英孚康-如何配置CIPMotionV2-240(20210311193259)

1、3，3 New Module. k. ,OWlu,es- Paste Ctrl-V Properties Alt 4 Enter Print 步一步運(yùn)動(dòng)控制簡(jiǎn)單教程 K在以太網(wǎng)硬件樹下添加以太網(wǎng)伺服驅(qū)動(dòng)器 白掃 I/O Configuration 豐旦 5069 Backplane ：饑01 5069L340ERM MotionConfiaSsnwIt Select Module Type Caialog Module Discovery | Favontes 2198 過濾幫你找具體 Qear Filters Shovy Fillers Catalog Number 2198 H025-ER

2、S2 2198H040-ERS 2196+1040-ERS2 2198H070-ERS 21 Qfi-HQTIEERS? Description Kinetix55OO. 8A. 195-528Volt CIP Safe Torque OffDrive KinehxSSOO. ISA. l96-52SVon. Safe Torque OffDnve Kin9toc5500.13A. 1952SVott CIP Safe Torque OffDnve Kinetix 6500.22A. 19S-628 Vol Safe Torque Off Drive Kicati尺1QFLA9R VnHIP

3、Pnfa Toro to Off Rnva AIIAIIAIIAIIAII |2198P031 Kinetix 5700 Bus Pg Supply. 1g 324 523 Volt PU/V Kinebx bAXJ Hus Supply, 324-523 Volt Wx 57DO BusPoxw Supply. 47A 324-523 Volt 找到正確的型號(hào)！ KinefijOOBus Power Supply. 69A 324-523 Voh Kinetix456-747 Voh DC. Network Safety STO Kinetix 5700.658747VohDC. Netwo

4、rk Safety STO Kinetix 6700. SEA. 45Vott DC. Netwofk Safety STO 219S-W25ILER AIIAIIAIIAIIAIIAIIAII lir 對(duì)于K57OO何服來說，需要電源模塊和何服驅(qū)動(dòng)模塊 26 of 510 JVkxlule Types Found 新建一個(gè)以太網(wǎng)絲 Favccites I 盍 eon Create igSample i / I 2198-P031 K57OO Pove 創(chuàng)建好了一個(gè)以太網(wǎng)設(shè)備 二已 I/O Configuration F 旦 5069 Backplane |0 5069-L340ERM Mot

5、ionConfigSampk 色磊 Ethernet t3I/0 Configuration 0 5069 Backplane ：01 5069-U40ERM MotionConfigSample 三器 Ethernet 型5069LS40ERM MotionConfigSamplE 卜* 2.1徑二凹翌.E?匹上?巴巴 旺亟E亟EER豆QN亟 創(chuàng)建好了 2個(gè)以太網(wǎng)設(shè)備 K5700電源模塊和K5700軸模 塊都有了！ 一一演示用 實(shí)際項(xiàng)目請(qǐng)根據(jù)您的項(xiàng)目 創(chuàng)建以太網(wǎng)設(shè)備硬件樹！ 2、創(chuàng)建“軸組” 每個(gè)伺服項(xiàng)目必須要有一個(gè)“軸組”來管理所有的“軸” Tasks | (3-S MainTask |

6、j l%5MainProgram LQ Unscheduled P aramotcar C onnoteftion : Scope: Extorn al A.cccas s: Style: I I Constant AXIS.SERVO. AXIS SERVO DRIVE AXIS GENERIC. AXIS_GENER1C DRIVE. AXIS CIP DRIVE 以太網(wǎng)伺服軸 ZKXIS_CIP_DRIVE L I SecjuencinQ O Open AXIS_CIP_DRIVE ConfiQuration I Opcn Parsameter Connections Cancel He

7、lp -CZ3 Motion Groups 占.O MAP .Qi Motion Direct Commands. Manual Tune. Motion Generator. Cross Reference Ctrl + E CAx)$ Properties AxisOl !G Add-Or 3-tSl Data T ! : 1 m User I Qft Strin Add ! 申岳Pred j bkl岳 Mod :( Trends Hit. Logical i-esil/o Cor 白Q 1756 自3 C I自岳 Monitor Axis Tag Fault Help Clear Axi

8、s Faults Cut copy Paste Delete Ctrl +X Ctrl+C Ctrl +V Del Catogorios 8 Motor Uod Motor Feedtx Scaling -Poiarr/ Adlotune 白 Load BackJssh Poaitwn Loop velooty Loop TorquGjturrGrrt Loop Plannee Homing Acoons DnveParameteis Parama tsr Ust FaJts 4 AJarms -Tag General Ax Conner 8rton Feedback Corrfgutaion

9、 Applcaton Typo loop Respcse- Assigned Croup FAnban Group Updola Ponod- /Feedback Only I Frequency Cortral .MHE53 單作為反誠(chéng) 變頻器義式 位置伺服模式 速度伺服模式 扭矩伺服模式 只當(dāng)作逆變器用 7 口 20 Now Group Aws State. Menuai lun* Associated Module Module: WtadulQ Typo Power Stmcture- mom 選擇驅(qū)動(dòng)器 Axis Properties - AxisOl Categones: *ene

10、ral Motor Feedback ? Scaling Hookup Tests Pola(it Auwtune Load R arLIsch Motor Device Specification Data Source; CetalcgNurnber Motor Type: | Nameplate gtashwt DaFashflQt Catalog Number Units. Parameiers. Fj Change Catalog. 從目錄選擇電機(jī) | Not Specified General * A- Motor 5-Model Motor Feedback Scaling Ho

