ServoOne 应用手册（英文）.PDFServoOne 应用手册（英文）PDF,ServoOne

文件名称: ServoOne 应用手册（英文）.PDF

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详细说明：ServoOne 应用手册（英文）PDF,ServoOne 应用手册（英文）Overview How shall I read this documentation? You should first of all read the operating instructions to be able to install the device cor tly Since the software of the drive controller offers a vast amount of functions among oth ers also the possibility of connecting various field busses, this documentation has been sub-divided into different documents, as can be seen in Fig Attention: Disregarding the safety notes during installation and operation can cause damage to the device and danger to the life of operating personnel For basic configuration and operation of the motor you should follow the descriptions in Systematics of the servoone documentation the chapters of this functional description If you intend to utilize further internal funG tions of the drive, such as e.g. digital or analog l/Os, you should read the corresponding chapters in this documentation. Here you also receive information concerning errors and Document Content Description Warnings If you use an field bus option board for control, you should branch off to the corre Operation Manual Mounting of device, insta la tion, safety, specification Hardware sponding independent bus documentation We wish you successful work with this device pplication Manual Descr ption of function Sysrem software User manual Descr ption of parameterize Hardware and software of CANopen ton on seryoone field bus version User manual Description and parameterize- Hardware and software of EtherCAT ton on seryoone field bus version User Manual Description and parameterize- Hardware and software of SERCOS ton on servoone eld bus version User manual Descr ption and parameterize- Hardware and software of PROFIBUS-DPV serzone field bus version Parameter description parameters System Softwrare LUST Application Manual ServoOne LUST Application Manual ServoOne 4 Ordering key Pictograms The order designation informs about the corresponding design variant of the servo Pictograms as described in the following table are used in this application manual fo controller delivered to you. Details concerning the ordering key can be found in the better orientation. The meaning of the corresponding is always correct, even if it is ServoOne ordering catalogue placed e.g. opposite a terminal diagram without any accompanying text so84.口囗,口口口口,口口口口 Ratd curent Power supply(AC/DC) Functional safety △△ Attention! Cperating errors may result in damage to or malfunction of the drive Danger, high voltage! Improper behaviour may cause fatal accidents Danger from rotating parts! The drive may automatically start to run Option 1(communication) Option 2(additional encoder) Note:Useful information Housing/cooling concept Software variant Optional design/protection Table of contents 2 Control setting 29 2.1 Overview of the control structure 2. 2 Adaptation to the system mechanics Servoone drives with ambition 2.2. 1 Determination of the moment of inertia 2.2.2 Adaptation to the stiffness of the mechanics Overvie 3 2.3 Limitations of the control How shall i read this documentation 2.4 Optimisation of the current control Ordering key 2.4.1 Optimisation through DRIVFMANAGFR operation(from V2 PIctograms 4 2.4.2 Optimisation via parameter 1 Basic confiquration 2.5 Optimisation of speed control 35 1.1 Setting the power stage parameters 2.5.1 Optimisation of the pl speed controller 1.1.1 Power supply 2.5.2 Digital filter /notch filter 1.1.2 Switching frequency 2.6 Setting the position controller and the feedforward 1.2 Basic configuration Motion Control 2.6. 1 Optimisation of speed and acceleration feedforward 2.6.2 Friction 43 1.2.1 Configuration of position control in PG(profile generator) mode 1.2.2 Configuration of positian control in IP-Mode 2.6.3 Feedforward prediction 1.2.3 Interpola tion me thods 2.6. 4 Position controller .45 1. 2. 4 Speed control using PG(profile generator) Mode 2.7 Field suppression operation 1.2.5 Speed control using IP-Mode 16 2. 8 Test signals and test signal generators 1.2.6 nter face to motion control 2.9 Test operation along the U/F-characteristic 51 1.2.7 Status and control words 210 Extended functions 2.8 Setpoint selector 2.10.1 Operation of asynchronous motors 18 1.29 Standardisation /Units 3 Motion profile 57 1.3 Motor data and basic setting of control 3.1 Stop ra 57 1.3.1 Start-up of catalogue motors and encoders 3.2 Profile generator 1.3.1 Motor protection and limitations 33 Referencing… 1.4 Encoder confiquration 1.4.1 Start-up with standard encoders 1.4.2 Free configuration of encoder interface 1.43 Extended functions of the encoder channels LUST Application Manual Servo One [content] LUST Application manual servo One 4 Inputs/Outputs 69 Power failu 4.1 