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ServoOne 应用手册(英文).PDF
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详细说明:ServoOne 应用手册(英文)PDF,ServoOne 应用手册(英文)Overview
How shall I read this documentation?
You should first of all read the operating instructions to be able to install the device cor
tly
Since the software of the drive controller offers a vast amount of functions among oth
ers also the possibility of connecting various field busses, this documentation has been
sub-divided into different documents, as can be seen in Fig
Attention: Disregarding the safety notes during installation and operation can
cause damage to the device and danger to the life of operating personnel
For basic configuration and operation of the motor you should follow the descriptions in
Systematics of the servoone documentation
the chapters of this functional description If you intend to utilize further internal funG
tions of the drive, such as e.g. digital or analog l/Os, you should read the corresponding
chapters in this documentation. Here you also receive information concerning errors and
Document
Content
Description
Warnings
If you use an field bus option board for control, you should branch off to the corre
Operation Manual
Mounting of device, insta la
tion, safety, specification
Hardware
sponding independent bus documentation
We wish you successful work with this device
pplication Manual
Descr ption of function
Sysrem software
User manual
Descr ption of parameterize
Hardware and software of
CANopen
ton on seryoone
field bus version
User manual
Description and parameterize- Hardware and software of
EtherCAT
ton on seryoone
field bus version
User Manual
Description and parameterize- Hardware and software of
SERCOS
ton on servoone
eld bus version
User manual
Descr ption and parameterize- Hardware and software of
PROFIBUS-DPV
serzone
field bus version
Parameter description
parameters
System Softwrare
LUST
Application Manual ServoOne
LUST
Application Manual ServoOne
4
Ordering key
Pictograms
The order designation informs about the corresponding design variant of the servo
Pictograms as described in the following table are used in this application manual fo
controller delivered to you. Details concerning the ordering key can be found in the
better orientation. The meaning of the corresponding is always correct, even if it is
ServoOne ordering catalogue
placed e.g. opposite a terminal diagram without any accompanying text
so84.口囗,口口口口,口口口口
Ratd curent
Power supply(AC/DC)
Functional safety
△△
Attention! Cperating errors may result in damage to or malfunction of the drive
Danger, high voltage! Improper behaviour may cause fatal accidents
Danger from rotating parts! The drive may automatically start to run
Option 1(communication)
Option 2(additional encoder)
Note:Useful information
Housing/cooling concept
Software variant
Optional design/protection
Table of contents
2 Control setting
29
2.1 Overview of the control structure
2. 2 Adaptation to the system mechanics
Servoone drives with ambition
2.2. 1 Determination of the moment of inertia
2.2.2 Adaptation to the stiffness of the mechanics
Overvie
3
2.3 Limitations of the control
How shall i read this documentation
2.4 Optimisation of the current control
Ordering key
2.4.1 Optimisation through DRIVFMANAGFR operation(from V2
PIctograms
4
2.4.2 Optimisation via parameter
1 Basic confiquration
2.5 Optimisation of speed control
35
1.1 Setting the power stage parameters
2.5.1 Optimisation of the pl speed controller
1.1.1 Power supply
2.5.2 Digital filter /notch filter
1.1.2 Switching frequency
2.6 Setting the position controller and the feedforward
1.2 Basic configuration Motion Control
2.6. 1 Optimisation of speed and acceleration feedforward
2.6.2 Friction
43
1.2.1 Configuration of position control in PG(profile generator) mode
1.2.2 Configuration of positian control in IP-Mode
2.6.3 Feedforward prediction
1.2.3 Interpola tion me thods
2.6. 4 Position controller
.45
1. 2. 4 Speed control using PG(profile generator) Mode
2.7 Field suppression operation
1.2.5 Speed control using IP-Mode
16
2. 8 Test signals and test signal generators
1.2.6 nter face to motion control
2.9 Test operation along the U/F-characteristic
51
1.2.7 Status and control words
210 Extended functions
2.8 Setpoint selector
2.10.1 Operation of asynchronous motors
18
1.29 Standardisation /Units
3 Motion profile
57
1.3 Motor data and basic setting of control
3.1 Stop ra
57
1.3.1 Start-up of catalogue motors and encoders
3.2 Profile generator
1.3.1 Motor protection and limitations
33 Referencing…
1.4 Encoder confiquration
1.4.1 Start-up with standard encoders
1.4.2 Free configuration of encoder interface
1.43 Extended functions of the encoder channels
