產品使用例子ax2000驅動器

AX2000Drive

Overview(概覽)ProductOverviewOperatingModesAnalogvelocitycommandIndexerSERCOSStepanddirectionElectronicgearingPowerandMotorConnectionFaultsandStatusConfigurationStorageServoloopconfigurationSection1ProductOverviewAX-PowerandDimensions

功率及尺寸Widepowerrange1.5-20Afirstrelease40A,75AsecondreleaseGlobalinputvoltage(208-480VAC)CEapprovalwithoutexternalfiltersExternal24VsupplyforlogicfunctionsandI/Oallowspositiontrackingwhen3phasepowerisdisconnectedbysafetyinterlockInternalregen.resistorwithoptionofexternalresistorInternalregenerativeshuntresistorscanbeconnectedinparalleltosharepowerinmulti-axisapplicationsSmallfootprint1.5A,3A,6Aand10A:325mmx70mm10A:325mmx120mmAX-OperatingModes

運行模式SERCOSClassAcompliantwithClassB/CsupportedIDNsAnalog+/-10Vvelocity/currentcommandCurrentlimitVelocityfeedforwardSimulatedencoderoutput:incrementalandSSIStand-aloneindexer180storedmotiontasksAdditional64taskscanbeconfiguredinvolatilememoryviaserialinterfaceTasksareselectablefromI/OorserialinterfaceHomingStepanddirectioninterfaceGearedtoexternalencoderAX-ServoPerformance

伺服性能Alldigitalservo-loopsLoopupdatesTorque:62.5usecVelocity:250usecPosition:250usecLoopparameterssetautomaticallyaftermotorselectedfrompick-listinUnilinkcommissioningsoftwareOscilloscopesimulationfortuningoptimizationafterconnectingtoloadAX-Feedback

反饋方式ResolverResolution:14bitsHyperfaceencoderSingleandmulti-turnResolution:20bitsTurncounter:12bits(4096revolutions)AX-I/O輸入/輸出點AnalogI/O(+/-10Volts)Input1:14bitsInput2:12bitsOutput1,2:10bitsDiscreteI/OInputs(24Vsolidstateopticallyisolated)4generalpurposeplusenableOutputs(24Vsolidstateopticallyisolatedexcludingfault)TwogeneralpurposeOnefaultrelaycontactOnebrakecontrolI/OexpansionoptionInputs(24Vsolidstateopticallyisolated)14fixedfunctionOutputs(24Vsolidstateopticallyisolated)7fixedfunctionAMMotors-ACommonOfferforAM

伺服電機Hightorque-to-inertiasamariumcobaltbrushlessmotors0.4-100NmtorquerangeIP65ratingwithIP67optionDINstandardmountingCE,ULandcULapprovalsResolverandSINCOSencoderoptionsOptionalbrake7motorsarestockitems(seenextslide)IP65ResolverfeedbackNobrakeKeyedshaftSection2OperatingModes運行模式Section2aAnalogVelocityMode模擬速度方式AnalogVelocityCommandMode模擬控制BreakoutBoxCommandandControlSignalsControllerVelocityCommandArchitecture1

速度控制結構1+MotorFB+-ppVderived-PderivedControllerDriveCurrentLimitVelocityCommandPositionFeedback+-pVff++VelocityCommandArchitecture2

速度控制結構2+-pVff+MotorFB+-ppVderived-+PderivedControllerDriveVelocityCommandPositionFeedbackVelocityFeedforwardCommandInputScaling

量程輸入CommandinputsarescaledforthedesiredmaximumspeedwiththehighestpossibleresolutionCaremustbetakenthatthecommandoutputsfromthecontrollerhavethesamescalingfactorCommandInputOffsetandFiltering

偏置及濾波OffsetcanbemanuallyadjustedbyenteringavoltagemagnitudetotrimoutanymotionwhenzerospeediscommandedfromthecontrollerTheLexiumalsooffersanAutoOffsetfeaturewhicheliminatesthemanualstepsAdigitalfilterisavailabletoreducenoisepresentontheanaloginputs.Cautionmustbeexercisedinincreasingthefilteringasthisintroduceadelayintheresponsetotheinputsignal.Thiscancausestabilityproblemsinthepositionloop.SimulatedEncoderOutput

模擬編碼輸出ConfigurableasincrementalencoderorSSI(singleandmultiturn)SSIencodersimulationMatchparameterstocontrollerIncrementalencodersimulationResolutionmustmatchcontrollerTheencodernullcanbeoffsettoassistinhomeswitchplacementBasicDiscreteInterfacetoController

