1、伦茨伦茨9400中文使用手册中文使用手册2Introduction to L-force 9400 and engineerL-force 9400 和和 engineer 的介绍的介绍9 4 0 0 s e r v o d r i v e s e t - u p w i t h 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 a
2、pplication 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 Back3Modular 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 Back4Interfaces at the power moduleDiagnostic interface诊断接口诊断
3、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 safety technology安全模块插槽安全模块插槽L
4、EDs 指示灯指示灯 Next Back HighLine StateLine: 1 个扩展插槽5LEDs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 in
5、hibited 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 Back6Keypad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 stop keys (configurable) 运行和停止键（可配置）Status field 状态区Notes:注：Diagno
6、stic & 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 Back7Your 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）
7、 Firmware version 01.51.01 （固件版本01.51.01）2x Motor MCS06C41 with resolver 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
8、Actuator speed） Next Back8Exercise 1: Detect the drive status by means of LEDs and keypad 通过指示灯和面板检测驱动器通过指示灯和面板检测驱动器状态状态 Next Back1.Switch on the supply voltages (24 V and 400 V)电源上电2.Make the left drive rotate:运转左侧驱动器RFRController enable (Reglerfreigabe)控制器使能 DI1Deactivation of quick stop 快停取消DI2St
9、art 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.M a k e t h e l o g b o o k b e i n g displayed at the keypad对面板显示进行记录9Start assistant 启动助手启动助手 Next Back10User interface 用户界面用户界面Menu bar菜单栏菜单栏
10、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 Back11Going online 在线连接在线连接Diagnostic adapter 诊断适配器CANEthernet 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 Back12How to go online 如何连接如
11、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 Back13Colour 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y e l l o w = modifiable黄 = 可修改grey yellow = read only土黄 = 只读red = c
12、ommunication error 红 = 通讯错误 Next Back14Exercise 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.Start 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 “Pra
13、ctical 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 drive s t a t u s b y m e a n s o f t h e t a b “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 lo
14、g 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 Back15Solution: Detect the drive status检测驱动器状检测驱动器状态态 Next Back16Applications 应用应用ApplicationApplication = configured function of one device应用 = 单个驱动器配置的功能How can applications be created?How can applicat
15、ions 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2.Create the application completely by yourself (insert “No Application” or just dont insert any application. The empty application can be edited t
16、hen 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 Back17Applications supplied by Lenze伦茨提供的应伦茨提供的应用用are called technology applicationstechnology applications, e. g.我们称作“TATA”，如： Actuator speed 速度 Actuator torque 转矩 Synchronism with mark synchron
17、isation 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 runtime software 应用是实实时软件时软件的一部分use basic drive functionsbasic drive functions 使用基本的驱动功能 ready Next Back18Runtime software 实时软
18、件实时软件L-force runtime softwareruntime 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 online help 文件和在线帮助The usage of runtime software requiresMotion Control licenses, tied to memory modules 实时
19、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 Back19Three ways of processing an application 处理应用的处理应用的3个方法个方法Parameter settingParameter setting参数设定Configuration配置Programming编程: is prepared ready Next Back20Ove
20、rview of the parameter setting surface 参数界面参数界面the same for all applicationsapplication specific ready Next Back21Navigation 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 Back22Parameter 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 Back23Exercise 3: Parameter
21、 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.Save the parameter se
22、t in the drive controller.存储参数5.Go offline. 离线6.Save the engineer project. 存储engineer工程 Next Back24Engineer project 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 Back25Projec
23、t 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Application = designed function of one device应用 = 一个设备设计好的功能Ma
24、chine application = Coaction of several applications机器应用 = 多应用联合Network 网络 Next Back26Typical 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
25、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 Back27Usage 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 Back28Exercise 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,
26、so that it represents the complete training 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 a x e s a n d t h e d r i v e controllers in the project. 对工程中的轴和控制器命名S
27、ave the project. 保存工程 Next Back29Update 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 builds this from the project. This processing includes steps such as consistency checking, setting parameters, and co
28、mpiling 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 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 Back30Transferring the applicatio
29、n to the device将应用传递到设备将应用传递到设备 ready Next Back31Operating 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 signalsPositioning profilesPositioning toolSequence control ready Next Back32Structure of the positioning program定位控制结构定位控制结构Positioning program 定位程序Ac
30、tion 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 Back33Preset positioning program 先设置定位程序先设置定位程序 Next Back34Exercise 5: Start up the positioning se
