瑞士瑞诺紧凑型交流伺服驱动器 PAC系列使用手册下载（英文）.pdf瑞士瑞诺紧凑型交流伺服驱动器

文件名称: 瑞士瑞诺紧凑型交流伺服驱动器 PAC系列使用手册下载（英文）.pdf

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详细说明：瑞士瑞诺紧凑型交流伺服驱动器 PAC系列使用手册下载（英文）pdf,瑞士瑞诺紧凑型交流伺服驱动器 PAC系列使用手册下载（英文）XtrapulsPac-User Guide CINFRANOR Contents Contents Chapter1- General Description…… 1- INTRODUCTION 2-Architecture Chapter 2-Commissioning 2. 1-PC Software Installation 2.2 -Starting the software 344566889 2.3- Drive communication 2. 4-Parameter Setting.. 2.4. 1- Configuration of the motor 2. 4.2- Position sensor 12 2.4.3- Servo loops adjustement 14 2. 4.- Quick test of the servo drive 17 246· Logic Inputs 18 19 2.5-Drive parameter Saving 20 2.6-Oscilloscope 2.7-Dialog terminal.............. 20 Chapter 3- Reference 3.1-CanOpen Communication......... 3.1.1-Communication objects 22 3.1.2-Network Initialisation 3.2-Device Profile 38 3.2.1- Device Control 3.2.2· Drive Parameters∴… 3.2.3 Operation Modes 3.2.4. Application Feature. 108 3.2.5- Maintenance 3.3- Object List Contents Xtrapuls Pac- User Guide CINFRANOR Chapter 1-General Description 1.1-INTRODUCTION xtrapulsPac all-digital drives with sinusoidal PWm control are servo drives that provide the control of brushless AC motors with position sensor. The standard control inferface can be CANopen EtherCAT analog stepper motor emulation gIC But the Xtrapuls Pac range also offers more sophisticated functions such as DS402 including position capture Master/slave and camming Positioner with motion sequencing All versions are delivered as standard with the integrated protection function Safe torque Off STO SIL 2 With its very small dimensions the xtrapuls Pac is a single-axis stand-alone module that includes power supply nd mains filtres. It is available in 230 Vac single-phase and particularly suited to low power applications from 0.5 kW to 3 kw Series xtrapuls Pac drives are fully configurable in order to fit various applications. Both drive versions of the Xtrapuls Pac range are described below The Xtrapuls Pac version with CANopen interface can be used in the following application types Axes controlled by CANopen fieldbus according to the DS402 protocol Stand-alone operation as a motion sequencer with control by means of logic I/Os, Traditional analog speed amplifier with +/-10V command and position output by A, B, Z encoder signal emulation Stepper motor emulation with PULSE and DIR command signals The XtrapulsPac version with EtherCAt interface can be used in the following application types: Axes controlled by Ethercat fieldbus according to the dS402 protocol Stand-alone operation as a motion sequencer with control by means of logic l'Os The configuration and parametrization software tool Gem Drive Studio allows a quick configuration of the xtrapulsPac drives according to the application requirements In this manual, we will use the generic and standard vocabulary to describe these variables the variables are specified as "parameters"from the communication side Each parameter is identified by an Index number and a sub-index number a Name Each parameter has the following properties Access type: it is possible to read it, to write it ..."ro""means"read only","rw"means"read write Length: byte, word(16 bit), long(32 bit) Possibility or not to access the parameter by using fast communication CANopen services( Process Data object service PDo). If yes, the field "PDO mapping " of the object dictionary will be yes Convention a numerical field can be filled in with numerical values described as hexadecimal or decimal". an hexadecimal value will be written Oxvalu EtherCaT is a registered trade mark and a patented technology of company Beckhoff Automation gmbH, Germany. Chapter 1-General description Xtrapuls- User Guide CINFRANOR 1.2-ARCHITECTURE XtrapulsPac is a free configurable drive The drive configuration includes servo-loop parameters, motor and sensor parameters, communication parameters and lo configuration parameters. The configuration parameters can be stored into the drive non volatile memory The Xtrapuls Pac drive can be controlled via the fieldbus(CANopen or EtherCAT), via the analog input (analog speed drive), via the PULSE and DIR inputs (stepper emulation), or via the digital l/Os(stand alone positioner according to the selected operation mode The following figure describes the functional architecture of the xtrapulsPac drive Communication bus(CANopen, RS-232.) Communication Standard modes Manufacturer modes Profile Torque Positioner mode Profile velocity Analog Speed Mode Profile position Indexer Mode Interpolated position Position Loop Speed Loop Current Loop Chapter 1- General description Xtrapuls Pac- User Guide CINFRANOR Chapter 2- Commissioning This chapter describes the commissioning procedure of the drive by means of the"Gem Drive Studio"software CAUTION Do not perform the drive parametrization by means of both"Gem Drive Studio"software tool and CANopen bus at the same time 2.1- PC SOFTWARE INSTALLATION The Gem Drive Studio software is Pc