CN5lenze9400自由應(yīng)用V20

1、Welcome!21 July, 2006Trainer: Torsten He, Markus Toeberg, Markus Warnecke, Stefan WitteProduct Training: 產(chǎn)品培訓(xùn)產(chǎn)品培訓(xùn)L-force Servo Drives 9400 L-force 9400 伺服驅(qū)動(dòng)伺服驅(qū)動(dòng)L-force | Engineer L-force 9400 工程軟件工程軟件Free applications 自由應(yīng)用自由應(yīng)用歡迎參加學(xué)習(xí)班！歡迎參加學(xué)習(xí)班！ServoDrives 9400Own applications in the FB editorProcessin

2、g portsExternal bus nodesSeveral tasks2Create your own application 建立應(yīng)用項(xiàng)目建立應(yīng)用項(xiàng)目1.Select “Empty application” or a technology application 選擇“空應(yīng)用”或技術(shù)應(yīng)用2.Activate the FB editor 激活FB編輯器3.Just as you L-ike 正如L-ike -insert blocks 插入方塊-insert user codes 插入用戶代碼-insert variables 插入變量-insert your own ports 插入端

3、口-create connections 建立連接-use several tasks 應(yīng)用若干任務(wù) next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks3Ports 端口端口Port = Group of variables which are to be transmitted via a bus system at the same time 端口一組變量通過總線系統(tǒng)在同一時(shí)間被發(fā)送“Simple” variable type: “

4、單”變量類型exactly one variable 正確地講，只有一個(gè)變量“Array” variable type:” 陣列“類變量several variables of one variable type 同一變量類型的若干個(gè)變量applied in simple binary systems (e. g. terminals) 應(yīng)用在簡單的二進(jìn)制系統(tǒng)中（例如，端子條）“Record” variable type:”記錄“類變量several variables of different data types 不同數(shù)據(jù)類型的若干個(gè)變量common in familiar applica

5、tions with CAN 通常帶CAN的熟悉應(yīng)用available in the technology applications 技術(shù)應(yīng)用中的變量 next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks4How does the Engineer create the PDOs怎樣用工程軟件建立多個(gè)怎樣用工程軟件建立多個(gè)PDOThe compiling process can automatically 編譯過程能自動(dòng)完成activat

6、e PDOs in a sufficient number 足夠數(shù)量的有效PDO for CAN: max. 4 transmit PDOs and 4 receipt PDOs per interface對(duì)CAN:某個(gè)接口最多有4個(gè)發(fā)送PDO和4個(gè)接收PDOcombine the ports to PDOs 組合端口到PDO for CAN: max. 8 bytes per PDO 對(duì)CAN：每個(gè)PDO最大8字節(jié)Ports with “automatic interface” must be interconnected to create PDOs為建立多個(gè)PDO，帶“自動(dòng)接口”的端口必

7、須相互連接PDOs with “automatic allocation” only communicate when interconnected ports want it 帶“自動(dòng)定位”的PDOs只有在相互連接的端口希望與其通信時(shí)才能通信PDO 1Port 1 PDO 2Port 2Port 3 next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks5PDO communication with external bus nodesP

8、DO與外部總線節(jié)點(diǎn)的通信與外部總線節(jié)點(diǎn)的通信“external” = outside the Engineer project.“外部”工程項(xiàng)目外的部分 。 Currently, the following cannot be displayed in the Engineer: 當(dāng)前，下面的裝置不能在工程軟件中顯示。Lenze devices 8200, 9300, HMIs, 倫茨裝置 8200，9300，HMIsMaster control 主控制器Devices of third-party manufacturers 第三家制造商的裝置not incl. in the project

9、 no interconnected ports no PDO? 不包括在項(xiàng)目中無相互連接端口無PDO?How to project the PDO communication of a 9400 with external bus nodes: 怎樣使9400項(xiàng)目PDO與外部總線節(jié)點(diǎn)通信Insert dummy device, interconnect ports 插入偽器件，相互連接端口Define PDO manually 手動(dòng)定義PDOParameters cannot be set via codes: Mapping is missing 參數(shù)不能通過代碼設(shè)置：映象丟失ready

10、next back ServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks6Variable mapping 變量映像變量映像 Why is that necessary? 為什么這是必要的為什么這是必要的requires explicitly assignment of memory addresses of the variables to PDO contents. 要求明要求明確地把變量的存儲(chǔ)器地址分配確地把變量的存儲(chǔ)器地址分配成為成為PDO的內(nèi)容。

11、的內(nèi)容。Variables that can be freely defined in the program 在程序中變量可以自由定義Free PDOs 自由PDO next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks7Defining port and PDO manually 手動(dòng)定義端口和手動(dòng)定義端口和PDO1.Create PDO 建立PDOa)Open the “Process data objects” tab in the

12、 project tree “CAN on board” 在項(xiàng)目的樹形結(jié)構(gòu)的“CAN on board”中打開“過程數(shù)據(jù)目標(biāo)”（PDO)標(biāo)簽b)Create new PDO 建立新的PDOc)Set transmission parameters to manual allocation 設(shè)置發(fā)送參數(shù)到手動(dòng)位置ready next back ServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks8Defining port and PDO manually手

13、動(dòng)定義端口和手動(dòng)定義端口和PDOready next back 2.Create port 建立端口a)Variable type with desired contents 變量類型與希望的內(nèi)容一致b)Select interface 選擇接口c)Select PDO 選擇PDO3.Update project 更新項(xiàng)目ServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks9Port and external PDO must match端口與外部端口與外

14、部PDO必須匹配必須匹配Port definition and PDO data must have the same length: 端口定義和PDO數(shù)據(jù)必須有相同的長度：Sum of the element variables Bit = DLC Byte. 變量位單元的總和DLC字節(jié)。Order of the variables in the port corresponds to the one in the PDO 在端口中變量的次序與在PDO中的次序相對(duì)應(yīng)Source and target port of a port interconnection must have the s