Digital inputs Encoder manitoring threshold, caale breakage detection 96 4.2 Function STO(Save-Torque-Off) 70 Motor protection through temperature senso 4.2.1 Selected functions of the digital inputs Overtemperature motor protection 4.3 Digital outputs 'osition and speed monitoring 4.4 Analog inputs 7 arning 100 4.4.1 Analog channel 4.5 Analog output(optional module) 79 8 Device and motor protection 103 4.6 Motor brake 8.1 Torque limitation(torque/torce limits) 103 8.2 Speed limitation ( 5 Internal setpoint generation 83 8.3 Position limitation(position limit) 5.1 Setpoints through analog inputs ISA00+ ISA01 Direct setpoint specifi cation through analog inputs (IP-mode A Appendix 105 Speed control via ramp generator A1 Load ng the firmware Torque control via r merton 5.2 Setpoints via table… 85 Tabular positioning 6 System information 89 6.1 Device dat 6.2 State machine, system status 7 Diagnose 7. 1 Error messages and fault reactions 95 7.2 Monitoring functions…… Actual value 95 1 Basic configuration 1.1.1 Power supply The device supports the infeed under various mains voltage conditions(see upper table) For initial commissioning the mains voltage must therefore first be checked and adapted This chapter describes the basic configuration of the drive controller. After the basic if necessary. This is accomplished through parameter P 0307 CoN__Voltage Supply configuration has been made, the drive can be triggered via the selected interface(field Attention bus, terminal, internal PlC or table positioning Once the parameter has been set, the setting must be saved in the device The setting only become effective AFTER another Power Off/Power On cycle Note: Work with the drive controller requires Drive Manager DM5.x of the 24 v-control voltage Rated currents, overload factors as well as threshold voltages for overvoltage, undervoltage and activation of brake chopper change with the selection of In the next step the control setting is adapted to the machine dynamics and the motion the power supply control 1.1.2 Switching frequency 1.1 Setting the power stage parameters As another power stage parameter, the switching frequency can also be set via P 0302 CON_ SwitchFreq. It is recommendable to operate the drive controller with the default The power stage parameters can be found in the subject area"Power Stage etting Increasing the switching frequency may make sense in order to increase the control P-No. Parameter name Function Description Setting range dynamics or to reduce switching frequency related noise. In this case possible Derating must be taken into account. Reducing the switching frequency may make sense in order 02 kHZ to rnake higher rated currents and overloads usable 04 kHz P0302 g Setting the power CON_ Switch Freq 08 kHz stage cycle trequency 16 kHz 1×230V 3x230y CON P0307 Voltage supply Setting the voltage 3×400V VoltageSupply supply 3X480∨ LUST Application Manual Servo One 7 Chap. 1 I LUST Application Manual Servoone 1.2 Basic configuration Motion Control Setting DRIVEMANAGER Name Description P0301 Drive parameterisation starts with setting up the setpoint interface between Motion Con Ref mode Select reference mode Selection of interpolation type Profile and control. For this purpose the table provides the necessary parameters, which setpoint effects to profile genera Setpoint processing via profile are described in more detail in this chapter generato P(1) setpoint effects directly tc control Setpoint processing directly Setting DRIVEMANAGER Name Description oop(without ramp) via interpolator P0159 MPRO_CTRL_ SEL Motion control selection Selection of control location OFF(O) No control selector defined No contro location selected P0306 CoN_ IpRefTs Samipling time for interpolaticnde Adaptation of Sampling time between external contrcl and TERM(1) fault 125 us via terminal drive controlle PARA(2) via parameter interface vIa parameters Selection of interpolation not defined not defined P03/0 CON IP nterpolation type control miethod PLC(4) a lEC 61131 program EC1131 Nclp No interpolation 4025 via DS 402 motion profile Linear interpolation (CANopen/EthercAT DS402 Interpolation with external feed a detailed description of the SERCOS(6) a SERCOS motion profile SERCOS pIneExtFF interpolation methods can oe fourd in chapter 1.2 FROFIBUS(7) via PROFIBUS DPV motion profilePROFIBUS Spinel Cubic spline interpolation Po165 MPRO_REF_ SEL Motion profile selection Selection of setpoint source NonIPSpline Cubic spline approximation OFF(O) No setpoint No setpoint selected ANAO(1) va analog channel ISAo Analog input ISAo ANA1(2) via analog channel iSal Analog in put iSAl va table Table value Note: The possible settings must be checked for plausibility not defined not define The standard profile of the servo controller is the motion profile ds 402 PLC(5 va IEC 61131 program EC61131 