1、Welcome!19 January 2007Trainer: Torsten He, Markus Toeberg, Markus Warnecke, Stefan WittePractical introduction: 实用简介实用简介L-force 9400 Servo Drives L-force | Engineer9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis
2、applicationsOnline alternatives2Introduction to L-force 9400 and engineerL-force 9400 和和 engineer 的介绍的介绍9400 servo drive set-up with interfaces 9400伺服的接口设置Parameter setting with Engineer and keypad 通过Engineer 和 操作面板进行参数设定Technology Applications (TA) 技术应用Diagnostics and configuration of the applicati
3、on with the function block editor 使用功能块编辑器的应用配置和诊断Multi axis application with horizontal CAN communication 使用CAN总线通讯的多轴应用 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives3Mo
4、dular 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 Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives4Interfaces at the power modu
5、leDiagnostic interface诊断接口诊断接口Resolver input旋转变压器接口旋转变压器接口Multi encoder input编码器接口编码器接口Analog / digital IOs模拟模拟/数字数字 I/O24 V supply and state bus24V和状态总线和状态总线CAN on board 内置内置CAN2 module receptacles for extensions 2个扩展模块插槽个扩展模块插槽Module receptacle for memory module存储模块插槽存储模块插槽Module receptacle for sa
6、fety technology安全模块插槽安全模块插槽LEDs 指示灯指示灯 Next Back HighLine StateLine: 1 个扩展插槽9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives5LEDs指示灯指示灯CAN ERRORCAN 错误错误DRIVE ERROR驱动器错误驱动器错误USER用户定义用
7、户定义CAN RUNCAN 运行运行DRIVE READY驱动器投入驱动器投入24 VOFF= CAN inactive CAN没激活 = Pre-operational 预操作= 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 appl
8、ication在应用中使用 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives6Keypad面板面板 4 direction keys for navigation 4个方向键用于导航 2 context-sensitive function keys 2个功能键 Run and sto
9、p 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 Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorM
10、ulti axis applicationsOnline alternatives7Your training set-up你的培训设置你的培训设置2x 9400 HighLine Single Drive type 1（2个9400 HighLine 单驱动型1）Extension module Ethernet （扩展模块-以太网）Memory module MM330 （存储模块-MM330）Safety module SM0 （安全模块-SM0）Firmware version 01.51.01 （固件版本01.51.01）2x Motor MCS06C41 with resolver
11、 and tooth wheel（2个伺服电机带旋变和齿型轮）left Z = 72 and 32 （左 Z=72，32）right Z = 60 and 20 （右Z=60，20）Belt 皮带left L = 600 mm; Z = 120 （左L=600mm；Z=120）right L = 535 mm; Z = 107 （右L=535mm；Z=107）Active application: “Actuator speed“ （激活应用 Actuator speed） Next Back9400 Servo DrivesTargetFirst without engineerEngine
12、er with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives8Exercise 1: Detect the drive status by means of LEDs and keypad 通过指示灯和面板检测驱动器状态通过指示灯和面板检测驱动器状态 Next Back1. Switch on the supply voltages (24 V and 400 V)电源上电2. Make the left drive rota
13、te:运转左侧驱动器RFRController enable (Reglerfreigabe)控制器使能 DI1Deactivation of quick stop 快停取消DI2Start 启动AI1% Speed setpoint 速度设定 3. Switch off the 400 V supply voltage 切断400V电源4. Find out the drive status by means of the LEDs and the keypad 通过指示灯和面板观察状态 5. Make the logbook being displayed at the keypad对面板
14、显示进行记录9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives9Start assistant 启动助手启动助手 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructur
15、ed project, further TAFB editorMulti axis applicationsOnline alternatives10User interface 用户界面用户界面Menu bar菜单栏菜单栏Tool bar工具栏工具栏View bar浏览栏浏览栏Project tree工程树工程树Work space工作区工作区Messages and monitor panel信息和监视盘信息和监视盘 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive,
16、 basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives11Going online 在线连接在线连接 Diagnostic adapter 诊断适配器 CAN Ethernet TCP/IP 以太网Point-to-point-connection 点对点点对点连接连接10-pole special cable RJ69 10芯芯RJ69电缆电缆 ready Next Back9400 Servo DrivesTargetFirst without engine
17、erEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives12How to go online 如何连接如何连接1. Select the channel of communication 选择通讯通道2. Start the search for devices 搜索驱动器 3. Confirm the detected device 确认检测到的设备4. Connect 连接 ready Next Bac
18、k9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives13Colour represents online 在线的颜色表示在线的颜色表示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 =
19、communication error 红 = 通讯错误 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives14Exercise 2: Detect the drive status by means of the engineer 通过通过engineer检测驱动器状态检测驱动器状态1. Star
20、t the L-force | Engineer. 启动2. Create a new project by going online via diagnostic adapters and uploading the data from the right drive controller. Name the project “Practical intro“. 创建一个新工程，并通过诊断电缆从右侧的驱动器上载数据，命名为”Practical intro”3. Open the project tree. Click on the drive controller. Evaluate the
21、 drive status by means of the tab “Diagnostics”. 打开工程树，点击控制器，通过“Diagnostics”栏监控驱动器状态4. Adapt the monitor window: Show the “Device utilisation (Ixt)” as a log with a suitable resolution.观察设备利用率“Device utilisation (Ixt)”是否合适5. Save your project. 保存工程 Next Back9400 Servo DrivesTargetFirst without engin
22、eerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives15Solution: Detect the drive status检测驱动器状态检测驱动器状态 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB
23、 editorMulti axis applicationsOnline alternatives16Applications 应用应用Application = configured 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？如何建立应用？Two possible solutions:两个可能的方法：1. 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
24、2. Create the application completely by yourself (insert “No Application” or just dont insert any 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 Back9400 Servo DrivesTargetFirst without engine
25、erEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives17Applications supplied by Lenze伦茨提供的应伦茨提供的应用用 are called technology applications, e. g.我们称作“TA”，如： Actuator speed 速度 Actuator torque 转矩 Synchronism with mark synchronisation DF