11、okup Tests ; Polarity Aulotune !-Load :Backlash ；Compliance ； - Position Loop Velocity Loop Torque/CurrenlLoop Planner Homing Motor Device Specification Data Source Catalog Number: Motor Type: Catalog Number Change Catalog. Axis Properties - AxisOl Categories * Genersi *(3 ! Modal * Motor Feedback -

12、 Seeing Hookup Tests * Polanry Autatmo 卡 Load !-8acklash 1-Compliance PosnonLoop Velocity Loop TorqueiCurrem Loop Planner - Homng * ACQ0H3 Dnye Parameters Parameter List Status - Faults Backlash ；? Compliance - Position Loop t.OfI 八n Honjinq 匸 Actior訂 Tynvafafneters Parameter Lisi Status Faults i：lc

13、 VelocityError VnlocityintegrjtofOutpj! VelocityLoopOutput AccGlerationFin&COTmand AcceleratiorFeedforRardCommand =AccelermicreeObeck TargLieReferenct ToreRienceFillered TorqjoReforoncoLinirtfid CurrentComfrend furTQntRafQrQnce tuaentFeedbeck turrentError Opera! rxrCurrerrtLimrt 0.0 0 0 00 !) i 3 0

14、00 yy 00 0.0 0 0 00 00 00 00 yo 00 0.0 0 0 00 這里選擇每個(gè)周期都需要讀取的 多了會(huì)影響網(wǎng)絡(luò)哦 Motion Axis Parameters Name Vakie Postioornm 0.0 VdocrtyTnm 00 TbrqueTnm 00 VeiocFeAflforAaniGain 100 0 AcceleratiarFeedforwsrdGain 00 Posiionloopeand.wKflh 9 362055 Postionlntogr at cr Bandwidth 00 VelocityLoopBafxUidth 37.44822

15、VolocilyhtGgfatorBandwdth 00 TofouaurmPose 245.09053 TorqijelimtHegat VelocityL nwPa ssF iterBan chndth TogxLowP於并 iterQanrTAidth Syslemlnertia -24S 09053 00 18724109 0 019910019 這里選擇每個(gè)周期都要寫的軸 的參數(shù)，多了會(huì)影響網(wǎng)絡(luò)哦 Poramer Group AssoctedPage Naw 00 46 0 ActuaKxOiBmeteiUnt Mllr*nel=r 10.0 Rack and Pini 0 26 C

16、3Ck1Si3fiuplAechoJ 10000 0 00 FewjbMklWIocil汗如 rM 如加 25464788 Hz 設(shè)定哦 Feedbackllypc Fo&dbacklUnt lamsgsrAa Serial Calegones -General 弓 MOlOf Model Motor Feedback Scaling - Hookup Tests PoJarity Autotune Load BacWaah Complrsnce Position loop -Veag Actual Veloccy 當(dāng) 前戈R ）叟 Command Voices 侖令速度 J Power St

17、ructure Enabled O Tracking Command O Sutdon 0 Postion Lock J Velocity Lock O Standstill Q Torque Limt J Current Limit 3 Thermal Lmit Digital I/O I（）狀態(tài) O Enable 使能O Hom?原點(diǎn)O Mechsngl B陽(yáng)ke 剎車 O 8usCapacitor 總線電容 Registatoon 1 位 曹注 j|Po5itjve （Xertravd 前限 Regenerative PowerO Shurt Thermal Switch O Regis

18、ralion 2 位螢注冊(cè)秒ega6ve Overtravel 后限。Contador EnableJ Feedback Themiaslat Faolts and Alarms Log DatcTiw c Source Canditcn ActionEnd State 在線的時(shí)候這里可以看到軸的報(bào)警以及歷史報(bào)警 Show FaubAJaims yRsats CU ar Log 4、配置“軸組” 自臼 Motion Groups i ” kC=iAdd- 9- Data | |-Qst ”iii Ac |申通P Trent hT. Logic -I-S1V0 c BS1； S- fl New

19、Axis New Coordinate System. Monitor Group Tag Fault Help Clear Motion Group Faults Cut CtrltX Copy Ctrl+C Paste CtrlW Delete Del Motion Direct Commands. 和鍵煞時(shí)選屬性 CtrkE Print Properties Alt+Enter Bsk Update Pcod 20 ；： 1 upcWe 40 7 A?Tiy. Sroup Pype 巧、g BO AJKirii2Upcktt GeieniraytType rm(05 nrr 或者幺翻需打

20、播的紬啟在快速 祀不締要快速IlKWte在中連、慢連 （工具工藝旻求吧 冬嵯泌性珂酬曲糧攵快張 中速慢速）建疫的站更緬時(shí)何互！國(guó)EE UpdMQ frkd and Ste 8 八 * mt 1 叭 全部碗定好后就OK J 33 * je電機(jī)Apply,於后看君左 邊的百分比尊敷如果你很多橄 有可能超討砂就不好了 伺服常用變量解析： MGP.GroupSynced軸組網(wǎng)絡(luò)是否已經(jīng)同步 .ServoActionStatus伺服速度環(huán)是否使能 .DriveEnableStatus伺服電流環(huán)是否使能 .AccelStatus伺服是否正在加速 .DecelStatus伺服是否正在減速 .MoveStatus伺服是否正在進(jìn)彳亍定位運(yùn)動(dòng)(MAM) JogStatus伺服是否正在點(diǎn)動(dòng)運(yùn)動(dòng)(MAJ) .GearingStatus伺服是否正在電子齒輪同步中(MAG) .HomingStatus伺服是否正在回零中 .Stoppingstatus伺服是否正在停止中(MAS) .AxisHomedStatus伺服是否已經(jīng)回零 .PositionCamStatus伺服是否正在位置電子齒輪同步(MAPC) .TimeCamStatus伺服是否正在時(shí)間電子齒輪同步(MATC) .Registration