施耐德32伺服11lexium培訓(xùn)

1、Lexium 32Operating modesMotion & Drives TrainingLexium 32SummaryCentral documentProduct overviewMotorsHMI, FSU + Exercises HMIElectrical installation, LCTStatemachine, Diagnostics and troubleshooting, Exercises (Electrical, Error)Operating modes , functionsand ExercisesControl engineering, Exercises

2、Safety engineeringFieldbus Communication, ExercisesAccessoriesOperating modesOverviewOperating modeLXM32 CLXM32 ALXM32 MJogProfile velocityProfile torqueElectronic gearnot availableProfile positionnot availableHomingnot availableMotion Sequence modenot availablenot availableAutotuningOperating modes

3、Jog modetVJOGv_slowJOGv_fastJogStepJogTimetJog positiveJog fastLex32ALex32MLex32CtOperating modesJog modetVJOGv_slowJOGv_fasttJog positiveJog fastLex32ALex32MLex32CtOperating modesProfile velocity ModeAI1 (10V)AI1_offsetAI1_winAI1_v_scaleSpeed control,current controlCTRL_I_maxCTRL_v_maxAI2 (10V)Spee

4、d or TorqueLimitationPV_v_targetLXM32 A + LXM32 MLXM32 C + LXM32 M with I/O moduleRAMP_v_enableProfile ONRAMP_v_accRAMP_v_decRAMP_v_maxProfile OFFPosition controller is not active !=1=0Lex32ALex32MLex32COperating modes Profile velocity Modet s10 V = AI1_v_scale USRAI1_v_scale / 10 * AI1LXM32C + LXM3

5、2M (with I/O module) Analogue InputOperating modesProfile Torque ModeLex32ALex32MLex32COperating modesProfile Torque ModeAI1 (10V)AI1_offsetAI1_winAI1_M_scaleSpeed control,current controlCTRL_I_max_Imax_systemCTRL_v_maxAI2 (10V)Speed or TorqueLimitationPT_tq_targetLXM32 A + LXM32 MRAMP_tq_enableProf

6、ile ONRAMP_tq_slopeProfile OFFPosition controller is not active !=1=0LXM32 C + LXM32 M with I/O moduleLex32ALex32MLex32COperating modesProfile Torque Modet s10 V = AI1_M_scale %AI1_M_scale / 10 * AI1LXM32C + LXM32M (with I/O module) Analogue InputOperating modesProfile Position ModeLex32ALex32MLex32

7、CTarget VelocityPPv_targetTarget PositionPPp_targetttVPAccDecConstant velocityOperating modesProfile Position ModeAbsolute movement:In the case of an absolute movement, the movement is absolute with referenceto the zero point.Relative movement:In the case of a relative movement, the movement is rela

8、tive with reference to the previous target position or the current motor position.A zero point must be defined with the operating mode Homing.Operating modesHoming Mode to LimNLex32CLex32MLex32A123Operating modesHoming Mode (REF)Movement to reference switch at velocity HMvMovement to the switching p

9、oint of the reference switch at velocity HMv_outMovement to index pulse or movement to a distance from the switching point at velocity HMv_outType A Method 7: Movement to the index pulse. Method 23: Movement to distance from switching point.Type B Method 8: Movement to the index pulse.Method 24: Mov

10、ement to distance from switching point.Type C Method 9: Movement to the index pulse.Method 25: Movement to distance from switching point.Type D Method 10: Movement to the index pulse.Method 26: Movement to distance from switching point.Operating modesMotion Sequence Mode (LXM32 M only)Motion Sequenc

11、e Mode with 128 data sets (records)Operating modesMotion Sequence Mode (LXM32 M only)Starting a data set A data set can be started in 2 different ways:Start of a single data setThis option starts a single data set. No subsequent data set is started after completion of the data set. If several data s

12、ets are started individually, a master controller (for example, a PLC) is responsible for timing the process.Start of a sequence (several data sets in a row)A sequence is started with the selected data set. Upon successful completion of the data set and if the transition condition is met, the subseq

13、uent data set in the sequence is started. The product controls the timing between the individual data sets.Lex32ALex32MLex32COperating modesMotion Sequence Mode (LXM32 M only)The following data set types are available: Move Absolute Move Relative Move Additive Move Velocity Reference Movement Positi

14、on Setting Repeat Gear Write ParameterLex32ALex32MLex32COperating modesMotion Sequence Mode (LXM32 M only)Data set type: Move AbsoluteAcceleration,Velocity,Absolute Position,Deceleration No transition Abort And Go Next Buffer And Start Next Blending Previous Blending NextNOTE: Transition “Blending P

