1、Basic Training : 基本培训,L-force 9400 Servo Drives,2,Introduction to L-force 9400 and engineer L-force 9400 和 engineer 的介绍,9400 servo drive basic introduction9400伺服基本介绍 L-force Engineer software introductionEngineer 软件介绍 Technology Applications (TA)技术应用, Next Back,3,System overview系统总览, next back,4,940
2、0 servo drive system at a glance 9400伺服驱动系统概览,Innovative 创新 a completely new concept in installation全新的安装方式 Tailor-made 定制系统 modular architecture 模块化结构 Safety 安全功能 - simply integrated 易于集成, Next Back,5,Innovative a completely new concept in installation 创新全新的安装方式,Easy installation and high system av
3、ailability thanks to innovative design technology 全新的安装理念，更易于安装、提供系统可用性 Separation of mounting base and drive electronics 安装底座和驱动装置分离 A pluggable memory module contains all the data relevant for the application可插式存储模块中记录下系统的所有数据信息 Rapid servicing and maintenance, since no tools are required维修和维护方便快捷
4、，无需额外工具 Compact, space-saving design 结构紧凑、节省使用空间, Next Back,Mounting base up to 11 kW 安装底座功率达11kW,6,Modular set-up ( 11 kW),Mounting base安装底板 Power module功率模块 Extension module扩展模块Accessories附件, Next Back,7,Innovative a completely new concept in installation 创新全新的安装方式,Single shield 单屏蔽端口,Motor connec
5、tion 电机连接端口,Brake resistor connection (single drive) 制动电阻端口（单轴驱动）,Integrable motor brake module 内置电机制动模块,Configuration of isolated-neutral systems 中性点绝缘配置端口,Mains connection 电源连接端,Integrated DC busbar 内置直流母线端口,DC fuse 直流熔断器端口, Film Next Back,8,Design with mounting base 带背板的设计数据0.37 15 kW, next back,
6、Multi Drive多轴 DC 260775 V 0 % Single Drive单轴 3 x AC 180550 V 0 % DC 260775 V 0 % integrated brake transistor制动晶体管 EMC filter (class C2)EMC滤波器,9,Design设计数据 15 200 kW, 45 kW,Single Drive单轴 3 x AC 180 (342 )550 V 0 % DC 260 (480 )777 V 0 % integrated brake transistor制动晶体管 EMC filter (class C2)EMC滤波器, n
7、ext back,10,Interfaces at the power module,Diagnostic interface 诊断接口,Resolver input 旋转变压器接口,Multi encoder input 编码器接口,Analog / digital IOs 模拟/数字 I/O,24 V supply and state bus 24V和状态总线,CAN on board 内置CAN,2 module receptacles for extensions 2个扩展模块插槽,Module receptacle for memory module 存储模块插槽,Module re
8、ceptacle for safety technology 安全模块插槽,LEDs 指示灯, Next Back, HighLine StateLine: 1 个扩展插槽,11,Available device modules应用模块,ready next back,Communication modules通讯模块 Ethernet Ethernet Powerlink (MN + CN) Profibus DP-V0+1 CANopen (DS 301) Extension modules扩展模块 Digital frequency数频 Safety modules安全模块 SM 0 S
9、M 100 (STO) SM 300 (STO & SS1 with ProfiSafe) SM 301 V1.0 (extended functionality with safe supervision of the velocity with SinCos encoder)（带有正余旋编码器的安全监控的外部功能）,12,LEDs 指示灯,CAN ERROR CAN 错误,DRIVE ERROR 驱动器错误,USER 用户定义,CAN RUN CAN 运行,DRIVE READY 驱动器投入,24 V,OFF = CAN inactiveCAN没激活 = Pre-operational 预
10、操作= Operational操作,= Bus warning 总线报警= Bus off总线关闭,OFF = Pulse inhibit due to an error 由于错误而禁止= Controller inhibited 控制器禁止= Controller enabled控制器使能,OFF = OK = Error status错误状态= System error系统错误,Applicable in the application 在应用中使用,ready Next Back,13,Complete: from simple to complex 完整性：从简单到复杂,High-pe
11、rformance motor control 高性能电机控制 Field-based servo control for synchronous and asynchronous machines 同步/异步电机现场伺服控制 Sensorless operating modes in preparation 无传感运行模式在筹备中 Cycle times 运行周期 Current/torque control 62.5 s 电流/转矩控制 Speed and position control 250 s 速度/位置控制 Fastest application task 最快运行速度 High
12、Line: 1 ms StateLine: 500 s Word widths 字节宽度 All signals 32 bit 所有信号字节为32 bit, Next Back,14,Complete: from simple to complex 完整性：从简单到复杂,Performance-enhancing functions 加强性能 Motor model supported by electronic nameplate 电机电子铭牌 Band stop filters 带阻滤波器 Inverter fault compensation 变频器误差补偿 Pre-control va