15、ame length.端口連接的“源端口”和“目的端口”必須具有相同的長度。PCAN Explorer next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks10Good to know Engineering information and codes需要熟知需要熟知工程軟件的信息和代碼工程軟件的信息和代碼Not all information in the Engineer can be directly displayed as co

16、des in the device. 并非在工程軟件中的所有信息都能直接用裝置的代碼來顯示 In general, the following applies: 通常以下規(guī)則是適用的Codes (online parameters) are marked with a “C”. 用“C”字母作為代碼的標(biāo)記（在線參數(shù)）Other parameters without a “C” 不帶“C”字母的其它參數(shù) are not directly represented on a device. The values set are transmittedvia “Update devices”. 不能在

17、裝置中直接表示。其數(shù)值的設(shè)定要通過發(fā)送“更新裝置數(shù)據(jù)”來完成。 next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks11HMICAN cable in the Forum laboratory在討論會(huì)實(shí)驗(yàn)室中的在討論會(huì)實(shí)驗(yàn)室中的CAN電纜電纜 We create a long bus (re-arranging, resistors off) 我們建立一長總線（重新安排，終端電阻斷開）OUTINPCOUTINOFFOUTINONSub-D

18、-9,maleOFFONready next back ServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks12Exercise 1: An own application with PDO練習(xí)練習(xí) 1: PDO 應(yīng)用應(yīng)用Scenario: The control programmer has reported:概要：控制程序員提出以下報(bào)告 ： The control transmits the following CAN-PDO: 控制發(fā)送以下CAN-P

19、DO COB-ID 401 (decimal), transmitted every 100 ms, length 8 bytes,COB-ID 401（十進(jìn)制數(shù)），每隔100 ms發(fā)送，長度8個(gè)字節(jié)， Bit 0-15 = control word (Word) 控制字（字） Bit 16-31 = unused 不使用 Bit 32-63 = scaled speed setpoint (32bit DINT) 標(biāo)定的速度設(shè)定值（32位雙整型）1.Connect the CAN bus provided by the trainer to your controller. Set the

20、CAN node address according to the instructions of the trainer. 用培訓(xùn)人員提供的CAN總線連接你的控制器。根據(jù)培訓(xùn)人員的說明設(shè)置CAN的節(jié)點(diǎn)地址。2.Create an own minor application which follows the setpoint received. 建立一個(gè)應(yīng)用子程序，使其能接收設(shè)定值。1.Select the “empty application ” 選擇“空應(yīng)用”2.Create a suitable port 建立合適的端口3.Create an FB interconnection an

21、d test it. 建立FB連接并測(cè)試它們。 next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks13Solution: Own application with PDO (Solution example) 解：帶解：帶PDO的應(yīng)用（解例題）的應(yīng)用（解例題）Your port could be defined as follows:可以定義端口如下：Your FB interconnection could look as follo

22、ws:(The evaluation of the control word was not required explicitly)可以參考以下進(jìn)行FB的相互連接（控制字的估算不要求十分精確） next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks14Tasks 任務(wù)任務(wù)Up to three tasks can be used in the FB editor 在FB編輯器中最多可以使用3個(gè)任務(wù)ApplicationTask (fast

23、est: cyclic with 1 or 2 ms) 應(yīng)用任務(wù)（最快周期1或2 ms)UserTask (cyclic with 2, 4 or 8 ms) 用戶任務(wù)（周期2，4或8 ms)IdleTask 空閑任務(wù)System blocks only in Application Task (Hardware interfaces, basic drive functions) 只在應(yīng)用任務(wù)中的系統(tǒng)方塊 （硬件接口，基本驅(qū)動(dòng)功能） For value transfer: Cross-task variables 用于值的轉(zhuǎn)移：交錯(cuò)任務(wù)變量 next backServoDrives 9400

24、Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks15Task runtimes 任務(wù)實(shí)時(shí)運(yùn)行任務(wù)實(shí)時(shí)運(yùn)行Codes for runtime measurement 實(shí)時(shí)測(cè)量代碼Meaning (example): 含義（舉例）T1 = 1 ms cyclic 1ms 循環(huán)T2 = 4 ms cyclic 4ms 循環(huán)T3 = idling 空閑 next backServoDrives 9400Own applications in the FB editorProcessing p

25、ortsExternal bus nodesSeveral tasks16Exercise 2: Several tasks 練習(xí)練習(xí) 2: 多個(gè)任務(wù)多個(gè)任務(wù) Modify your application from the previous exercise: 從上述練習(xí)中修改你的應(yīng)用Transmit the port to the User Task 發(fā)送端口到用戶任務(wù)Extract bit 0 from the control word, transmit it to the Application Task and enable the Speed Follower 取出控制字的0位，

26、發(fā)送到應(yīng)用任務(wù)以及使能速度跟隨器Change the cycle times of the cyclic tasks 改變循環(huán)任務(wù)的循環(huán)時(shí)間Apply some arithmetic operations in the Idle Task 在空閑任務(wù)中應(yīng)用某些算術(shù)運(yùn)算Test the application and read the resulting task runtimes 實(shí)時(shí)測(cè)試應(yīng)用項(xiàng)目以及讀結(jié)果任務(wù) next backServoDrives 9400Own applications in the FB editorProcessing portsExternal bus nodesSeveral tasks17Good to know in conclusion 熟知的結(jié)果熟知的結(jié)果Ports are part of the application. To change them, the FB editor must be enabled. 多個(gè)端口是應(yīng)用端口。為改變它們，必須使能FB編輯器。Variables and codes are written at the end of the task. Thus, the new value is only available in the