15、revious” and “Blending Next” is only possible in this data set typeOperating modesMotion Sequence Mode (LXM32 M only)Data set type: Move Relative No transition Abort And Go Next Buffer And Start NextAcceleration,Velocity,Relative Position,DecelerationOperating modesMotion Sequence Mode (LXM32 M only

16、)Data set type: Move Additive No transition Abort And Go Next Buffer And Start NextAcceleration,Velocity,Relative Position,DecelerationOperating modesMotion Sequence Mode (LXM32 M only)Data set type: Move Velocity Abort And Go NextAcceleration,Velocity,Direction,DecelerationOperating modesMotion Seq

17、uence Mode (LXM32 M only)Data set type: Reference MovementMovement parameter No transition Buffer And Start NextOperating modesMotion Sequence Mode (LXM32 M only)Data set type: Position SettingPosition value No transition Buffer And Start NextOperating modesMotion Sequence Mode (LXM32 M only)Data se

18、t type: RepeatParameter No transition Buffer And Start NextOperating modesMotion Sequence Mode (LXM32 M only)Data set type: GearParameter Abort and go nextOperating modesMotion Sequence Mode (LXM32 M only)Data set type: Write ParameterParameter No transition Buffer and start nextOperating modesMotio

19、n Sequence Mode (LXM32 M only)Transition type No TransitionNo further data set is started. Abort And Go NextIf the transition condition is met, the current movement is aborted and the subsequent data set started. Transition condition 1 is considered for the transition. Buffer And Start NextUpon succ

20、essful completion of the movement and if the transition condition is met, the subsequent data set is started. Transition condition 1 and transition condition 2 are considered for the transition. Blending Previous / Blending Next (data set type Move Absolute only)The velocity is adapted to the veloci

21、ty of the subsequent data set until the target position is reached or when it has been reached. The transition is performed without consideration of a transition condition.Operating modesElectronic Gear ModeThe resulting positioning path depends on the current motor resolution. Itamounts to 131072 m

22、otor increments per revolution.Lex32CLex32MLex32A3 different modes are available1 / Position Synchronization Immediate: without compensation movement2 / Position Synchronization Compensated: with compensation movement3 / Velocity Synchronization:Motor increments (131072)Reference incrementsGear rati

23、o =Gear ratio numeratorGear ratio denominator=Calculation of the GearRatioOperating modesElectronic Gear ModeMaster / LXM32Slave / LXM32Slave / LXM32Master /A/B - EncoderOperating modesSpeed Gear Mode (Velocity synchronization)Speed control, current controlPosition control loop is inactive !Operatin

24、g modesPosition Gear Mode (without compensation movement)Position control, Speed control, current controlPosition Offset via digital input or fieldbusDistance, velocity, rampOperating modesPosition Gear Mode (with compensation movement)Position control, Speed control, current controlfunctionsPositio

25、n registerSwitching a fast output depending on the motor position.4 Position registers and 4 outputs are available PositionfunctionsPosition registerDefine the digital outputs for the position registerSelect the position source (Encoder1 or Encoder2)Select the mode for the position register0 / Pact

26、greater equal A: Current position is greater than or equal to comparison value A1 / Pact less equal A: Current position is less than or equal to comparison value A2 / Pact in A-B (basic): Current position is in the range A-B including limits (basic) 3 / Pact out A-B (basic): Current position is out

27、of the range A-B excluding limits (basic)4 / Pact in A-B (extended): Current position is in the range A-B including limits (extended)5 / Pact out A-B (extended): Current position is out of the range A-B excluding limits (extended)Set the position value A and BStart / stop the position register0 / Of

28、f (keep last state): Position Register is off, status bit keeps last state1 / On: Position Register channel 1 is on2 / Off (set state 0): Position Register channel 1 is off, status bit is set to 03 / Off (set state 1): Position Register channel 1 is off, status bit is set to 1functionsPosition regis

29、terParameter overview:functionsmodulo axisThis modulo function is very useful for rotary table applications, infinite axis in order to avoid position overflow inside the drive.With axis type Modulo parameters for setpoint position and actual motor position will deliver the corresponding modulo posit

30、ion values.functionsmodulo axisEnable the modulo functionSet the modulo position rangeDefine the direction for absolute movementsDefine if multi revolutions are allowedfunctionsmodulo axisExample multiple modulo range: Modulo range Minimum position: 0 usr_p Maximum position: 3600 usr_p Actual positi