13、lues for speed and torque 速度/转矩预控制值 Inverter switching frequencies 变频器转换频率 1, 2, 4, 8, 16 kHz (choice depends on power rating 频率与功率相关), Next Back,15,Communicative on all channels 所有信道通讯,CANopen system bus included (HighLine) 内置CANopen系统总线(HighLine) Choice of fieldbus allows use throughout the world
14、可选用多种现场总线 PROFIBUS (HighLine) CANopen (HighLine & StateLine) others in preparation 其他总线在筹备中 Ethernet in the drive 控制器中的以太网 Ethernet (HighLine) 以太网 ETHERNET Powerlink ensures realtime capability* 确保实时控制 Remote maintenance to drive level 控制器远程维护, Next Back,*-in preparation 筹备中,16,Keypad 面板,4 direction
15、 keys for navigation4个方向键用于导航 2 context-sensitive function keys 2个功能键 Run and stop keys (configurable)运行和停止键（可配置） Status field状态区Notes: 注： Diagnostic & parameter setting only仅用于诊断和参数设定 Application is stored in the memory module应用存储在存储模块中,ready Next Back,17,Various data stores (memory locations) 多种数据
16、存储(存储单元),Firmware,Main memory, etc. 固件,Engineer project 工程项目,ready Next Back,18,Product information产品信息,Flyer彩页 Product presentation产品介绍 System overview系统一览Catalog手册 Selection and order选型及采购, next back,19,Technical documentation Servo Drives 9400技术文件,Mounting instruction 安装说明 Safety instructions安全说明
17、 Preparation of the commissioning: Mounting & Wiring (Quick start)试运转准备安装及接线(快速) Manual手册 Additions to the Mounting Instruction, e. g配合安装说明. Technical data技术数据 Features and functions of the hardware特点及功能 Use cases 应用案例, next back,L-force Engineer introduction : L-force Engineer 软件介绍,L-force 9400 Ser
18、vo Drives,21,Runtime software 实时软件,L-force runtime software consists of 实时软件包括： Function block libraries 功能块库 Technology applications 技术应用（TA） Operating and application dialogs 操作和应用会话 Documentation and online help 文件和在线帮助 The usage of runtime software requires Motion Control licenses, tied to memor
19、y modules 实时软件的使用需要相关存储卡中运动控制许可,MC TopLevel,MM330,Hardware equipment,granted license,ready Next Back,22,Engineer project describes a real plant 用Engineer工程来描述一个真实的工厂,Clear structure 清晰的结构 Device-independent information单独的设备信息 Online with several devices simultaneously 同时多个设备在线, Next Back,23,Going on
20、line 在线连接,Diagnostic adapter 诊断适配器 CAN Ethernet TCP/IP 以太网,Point-to-point-connection 点对点连接,10-pole special cable RJ69 10芯RJ69电缆,ready Next Back,24,How to go online 如何连接,Select the channel of communication 选择通讯通道 Start the search for devices 搜索驱动器 Confirm the detected device 确认检测到的设备 Connect 连接,ready
21、 Next Back,25,User interface 用户界面,Menu bar 菜单栏,Tool bar 工具栏,View bar 浏览栏,Project tree 工程树,Work space 工作区,Messages and monitor panel 信息和监视盘,ready Next Back,26,Colour represents online 在线的颜色表示,Value in the work space:工作区的颜色 yellow = modifiable 黄 = 可修改 grey yellow = read only 土黄 = 只读 red = communicatio
22、n error 红 = 通讯错误, Next Back,27,Overview of the parameter setting surface 参数界面,ready Next Back,28,Navigation in the parameter setting surface 参数设定界面的导航,ready Next Back,29,Parameter list 参数列表,Tab 标签 Category 目录 Sub- categories 子目录 Info area 信息区,ready Next Back,30,The function block editor as a “viewer
23、“ 功能块编辑器可作为浏览器,Online diagnostics 在线诊断 Better comprehension of the applications function 易于应用功能的理解 Alternative parameter access 可选择参数通道, Next Back,31,Usage of the function block editor 功能块编辑器的使用,Free text search 文字搜索,Enlarge the operating range 放大操作范围,Help / Parameter dialog 帮助/参数会话,ready Next Back,
24、Go to 连接至,32,Block and signal types块和信号类型, Next Back,Code / variable 代码/变量,Port 端口,L_function block 功能块,LS_system block 系统块,33,The enabled function block editor 激活功能块编辑器,New possibilities: 还可以做： Delete / draw lines.删除/拖拽连线 Make inputs and outputs invisible / visible.使输入和输出隐藏/可见 Delete / insert block