compliant under Windows and allows an easy parametrization of the xtrapuls drive Pleaseseeourwebsitewww.infranor.frfordownloadingthe"gemDriveStudio"software Minimal Configuration The use of the Gem Drive Studio software requires the minimum PC configuration described below Processor:800 MHz 256 MB RAM creen with true colours and 1027x768 resolute keyboard mouse Windows 98 operating system or later At least 20 MB available on the hard disk RS232 cable or USB/RS232 adapter cable or IXXAT Can card Installation Before installing Gem Drive Studio, install the IXXAT drivers used to drive the Can card During the installation, one or several messages indicating that a currently copied file is older than a file already ig on the Pc may be displayed In thi keep the pc filt When installing the software, 3 icons are created on the desktop o"Gem DriveStudio", for launching the main interface oGem DriveOscillo", for launching the digital oscilloscope o"Gem Drive Terminal", for opening a dialog terminal Chapter 2-Commissioning XtrapulsPac-User Guide CINFRANOR Architecture of the software The software is made of several independent software modules. Each of them can communicate with the drive(s) via a communication server Client module Client module Client module Gem Drive Terminal Oscilloscope St tudio Communication server Serial port or Can port Drive 1 Drive 2 Drive N can bus between the n drives o The server is automatically started when a client module is trying to establish a communication with a drive o The server is comm issioning the drivers of the hardware peripherals o The server stops when the last connected client is stopped o The format of the exchanged data is the same whatever the communication type(RS232, CAN,. Chapter 2-Commissioning trapuls Pac-User Guide CINFRANOR 2.2 -STARTING THE SOFTWARE User levels When starting the software, various user levels can be selected. The drive parameter modification levels are protected by passwords. Administrator is the highest level with full access Passwords The Administrator can change all passwords by using the Tools/User identification menu. The default password for the administrator level is "admin Project management The Gem Drive Studio software allows the parametrization of all Xtrapuls drives for a given application. All Xtrapuls drives of a given application, connected together via CANopen, are included in the same project. Each Xtrapuls drive of the project is identified by a node id which is coded on the drive front panel by means of microswitches. The Xtrapuls drive node id code values must be all different from each other in the same project The different software commands allow to Create a project, Open an existing project, Add and/or remove axis in the project Archiving/Unarchiving project, Objects dictionaries Each parameter(object) of the drive can be defined by an Index, a Sub-index and several properties(save type Data type, Unit, Min value, Max value, Default value). the object list with all the properties can be downloaded from the drive to create the object dictionary file in XML format. This file named EEDS (for Extended Electronic Data Sheet) is used by Gem Drive Studio to read and write parameters on the drive The different software com mands allows to: Download an eEdS file from the drive and add it to the eeds library Import an EEDS file to the library For each new axis of the project, the software creates, in the project file directory, a new directory with the axis name. There will then be one directory per axis and each of these directories will contain the parameter files and the sequences files Starting Gem Drive Studio Start the software with the administrator level Create the project Define a project name Select an output directory Defines all the axis of the application Detine the different project axes Select the device type Define the axis name Identify the Node id for this axis Once a project has been created, each axis can be independently selected by using the tree structure .3-DRIVE COMMUNICATION Powering the drives Please see manual"Installation Guide"before switching on the drives for the first time For switching on the drives, proceed as follows Switch on the +24v auxiliary supply The red front panel LED " ERR"must be blinking ("Undervolt"error displayed) The AOK relay contact is closed. It is then possible to control the Power on relay Chapter 2-Commissioning XtrapulsPac-User Guide CINFRANOR Switch on the power supply The red LED"ERR"must be switched off. the drive is ready to be enabled Starting the communication The Gem Drive Studio software can communicate with the drives by using either the rs232 serial link or the CANopen fiedbus. All drives of the application are connected together via Canopen Set the node id code value by using the microswitches on the front panel for all drives of the application(code values must be different from each other Connect the serial link RS232 or the CANopen fieldbus between the Pc and one drive of