開關量與控制器接口ControllerDriveEnableFaultGroundReferenceMachineOvertravelLimitsResetOptionalDiscreteInterfacetoController

可選接口ControllerDriveIntegralGainOffSelectCurrentLimitRegenPowerExceededTorqueModeCurrent<>ValueITExceeded2PowerStageReadyBusVoltage<>ValueSection2bIndexerMode組合方式IndexerMode1-DiscreteI/OInterface

數(shù)字量I/O接口I/OExpansionBoardControlSignalsControllerIndexerMode2-SerialInterface

串行接口AsciiCommandsonRS232MachineI/OControllerIndexerMode3-Standalone獨立使用I/OExpansionBoardControlSignals32SimpleControlPanelParametersCommontoallIndexes

LinearorrotaryindexesVelocityandaccelerationlimitsInpositionwindowResolutionSoftwarelimitsOutputtriggersonposition<>programmedvalueSettingResolution設定分辨率

Theresolutionparameterrelatesthelinearorrotarymovementoftheloadtomotorrevolutionsviagearboxes,leadscrewsetc.InPositionWindowVelocityTimeInPositionDefininganIndexVelocityRunSpeedTimetatrtdVariableS-CurveProfilesaccelvelocityaccelvelocityS-CurveVariableCreatingIndexSequencesVelocityTimeImmediateDwellInputIndex1Index4Index2Index3BlendingIndexesVelocityTimeTransitionDwellIndex1Index4Index2Index3TransitionHomingandJogMode

尋原點和點動6HomingoptionsSpecifyseek-speed,directionandaccel/deccelDefineHomeOffsetDefineJogSpeed(negativesignchangesdirection)On-lineinitiationofhomingandjoggingHomeSwitchPlacement

原點開關放置

Ifthehomeswitchistooclosetothefeedbacknull,itispossibletomissthenullandrotateawholerevolutiontothenextnullTheswitchshouldnotinactive,45degreeseachsideofthenull45-315degreesI/OExpansionCard

擴展卡14dedicatedinputs8moveselectlines(move0ishomingsequence)Startselectedmove(risingedgestarts,fallingedgeholds)ContinuemoveheldbyfallingedgeonStartHomelimitswitch(reference)ClearfollowingerrorfaultStartjoginprogrammeddirectionatprogrammedspeedStartnexttaskinsequenceifdefinedastriggeredbyI/Otransition7dedicatedoutputs4positionregister(transitionon<>definedpositionorsoftwarelimit)FollowingerrorfaultInpositionInposition(sequence)Section2cSERCOSMode網絡方式SercosModeSERCOSRingControllerSERCOSArchitecturePositionCommand+-pVff++-ppVderived-+PderivedDrivePositionFeedbackConfiguringSERCOS

Configurethebaudrateandfiberopticcablelength(fiberopticdriversareoptimizedforcablelength)TheSERCOSaddresscanbeconfiguredunderBasicSetuporviatheup/downarrowkeysonthefrontpanelSERCOSDiscreteI/OSERCOSDriveOvertravelLimitHomeSwitchPositionRegisterFaultPositionRegisterOvertravelLimitProbeSERCOSAnalogI/OSERCOSDriveAnalogInput1AnalogInput2Homing尋原點

HomingislimitedtoonemodeZeroreferenceisdefinedbyHomeswitchandfeedbacknull.Section2dStep/Direction,EncoderTrackingMode編碼跟隨方式StepandDirectionModeOpenLoopStepandDirectionControllerEncoderTrackingModeGearedMotorEncoderInductionMotorElectronicGearing+-pVff++-ppVderived-+PderivedDriveGearPositionFeedbackPositionCommandSection3Power/MotorConnectionSingleAxis,InternalRegenPowerConnectionAX200024VFusesContactorSingleAxis,ExternalRegenPowerConnectionAX200024VFusesContactorMultiAxis,InternalRegenPowerConnectionAX200024VFusesContactorAX2000AX2000BusBusMotorConnectionAX200024VFusesContactorChokeMotorBrakeBrakeTimingEnableInputSpeedBrakeOutputEnablePowerSectionEmergencyStop-PreferredAX200024VFusesContactorMotor3PhaseContactorDynamicBrakingResistorsEmergencyStop-AlternativeAX200024VFusesContactorMotorEnableContactorEnableMotorFeedbackOptionsEncoderResolverMotorOvertemperatureAX200024VFusesContactorMotorFeedbackandOvertemperaturePowerMotorMSET