25、s. 删除/插入块 Use several tasks 使用多任务,ready Next Back,Technical Application : 技术应用 - multi-axis application & communication introduction 多轴应用及 通讯介绍 - Positioning process application定位顺序应用 - electric shaft & synchronous application电子轴及同步应用,L-force 9400 Servo Drives,35,Applications 应用,Application = config
26、ured function of one device 应用 = 单个驱动器配置的功能 How can applications be created?如何建立应用？ Two possible solutions:两个可能的方法： Modify or extend a prefabricated technology application supplied by Lenze 修改和扩展伦茨预先提供的技术应用 Create the application completely by yourself (insert “No Application” or just dont insert an
27、y application. The empty application can be edited then within the function block editor) 完全由用户自己创建（插入“No Application” 或不插入任何应用，可以用功能块编辑器在空应用上编辑）,ready Next Back,36,Applications supplied by Lenze伦茨提供的应用,are called technology applications, e. g.我们称作“TA”，如： Actuator speed 速度 Actuator torque 转矩 Synchro
28、nism with mark synchronisation DF or MotionBus 数频或运动总线的同步 Electronic gearbox DF or MotionBus 数频或运动总线的电子齿轮 Table positioning 表格定位 Positioning sequence control 定位顺序控制 are part of the runtime software 应用是实时软件的一部分 use basic drive functions 使用基本的驱动功能,ready Next Back,37,Three ways of processing an applica
29、tion 处理应用的3个方法,Parameter setting 参数设定,Configuration 配置,Programming 编程,: is prepared,ready Next Back,38,Project elements 工程元件,Automation module = general container for any structure 自动化模块 = 任何结构的总容器 Axis = special container for one drive 轴 = 单个驱动器的特殊容器 Component = drive controller, motor, I/O system
30、元件 = 驱动控制器，电机，I/O系统 Device module 设备模块 Gearbox 减速箱 Application = designed function of one device 应用 = 一个设备设计好的功能 Machine application = Coaction of several applications 机器应用 = 多应用联合 Network 网络, Next Back,39,Typical structure of a project 一个工程的典型结构,Selection in the tree在树中选择 controls menus, icons, tab
31、s 控制菜单，图标，标签 defines the element affected by user input 定义用户输入激活的元件 Structure 结构 Modular design 模块设计 Networks can contain elements of the same or a lower level only 网络可以包含相同的或者更低级元件, Next Back,40,Usage of prefabricated applications 预制应用的使用,Catalogue目录,Project 工程,9400MotionControl license,ready Next
32、Back,41,Update the devices (Build project) 更新设备,Prior to download, the device-specific representation of the project data must be up-to-date. The Engineer builds this from the project. This processing includes steps such as consistency checking, setting parameters, and compiling the application.下载前，
33、 Engineer创建设备细节更新，这个处理包括连贯性检查，设定参数和编译应用 The user can start the processing at any time by clicking on .通过点击 ，用户可以在任何时间开始处理。 When going online, he will be prompted to do so, provided that this has not happened yet. 当在线连接时，如果还没有处理，会提示你这样做, Next Back,42,Transferring the application to the device 将应用传递到设
34、备,ready Next Back,43,Multi axis application introduction 多轴应用介绍,Master CAN node 1,Slave CAN node 2,Positioning 定位,Following 跟随, Next Back,44,Structure of multi axis applications 多轴应用结构,Ports of applications 应用端口 Machine application 机械应用 Network 网络 Compilation of the complete project 整个工程编译 (update o
35、f the devices), Next Back,45,Ports of applications 应用端口,Task: Data exchange between applications 应用之间的数据交换,Ports of the supplied technology applications from the catalogue,The structure of application variables defines what is to be communicated via the port.,ready Next Back,46,Machine application 机
36、械应用,By interconnecting several applications to one machine application information can be exchanged between independent devices.通过将几个应用互联到一个机器上，各独立设备的信息可以相互交换,Proper connection of the ports 适当的多口连接,ready Next Back,47,Network 网络,defines the participants of the communication 定义参加通讯设备 configures the co