31、on: 700 usr_p Target positions absolute: 5000 usr_pWithout multiple modulo rangeWith multiple modulo rangefunctionsSimulation of absolute position”SimAbsolutePos”: Simulation ON saves at power off all relevant position data to reproduce the mechanical position during the next power on.For single tur

32、n encoder the position can be reproduced as long the motor shaft is not moved away more then +/- 0.25 revolutions. (e.g. motor with brake)For multiturn encoder the movement deviation can be much bigger depending ontype of multiturn encoder.machine does not need to be referenced again after a power c

33、ycleSecond encoder module could be used for the simulationfunctionsInput function “Start profile positioning”The input function ”Start Profile positioning” starts a movement in the operating mode “profile Position”.The movement starts with a rising edge on this input. This input writes to Bit 4(New

34、Setpoint) of the “ control” word.Before starting a movement via input function ”Start Profile positioning”, the movement has to be prepared via fieldbus:1: Select operating mode “profile Position”: “ opmode” 6060 = 12: Write the “target position”:“TargetPosition” 607A = xxxxx3: Write to the control

35、word:“ control” 6040 = 0F / 4FEnable drive and prepare “Absolute positioning”Enable drive and prepare “Relative positioning”functionsInput function “Current Limitation” and “Velocity Limitation”The input function “Current Limitation” limit the maximum current to the value set in: parameter “IO_I_lim

36、it”.The input function “Velocity Limitation” limit the velocity to the value set in: parameter “IO_v_limit”. In the operating mode “profile Torque”, the minimum velocity is internally limited to 100 rpm.functionsInput function “Zero clamp”With the input function “Zero clamp” the motor can be stopped

37、, if the velocity is below the parameter value: “MON_v_zeroclamp”.This function is available in the operating modes: “Profile velocity” and “Electronic gear Velocity Synchronization”.If “Zero clamp” is active, the servomotor ignores the reference speed, stops and locks the instant position. (A posit

38、ion loop is formed).functionsScaling (Position, Velocity, Ramp)Lexium 32 supports a position-, velocity-, ramp scaling.Position scaling is the relationship between the number of motor revolutions and the required user-defined units usr_p. Default: 1 motor revolution corresponds to 16384 user-defined

39、 units.Velocity scaling is the relationship between the number of motor revolutions per minute and the required user-defined units usr_v. Default: 1 motor revolution per minute corresponds to 1 user-defined unit.Ramp scaling is the relationship between the change in velocity and the required user-de

40、fined units usr_a. Default: A change of 1 motor revolution per second corresponds to 1 user-defined unit.Default factory settings:functionsShift Multiturn Encoder RangeDefault working range of a multiturn encoder with 4096 revolutions is between 0 4096 revolutions.With parameter “ShiftEncWorkRang” =

41、 1 the working range can be setbetween -2048 2048 revolutions.After changing the setting, the drive has to be rebooted.If a motor with multiturn moves into negative direction, there is an underrun of the absolute position of the multiturn encoder.After switch off an on the actual position of the dri

42、ve no longer correspond to the negative position value.functionsRMAC “Relative Movement After Capture”The input function “RMAC” can be configured on each “On board” - input.The parameterized debouncing time will be ignored for the input function“relative movement after capture”Allow a final relative

43、 movement based on the current position where the capture event occurred. This function is supported with the following operating modes: Profile Torque, Profile velocity, Profile Position, Electronic Gear Motion Sequence in following sub modes : Profile Torque, Profile velocity, Profile Position and

44、 Electronic GearfunctionsRMAC “Relative Movement After Capture”Principle function of “RMAC”:1: positive or negative slope of the input signal2: switch into the operating mode “Profile Position” & start of a relative movement, continue with actual OR specified speed (constant movement)3: ramp down wi

45、th the standard deceleration rampdrive stays in operating mode “Profile Position” New commands can not be started if the function “relative movement after capture” is active. An interruption is only possible: Quick Stop (Software stop, Error occurred) Halt Disable The user has to start a new command

46、 if the function “relative movement after capture” was active. No actions will be done automatically after reaching of the target position.functionsRMAC “Relative Movement After Capture”Input functions:“Activate Relative movement after capture”:input signal (static) for the activation/deactivation o

47、f the function relative movement after capture Command “Relative movement after capture”:relative movement after capture command. edge triggeredActivate default operation mode:Function for the activation of the default operating mode & the reactivation of the default operating mode after a “relative movement after capture”. edge triggeredOutput functions:“Relative movement after capture occured”:Status information that th