Inabrushlessservomotorsystem,itisnecessarytoknowtherelativepositionofthefeedbackdeviceandthemotorpolessothatthemotorcanbecommutatedAMmotorsandassociatedfeedbackdevicesarealignedinthefactory.TherelativepositionoffeedbackdeviceandmotorpolesisexpressedasadefaultfeedbackoffsetinthedriveNoMSETisrequiredforAMmotorsAthirdpartymotormustbeMSETSection4FaultsandStatus錯誤及指示WarningsandErrors

WarningsGeneratedwhenanon-fatalfaultoccursDrivestaysenabledwithfaultrelaycontactclosedSomenon-fatalfaultsresultinacontrolledshutdown(rampdowntozerospeed)butwithdrivestillenabledErrorsDriveisdisabledandfaultrelayopensFaultscanbeclearedbyapowercycleorreset(fromDriveorviapre-configuredinput)DriveStatus

AcompletestatusofinternaldrivevariablescanbeaccessedviatheMonitoricononthemainscreenMotioninformation:position,speed,followingerrorInternaltemperatureRegenpowerAnaloginputsCurrentandbusvoltageAnalogOutputDiagnostics/Status

Internalservoloopvariablescanbemadeavailableoneitheranalogoutputasa+/-10VsignalActualvelocityCommandedveocityActualcurrentCommandedcurrentFollowingerrorDiscreteOutputDiagnostics/Status

DiscreteoutputscanbeconfiguredtoprovidestatusVelocity<>presetvalueCurrent<>presetvalueContinuouscurrentratingexceededBusvoltage<>presetvalueRegenpowerdissipationexceededAnyerror,followingerrororwarningTheon/offstatusofdiscreteinputsandoutputsontheI/OexpansioncardaredisplayedinDriveSection5ConfigurationStorage組態(tài)儲存InternalMemoryWorkingMemoryNonVolatileDefaultsFileStorage

DriveconfigurationscanbestoredonaPCusingtheDrivebrowserAfilecanbeloadedfromdiskandmodifiedoff-linebeforedownloadingtothedriveSection6Tuning運行TheStepResponseHowacontrollooprespondstoasmallstepchangeisagoodindicatorofhowwellthesystemhasbeentunedTherise-time(tr)isshorterifthebandwidthishighThehighertheproportionalgainthehigherthebandwidthTheredcurveshowssomeringingandindicatesthatwearestartingtoseesomephaseshift.ThegreencurveshowsacriticallydampedcontrolloopwithclosetotheidealresponseInpracticeasmallamountofringingisacceptablesincetherise-timeisalittleshorteri.e.fasterresponseTimeActualVelocityRingingTrTuning-TheGoldenRulesCommandtheSystemtoDoOnlyWhatitisCapableofIfthemotoranddriveisincorrectlysizedforthedesiredmotionprofilenoamountoftuningwillyieldthedesiredresultsTuneInsideOutItisessentialtotunetheinnerloopsfirst.Acommonmistakeistohavealowbandwidth,poorlytunedvelocityloopthentrytotunethepositionloop.ThepositionloopcanneverbeproperlytunedbecauseofthephaseshiftintheinnerloopProperGroundingandShieldingGreatcaremustbetakeninfollowingthegroundingandshieldingproceduresintheinstallationmanual.Ifthereisexcessivesystemnoisethesystemmustbedetuned(lowbandwidth)sothatitisnotexcitedbyhighfrequencynoiseRobustMechanicalDesignEnsurethatthereisminimumflexibilityinthemechanicalsystemandthatcouplingsaretight.Withoutagoodmechanicaldesign,resonanceswillbeintroducedwhichagainforcesystemdetuningVelocityControlArchitecture++-P+IP+IVderived-PderivedPositionFeedbackProportionalPlusIntegralVelocityLoopPositionControlArchitecture+-P+IVff++-PP+IVderived-+PderivedPositionFeedbackProportionalVelocityLoopOscilloscopeTimeVelocityOscilloscopeOperatingModes

Reversing-stepchangeinvelocityConstantspeedConstanttorqueConstantcurrentTheCurrentLoopThecurrentloopisconfiguredautomaticallywhenthemotorisselected.Itisusuallynotne