31、quence 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（无应用信息）并调整制动器控制3.Start the positioning progr
32、am 启动定位控制R F RC o n t r o l l e r e n a b l e ( R e g l e r f r e i g a b e ) 使 能D I 1D e a c t i v a t i o n o f q u i c k s t o p 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
33、序 DI6Start positioning program (sequence control) 启动定位程序（顺序控制）4.Modify program step 3 in a way that the drive covers 5 motor rotations.修改程序第3步使驱动器包含5个人电机旋转 Next Back35The function block editor as a “viewer“功能块编辑器可作为浏览器功能块编辑器可作为浏览器Online diagnostics 在线诊断B e t t e r c o m p r e h e n s i o n o f t h e
34、 applications function 易于应用功能的理解Alternative parameter access 可选择参数通道 Next Back36Usage of the function block editor功能块编辑器的使用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 BackGo to连接至37Block and signal types块和信号类型块和信号类型 Next BackCode / variabl
35、e 代码/变量Port 端口L_function block 功能块LS_system block 系统块Signal type 信号类型信号类型Symbol 符号符号Resolution分辨率分辨率Unit 单位单位Position 位置 / 32 BitrevSpeed 速度rpmScaled signal 比例信号%Acceleration 加速rpm / sTime 时间sStatus word 状态-Not standardised 非标准-Control/status signal 控制/状态信号1 Bit38Exercise 6: Getting to know the func
36、tion block editor 了解功能块编辑器了解功能块编辑器1.Switch to the tab function block e d i t o r 切换到功能块编辑标签(positioning sequence control, online)（位置顺序控制，在线）2.Detect the source of the signal, which makes the yellow UserLED light up. At this block activate the “Online help” and explain the meaning of the signal.检测使黄色
37、UserLED灯亮的信号源，在此功能块激活“在线帮助”来解释信号含义3.S w i t c h t o t h e t a b “ T e r m i n a l assignment”. For the digital output 2 select the signal source “645: Seq. control is active”. Switch back to the function block editor and check the result.切换到 “端子配置”标签，对数字输出2选择信号源“645：顺序控制激活”，回到功能块编辑器并检查结果4.Find the b
38、lock L_PosPositionerTable and open its parameter dialog.找到L_PosPositioner块并打开它的参数会话框 Next Back39The enabled function block editor激活功能块编辑器激活功能块编辑器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 blocks. 删除/插入块Use several tasks 使
39、用多任务 ready Next Back40Exercise 7: Enable function block editor功能块编辑器功能块编辑器1.Go offline and enable the function block editor (Positioning sequence control)离线并打开功能块编辑器（定位顺序控制）2.W h a t i s d i f f e r e n t o n t a b “Application parameters”? 和“应用参数标签”有何不同？3.Supply the signal “Seq. control is active”
40、to digital output 3 which as well activates the UserLED 信号“顺序控制激活 ” 输 出 到 数 字 输 出 3 ， 同 时 也 激 活 用 户 定 义 L E D (L_PosSequencer1.bProgramBusy).4.At the block LS_MotorInterface make all unused outputs invisible, except the signal MI_dnSpeedSetpoint_n.在块LS_MotorInterface中使所有没有用到的输出隐含，但保留信号MI_dnSpeedSetp
41、oint_n Next Back41Solution: Making outputs invisible 使输出隐含使输出隐含 Next Back42Example: Multi axis application 多轴应用多轴应用MasterCAN node 1SlaveCAN node 2Positioning 定位Following 跟随 Next Back43Structure of multi axis applications多轴应用结构多轴应用结构Ports of applications 应用端口Machine application 机械应用Network 网络Compilat
42、ion of the complete project 整个工程编译(update of the devices) Next Back44Ports of applications 应用端口应用端口T a s k : D a t a e x c h a n g e b e t w e e n applications 应用之间的数据交换Ports of the supplied technology applications from the catalogueThe structure of application variables defines what is to be commun
43、icated via the port. ready Next Back45Machine application 机械应用机械应用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 Back46Network 网络网络 defines the
44、participants of the communication 定义参加通讯设备configures the communication parameters of bus devices配置总线设备的通讯参数In the project tree all bus devices of a network have to be in the same or a lower level. 在工程树里，一个网络的所有总线设备必须是相同或更低级别 ready Next Back47Exercise 8: Multi-axis applicationCreation and transmissio
45、n to the slave 创建和传输到从设备创建和传输到从设备1.Insert a CAN network to the automation module “Training structure”. Set the positioning drive as NMT Master.插入一个CAN网络到自动化模块“培训结构”，将定位驱动器设定为主2.Switch to the machine application. Connect the following p o r t s :切 换 到 机 器 应 用 ， 连 接 下 列 端 口3.Start the build process fo
46、r the complete project (activate the option Rebuild all“).启动创建整个工程4.Go online with the slave via diagnostic adapter.通过诊断适配器连接到从设备5.In the tab “Application parameter” modify the signal source for the speed setpoint to “122: Axis port: In2 (32bit)”.在“应用参数”标签里修改速度设定源为“122：轴端口：In2(32位)6.Save the paramet
47、er set in the slave and go offline.保存参数到从设备后离线 Next Back48Exercise 8: Multi axis applicationTransmission to the master 传送到主设备传送到主设备7.Plug the diagnostic adapter on the master and go online 将诊断适配器插到主设备并在线连接8.Switch to the function block editor. Make the connection: 切换到功能块编辑器，连通下面： Next Back49Exercise
48、 8: Multi axis applicationStart of the CAN communication 启动通讯启动通讯9.In the project tree click on the system bus (CAN) and activate a reset node at the master via the context menu. Consider also the LED Can-Run. 在工程树中，点击系统总线（CAN）并通过文本菜单复位主设备10.When both drives rotate continuously tap your partner on h
49、is right shoulder! 当两个驱动器连续运转，轻拍你的同伴右肩以示庆祝 Next Back50Solution: Update of the complete project 整个工程更新整个工程更新1. Mark2. Start Next Back51Solution: Copy the speed setpoint from the port 从端口拷贝速度设定点从端口拷贝速度设定点 Next Back52Solution: Creating a connection with the function block editor 用功能块创建连接用功能块创建连接2. Acce
50、pted message1. Draw a line3. Enable the controller Next Back53Solution: Activate reset node at the master激活主站的复位激活主站的复位 Next Back54Go online via system bus (CAN)通过系统总线的联机通过系统总线的联机C A N p l u g w i t h t e r m i n a t i n g resistor 带终端电阻的CAN插头DIP switch on the memory module 存储模块的DIP开关P a r a m e t e