37、mmunication parameters of bus devices配置总线设备的通讯参数,ready Next Back,48,Solution: Update of the complete project 整个工程更新,1. Mark,2. Start, Next Back,49,Solution: Copy the speed setpoint from the port 从端口拷贝速度设定点, Next Back,50,Solution: Creating a connection with the function block editor 用功能块创建连接,2. Accep
38、ted message,1. Draw a line,3. Enable the controller, Next Back,51,Go online via system bus (CAN) 通过系统总线的联机,CAN plug with terminating resistor 带终端电阻的CAN插头 DIP switch on the memory module 存储模块的DIP开关 Parameter channel 1 参数通道1, Next Back,52,Go online via Ethernet TCP/IP 通过以太网联机,Extension module Ethernet
39、扩展以太网模块 Establishment of a TCP/IP network, e. g.: 网络建立 Patch or Crossover cable 转接或交叉电缆 Hub /switch 集线器/交换机 LAN 局域网 Setting a suitable address in the 9400 设定合适的地址,TCP/IP network, Next Back,53,Comparison: 比较：,Fast 快速,Simple 简单,Expandable 扩展,Transmission speed bit/s 传输速度,Connection and setting 连接和设定,P
40、articipants, length 站数，长度,Diagnostic,Ethernet,3M,100K,CAN,1,128,1:1 connection,TCP/IP know- ledge,1M,5.5K,100M,100K,LAN Internet,effective for file transfer 文件传输 Nominal 标称, Next Back,54,Solution: Machine view in the engineer 在engineer中浏览, Next Back,55,positioning sequence control Introduction 定位顺序控
41、制介绍,ready Next Back,Applications for the Positioning sequence control 定位顺序控制的应用,General application for the controlled processing of time-dependent travel profiles: 一般应用于与时间相关的运动轮廓的控制过程：, Next Back,Timed handling equipment 时间处理装置 Rotary distributors 旋转分配器 Dosing pumps, filling systems 计量泵，灌装系统 Stop
42、adjustment 停止调整 Barriers 安全栅栏 Roller doors and sliding doors 辊道门和滑动门 Hoists 提升机械,Features of the Positioning sequence control 定位顺序控制的特性,Point-to-point positioning 点对点定位 Limited, unlimited or modulo traversing ranges 限位，非限位或模数转换范围 Positioning in various modes 多种定位方式 Absolute 绝对定位 Relative 相对定位 in com
43、bination with Touch Probe (residual path positioning) 探针组合定位（剩余路径定位） by the shortest route (rotary table) 最短路径方式（旋转台） Configurable sequence control with up to 100 individual steps: 最多有100步可组态的顺序控制： positioning, counting, waiting, branching, switching, etc. 定位，计数，等待，分支，开关转换等 Standard positioning feat
44、ures: 标准定位特性 override, overchange, teach, jerk reduction 超控，过度改变，示教，急减速, Next Back,58,Structure of the positioning program 定位控制结构,Positioning program 定位程序,Action 动作,Homing 回零,Positioning 定位,Waiting 等待,Counting 计算,Positioning profile,Position,Speed,Acceleration,100,10 action types 10动作类型,1,50,25,20,C
45、ounter计数器,10,100,100,50,50,different possible settings 不同设定,Next step 下一步,Step 步,100, Next Back,59,Preset positioning program 先设置定位程序, Next Back,Positioning basic function: 定位的基本功能 Who services the LS_Positioner LS_定位控制器怎样工作,ready Next Back,Positioning sequence control 定位顺序控制器 Contents of the sequen
46、ce table 顺序表的内容,Act. number + Act.type 作用号作用类型,Action parameter 作用参数,Output 2 输出 2,Output 1 输出 1,none,None 无 (basic function基本功能),Comment 说明,Profile number,Input 输入,Sequence step number,Profile 1,Profile 2,Profile 3,Profile 4,Mode,Position,Speed,Acceleration,Delay,ready Next Back,Comment 说明,Waiting
47、time 等待时间,Input 输入,顺序步号,Parameter setting dialogues for the Positioning sequence control & Definition of the program flow 用来定位顺序控制和定义程序流的参数设置对话框, Next Back,Parameter setting dialogues for the Positioning sequence control & Short setup 用来定位顺序控制和快速设置的参数设置对话框, Next Back,Terminal assignment for the Posi
48、tioning sequence control (default setting) 用来定位顺序控制（默认设置）的端子分配, Next Back,AIN1 Setpoint speed override 设定值速度超越AIN2 Setpoint acceleration override设定加速度超越,RFR Controller enable via terminal 端子使能 DI1 Deactivate quick stop 快停无效 DI2 Home mark 原位标记 DI3 Limit switch positive 正向限位开关 DI4 Limit switch negative 负向限位开关 DI5 Reset error / Reset sequence control DI6 Start sequence control 启动顺序控制 DI7 Pause sequence control 暂停顺序控制 DI8 Input 8 sequence control / Input for Touch Probe sensor 输入8顺序控制 / 用于探针传感器输入,