the application Start the Gem Drive Studio software on the pc Opens the project Select the communication interface between the gem drives and the Pc (serial link or CANopen bus Start the communication 24· PARAMETER SETTING This chapter describes the parametrization procedure of the drive by means of the"Gem Drive Studio"software 2.4.1-CONFIGURATION OF THE MOTOR If the motor is referenced in the Gem Drive Studio catalog it can be simply selected in the proposed motor list The motor parameter value can then be modified if necessary and the motor saved again in the Gem Drive Studio catalog with a new reference If the motor is not referenced in the Gem Drive Studio catalog, the motor parameters can be adjusted manually or calculated by using the drive's built-in procedures: current loop calculation, auto-phasing,. The motor can then be referenced in the gem Drive Studio catalog 4.1.1- Selection in the motor list Select, in the motor list, the motor used in the application The motor selection will automatically set the following drive parameters: position sensor(resolver or encoder), thermal sensor, current limits, speed limit, current loop gains and motor control parameters. Check that the thermal sensor calibration is compliant with the motor application and modify the threshold values if necessar Chech that the current limit and the 12t protection adjustment are compliant with the motor application and modify them if necessary Check that the motor speed limit is compliant with the application and reduce its value if necessary If external inductances are connected in serie with the motor winding for filtering, renew the current loop gain calculation by using the total value of the phase to phase inductance If the position sensor adjustement (resolver or absolute encoder) has been modified, the auto-phasing procedure can be used to found the new adjustment (position offset) 4.1.2-Manual motor configuration If the motor configuration must be made manually(motor is not referenced in the gem Drive Studio catalog), adjust first the motor position sensor parameters(resolver or encoder) before the motor parameters adjustment Chapter 2-Commissioning trapuls Pac-User Guide CINFRANOR Configuration of the motor thermal sensor Selection of the sensor type The motor can be equipped either with a ctn sensor(ohmic resistance decreasing temperature function)or ith a ctP sensor(ohmic resistance increasing temperature function Check that the selected thermal sensor type actually corresponds to the sensor type mounted on the application motor Trigg ering threshold adjustment Enter the sensor ohmic value(kOhm) corresponding to the required temperature value for the release of the Motor over-temperature protection according to the manufacturer's specifications Warning threshold adjustment Enter the sensor ohmic value(kOhm) corresponding to a warning temperature value When the warning temperature is reached, the warning bit in status word is set Note When using a Ctn sensor, the warning ohmic value will be higher than or equal to the triggering ohmic value When using a CTP sensor, the warning ohmic value will be lower than or equal to the triggering ohmic value Current limit adjustment The parameter Maximum current defines the maximum output current value of the drive. It may vary between 20 and 100 of the drive current rating The parameter Rated current detines the limitation threshold of the drive output RMs current([t). It can vary between 20 and 50 of the drive current rating 12t protection adjustment 2 selection modes are available: Fusing or Limiting It is advisable to use the Fusing mode during the commissioning phases In Fusing mode, the drive is disabled when the current limitation threshold is reached In Limiting mode, the motor current is only limited at the value defined by the rated current parameter when the mitation threshold is reached Operation of the Current Limitation in"Fusing"Mode When the drive output RMs current()reaches 85 of the rated current, the i?t warning is indicated. If the rms current(It) has not dropped below 85 %of the rated current within 1 second the It error is released and the drive disabled (otherwise, the I2t warning is removed When the drive output RMs current(t) reaches the rated current value, the It limits the drive output current at Is value Diagram of the drive output current limitation in an extreme case(motor overload or shaft locked) Drive output current t1 = Warning Max current t2= Current limitation error Rated current 1 second time to The maximum current duration before release of the warning is depending on the value of the parameters rated current and max current. This value is calculated as follows t dyn(second)=trto =3, 3 x[ rated current (A/max. current (A)I(shaft locked conditions dyn(second)=tr-to =10 X[ rated current (A)/max current(A)"(motor running with current frequency value higher than 2 Hz) 10 Chapter 2-Commissioning

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