolute 絕對(duì)定位Relative 相對(duì)定位in combination with Touch Probe (residual path positioning) 探針組合定位（剩余路徑定位）by the shortest route (rotary table) 最短路徑方式（旋轉(zhuǎn)臺(tái)）Configurable sequence control with up to 100 individual steps:最多有100步可組態(tài)的順序控制： positioning, counting, waiting, branc

51、hing, switching, etc. 定位，計(jì)數(shù)，等待，分支，開關(guān)轉(zhuǎn)換等Standard positioning features: 標(biāo)準(zhǔn)定位特性 override, overchange, teach, jerk reduction 超控，過度改變，示教，急減速 Next Back9400 Servo Drives58Structure of the positioning program定位控制結(jié)構(gòu)定位控制結(jié)構(gòu)Positioning program 定位程序Action 動(dòng)作Homing回零Positioning定位Waiting等待Counting計(jì)算Positioning pro

52、filePositionSpeedAcceleration10010 action types10動(dòng)作類型1502520Counter計(jì)數(shù)器101001005050different possible settings不同設(shè)定Next step下一步Step 步100 Next Back9400 Servo Drives59Preset positioning program 先設(shè)置定位程序先設(shè)置定位程序 Next Back9400 Servo DrivesPositioning basic function: 定位的基本功能定位的基本功能 Who services the LS_Positi

53、oner LS_定位控制器怎樣工作定位控制器怎樣工作ready Next Back 9400 Servo DrivesPositioning sequence control 定位順序控制器定位順序控制器 Contents of the sequence table 順序表的內(nèi)容順序表的內(nèi)容 Act. number + Act.type作用號(hào)作用類型作用號(hào)作用類型 Action parameter作用參數(shù)作用參數(shù)Output 2 輸出 2Output 1 輸出 1noneNone 無(basic function基本功能)Comment 說明Profile numberInput 輸入Sequ

54、ence step numberProfile 1Profile 2Profile 3Profile 4ModePositionSpeedAccelerationDelayready Next Back Comment 說明Waiting time 等待時(shí)間Input 輸入順序步號(hào)9400 Servo DrivesParameter setting dialogues for the Positioning sequence control & Definition of the program flow用來定位順序控制和定義程序流的用來定位順序控制和定義程序流的參數(shù)設(shè)置對(duì)話框參數(shù)設(shè)置

55、對(duì)話框 Next Back9400 Servo DrivesParameter setting dialogues for the Positioning sequence control & Short setup用來定位順序控制和快速設(shè)置的用來定位順序控制和快速設(shè)置的參數(shù)設(shè)置對(duì)話框參數(shù)設(shè)置對(duì)話框 Next Back9400 Servo DrivesTerminal assignment for the Positioning sequence control (default setting)用來定位順序控制（默認(rèn)設(shè)置）的用來定位順序控制（默認(rèn)設(shè)置）的端子分配端子分配 Next B

56、ackAIN1 Setpoint speed override 設(shè)定值速度超越AIN2 Setpoint acceleration override設(shè)定加速度超越RFRController enable via terminal 端子使能DI1Deactivate quick stop 快停無效DI2Home mark 原位標(biāo)記DI3Limit switch positive 正向限位開關(guān)DI4Limit switch negative 負(fù)向限位開關(guān)DI5Reset error / Reset sequence controlDI6Start sequence control 啟動(dòng)順序控制DI

57、7Pause sequence control 暫停順序控制DI8Input 8 sequence control / Input for Touch Probe sensor 輸入8順序控制 / 用于探針傳感器輸入DO1Drive is ready 驅(qū)動(dòng)器準(zhǔn)備狀態(tài)DO2Positioning target reached 到達(dá)定位目標(biāo)DO3Motor control in limitation 電動(dòng)機(jī)控制處于限制狀態(tài)DO4Error is active 出現(xiàn)錯(cuò)誤錯(cuò)誤復(fù)位 / 順序控制復(fù)位9400 Servo DrivesInterconnection via electrical shaft

58、 introduction 通過電軸相互連接應(yīng)用通過電軸相互連接應(yīng)用Electronic gearbox 電子齒輪減速箱Synchronism 同步with register formation and mark synchronisation 套準(zhǔn)和標(biāo)記同步with register control 套準(zhǔn)控制同步Table synchronism (electronic cam) 列表同步（電子凸輪） Film Next BackMotionBus 運(yùn)動(dòng)總線運(yùn)動(dòng)總線: in preparation 即將投產(chǎn)9400 Servo DrivesSynchronisation applicatio

59、n 同步應(yīng)用同步應(yīng)用Synchronism 同步同步Absolute synchronism 絕對(duì)同步 There is an absolute, firm reference between master angle/value and tool/material position, e. g. cloth feeder, press feeder, sealing machines, 在主軸的角度/值與工具/材料位置，例如紡織品的喂料，壓力機(jī)械的喂料，封裝機(jī)械，之間存在一個(gè)絕對(duì)的固定的參考Relative synchronism (with mark synchronisation) 相對(duì)

60、同步（帶標(biāo)記同步） 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 cutters, 在主軸的角度/值與工具/材料位置，例如無碰撞風(fēng)險(xiǎn)的連續(xù)過程，像印刷機(jī)械的輥筒，橫切機(jī)械之間不存在一個(gè)絕對(duì)的固定的參考- Proportional synchronism 比例同步（電子減速箱同步） Speed synchronism or angular synchro