26、 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 应用是实时软件实时软件的一部分 use basic drive functions 使用基本的驱动功能 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single dr
27、ive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives18Runtime software 实时软件实时软件 L-force runtime software consists of 实时软件实时软件包括： 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 on
28、line help 文件和在线帮助 The usage of runtime software requiresMotion Control licenses, tied to memory modules 实时软件的使用需要相关存储卡中运动控制许可MC HighLevelMM220MC TopLevelMM330MM110MC StateLevelPLCMM440 : is preparedHardware equipmentgranted license ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer
29、 with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives19Three ways of processing an application 处理应用的处理应用的3个方法个方法Parameter setting参数设定Configuration配置Programming编程: is prepared ready Next Back9400 Servo DrivesTargetFirst without engineerEngin
30、eer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives20Overview of the parameter setting surface 参数界面参数界面the same for all applicationsapplication specific ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single d
31、rive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives21Navigation in the parameter setting surface参数设定界面的导航参数设定界面的导航 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB edit
32、orMulti axis applicationsOnline alternatives22Parameter list 参数列表参数列表Tab标签 Category目录Sub-categories子目录Info area信息区 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives23Ex
33、ercise 3: Parameter setting of application: “Actuator Speed“ 速度应用的参数设定速度应用的参数设定1. Make the speed setpoint come from Analog input 2.速度设定点来自模拟量输入22. Start the “Manual jog” at the handling box: 在操作盒上启动（手动）DI2 = OFF DI6 = ON3. Modify the settings for the “Manual jog” and observe the drive. 改变手动设定并观察驱动器4
34、. Save the parameter set in the drive controller.存储参数5. Go offline. 离线6. Save the engineer project. 存储engineer工程 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives24Engineer p
35、roject describes a real plant 用用Engineer工程来描述一个真实的工厂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 Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB
36、 editorMulti axis applicationsOnline alternatives25Project elements 工程元件工程元件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 元件 = 驱动控制器，电机，I/O系统Device module 设备模块Gearbox 减速箱Appli
37、cation = 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 Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alter
38、natives26Typical structure of a project一个工程的典型结构一个工程的典型结构 Selection in the tree在树中选择 controls menus, icons, tabs 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 Ba
39、ck9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives27Usage of prefabricated applications预制应用的使用预制应用的使用Catalogue目录Project 工程9400MotionControl license ready Next Back9400 Servo DrivesTa
40、rgetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives28Exercise 4: Extend your project 延伸你的工程延伸你的工程Go offline.离线Extend your existing project by suitable elements, so that it represents the complete training
41、 structure with 2 axes.延伸工程完成2轴的结构For the newly inserted drive controller select the technology application “Positioning sequence control” 对新加入的驱动选择“定位顺序控制”应用Give a suitable name to the axes and the drive controllers in the project. 对工程中的轴和控制器命名Save the project. 保存工程 Next Back9400 Servo DrivesTarget
42、First without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives29Update the devices (Build project) 更新设备更新设备Prior to download, the device-specific representation of the project data must be up-to-date. The Engineer build
43、s this from the project. This processing includes steps such as consistency checking, setting parameters, and compiling the application.下载前， 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
44、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 Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives30Transferring the application to the device将应用传递到设
45、备将应用传递到设备 ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives31Operating mode of the positioning sequence control定位顺序控制模式定位顺序控制模式Profile dataProfile numberControl signals
46、Positioning profilesPositioning toolSequence control ready Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternatives32Structure of the positioning program定位控制结构定位控制结构Positioning prog
47、ram 定位程序Action 动作Homing回零Positioning定位Waiting等待Counting计算Positioning profilePositionSpeedAcceleration10010 action types10动作类型1502520Counter计数器101001005050different possible settings不同设定Next step下一步Step 步100 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of T
48、AStructured project, further TAFB editorMulti axis applicationsOnline alternatives33Preset positioning program 先设置定位程序先设置定位程序 Next Back9400 Servo DrivesTargetFirst without engineerEngineer with single drive, basics of TAStructured project, further TAFB editorMulti axis applicationsOnline alternative
49、s34Exercise 5: Start up the positioning sequence control启动定位顺序控制启动定位顺序控制1.Plug the diagnostic adapter to the other drive controller 调试线接到另一驱动器2.Transmit the positioning sequence control to the device (without application information) and adapt the brake control to your training system 传送定位顺序控制至驱动器（无
50、应用信息）并调整制动器控制3. Start the positioning program 启动定位控制RFRController enable (Reglerfreigabe) 使能DI1Deactivation of quick stop 快停取消DI3Positive limit switch of travel range (LOW active) 正限位DI4Negative limit switch of travel range (LOW active) 负限位DI5Reset error and positioning program 复位错误和定位程序 DI6Start po