via parameter definition Which is effective via field busses can ethercat and profibus for the con PARA(6) Pararmeter definition trol locations and setpoint sources. In case the drive controller is operated via S402(7) a cia ds 40> motion profile D540 internal setpoint sources or control locations, parameterisation through the SERCOS(8) via SERCoS motion profile ERCOS standardisation / units (standard sation via P 0283)of the ds 402 standard is PROFIBUS(9) via ProFiBus dPv motion profile R○FBUS recommended P03C0 CON: CfgCon Select control code Selection of control mode V/f control mode(test mode only)Uncontrolled U/foperaticn For operation with the sercos field bus it is recommended to use the motion TCON Torcue control mode Torque control Profile SeRCoS for control locations, setpoint sources and standardisation Speed control mod PCON Position control mode Pos tion control Current control(t ICON urrent control mode(test mode only,similar to VFCON can only be operated with current/fre quency cortrol Parameter P 0300 CON_Cfg Con: Selection of control mode Parameter P 0301 CON_REF_ Mode: Selection of profile generator PG/fine The positioning controller can be operated in three difterent control modes interpolator IP VFCON(O)= controlled operation via U/f characteristic: test mode only PG(O The internal setpoint generation is accomplished by the so-called protile generator. There all ramp functions, like ramps, jerk, slip, are converted. Internal TCON(1)= torque control generation always takes place with a cycle time of 1 ms SCON(2)= speed control IP(1): The setpoint assignment of the superimposed control leads directly to the fine interpolator. The adaptation of the cycle time between control and drive con PCON3)= position control troller is mandatory. The standard setting is 125 us ICON(4)= current control: test mode only The following ill ustrations show the structures for setpoint processing and control result The positioning controller is based on the principle of field oriented controlling. Field ing from these settings orientation means to memorize a current at the location in the motor at which the field has the biggest size. The memorized current is thus optimally converted to torque. this results in an optimal utilization of the machine with highest possible dynamics, together ith low losses. The result is an exceptionally high rate of ef ficiency 2.1 Configuration of position control in PG(profile generator) mode With position control configuration in PG-Mode a control transfers complete motion The digitally controlled drive is most suitable for applications calling for the following commands to the internal profile generator. The setting is made in the subject area Mo- characteristics tion Profile under "Basic Settings". A motion command consists of Speed constancy(concentricity) Ref_Position: Target position · POSition accuracy Ref_ speed: Maximum traversing speed Dynamic Ref acceleration maximum acceleration Constant torque Ref Deceleration maximum deceleration Interference compensation With the additional information on jerk P 0166 MPRO_REF_JTIME and an override factor Note P0167 MPRO_REF_OVR for the traversing speed the PG generates a time optimized The parameter has an online effect. Uncontrolled online switching can cause trajectory for the position setpoint, to reach the target position, under due consideration of all limitation an extreme jerk, a very high speed or an overcurrent, which may cause dam age to the system The position setpoints are subsequently fine interpolated in the interpolator, whereby the interpolation method can be set via the parameter P 0370 CON_IP(Fig 1-1).The position setpoints are used to generate feedforward values for speed and acceleration These are scanned with the cycle time of the position controller (normally 125us) and switched to the closed-loop control circuits Further information on how to generate motion commands using the field busses or internal possibilities can be found in the field bus documentation LUST Application Manual Servo One 9 Chap. 1 I LUST Application Manual Servoone 10 Position Control in Pg-mode Basic settings ontro From Analog analog inputs not permitted Input 0/1 Feedforward Setpoint TablePos current isq_ref table 3 PLC Motion profile Motion profile Basic Settirhas Feedforward reserver 4,56 speed n ref P0165 Standardisation DS 402 CAN or EtherCat 7 UNITS/ Profile generator Fine eps_re standardisation PG interpolator to speed and SERCOS Sercos selection of current controller USER specific interpolation Profibus\ Profibus DPv SERCOS Position controller DS402 methods Homing nternal function Setpoint in user unit increments (Stop)Ra pling Time P 0305=125us default BUS Sampling time om 1 ms Fig 1-1: Configuration of pasition contro/ in PG-Mode

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