LUST
Application Manual Servo One
[content]
LUST
Application manual servo One
4 Inputs/Outputs
69
Power failu
4.1 Digital inputs
Encoder manitoring threshold, caale breakage detection
96
4.2 Function STO(Save-Torque-Off)
70
Motor protection through temperature senso
4.2.1 Selected functions of the digital inputs
Overtemperature motor protection
4.3 Digital outputs
'osition and speed monitoring
4.4 Analog inputs
7
arning
100
4.4.1 Analog channel
4.5 Analog output(optional module)
79
8 Device and motor protection
103
4.6 Motor brake
8.1 Torque limitation(torque/torce limits)
103
8.2 Speed limitation (
5 Internal setpoint generation
83
8.3 Position limitation(position limit)
5.1 Setpoints through analog inputs ISA00+ ISA01
Direct setpoint specifi cation through analog inputs (IP-mode
A Appendix
105
Speed control via ramp generator
A1 Load ng the firmware
Torque control via r
merton
5.2 Setpoints via table…
85
Tabular positioning
6 System information
89
6.1 Device dat
6.2 State machine, system status
7 Diagnose
7. 1 Error messages and fault reactions
95
7.2 Monitoring functions……
Actual value
95
1 Basic configuration
1.1.1 Power supply
The device supports the infeed under various mains voltage conditions(see upper table)
For initial commissioning the mains voltage must therefore first be checked and adapted
This chapter describes the basic configuration of the drive controller. After the basic
if necessary. This is accomplished through parameter P 0307 CoN__Voltage Supply
configuration has been made, the drive can be triggered via the selected interface(field
Attention
bus, terminal, internal PlC or table positioning
Once the parameter has been set, the setting must be saved in the device
The setting only become effective AFTER another Power Off/Power On cycle
Note: Work with the drive controller requires Drive Manager DM5.x
of the 24 v-control voltage
Rated currents, overload factors as well as threshold voltages for overvoltage,
undervoltage and activation of brake chopper change with the selection of
In the next step the control setting is adapted to the machine dynamics and the motion
the power supply
control
1.1.2 Switching frequency
1.1 Setting the power stage parameters
As another power stage parameter, the switching frequency can also be set via P 0302
CON_ SwitchFreq. It is recommendable to operate the drive controller with the default
The power stage parameters can be found in the subject area"Power Stage
etting
Increasing the switching frequency may make sense in order to increase the control
P-No. Parameter name Function
Description
Setting range
dynamics or to reduce switching frequency related noise. In this case possible Derating
must be taken into account. Reducing the switching frequency may make sense in order
02 kHZ
to rnake higher rated currents and overloads usable
04 kHz
P0302
g
Setting the power
CON_ Switch Freq
08 kHz
stage cycle trequency
16 kHz
1×230V
3x230y
CON
P0307
Voltage supply Setting the voltage
3×400V
VoltageSupply
supply
3X480∨
LUST
Application Manual Servo One
7
Chap. 1 I
LUST
Application Manual Servoone
1.2 Basic configuration Motion Control
Setting
DRIVEMANAGER Name
Description
P0301
Drive parameterisation starts with setting up the setpoint interface between Motion
Con Ref mode
Select reference mode
Selection of interpolation type
Profile and control. For this purpose the table provides the necessary parameters, which
setpoint effects to profile genera
Setpoint processing via profile
are described in more detail in this chapter
generato
P(1)
setpoint effects directly tc control Setpoint processing directly
Setting
DRIVEMANAGER Name
Description
oop(without ramp)
via interpolator
P0159
MPRO_CTRL_ SEL Motion control selection
Selection of control location
OFF(O)
No control selector defined
No contro location selected
P0306
CoN_ IpRefTs
Samipling time for interpolaticnde
Adaptation of Sampling time
between external contrcl and
TERM(1)
fault 125 us
via terminal
drive controlle
PARA(2)
via parameter interface
vIa parameters
Selection of interpolation
not defined
not defined
P03/0
CON IP
nterpolation type control
miethod
PLC(4)
a lEC 61131 program
EC1131
Nclp
No interpolation
4025
via DS 402 motion profile
Linear interpolation
(CANopen/EthercAT
DS402
Interpolation with external feed
a detailed description of the
SERCOS(6)
a SERCOS motion profile
SERCOS
pIneExtFF
interpolation methods can oe
fourd in chapter 1.2
FROFIBUS(7)
via PROFIBUS DPV motion profilePROFIBUS
Spinel
Cubic spline interpolation
Po165 MPRO_REF_ SEL Motion profile selection
Selection of setpoint source
NonIPSpline
Cubic spline approximation
OFF(O)
No setpoint
No setpoint selected
ANAO(1)
va analog channel ISAo
Analog input ISAo
ANA1(2)
via analog channel iSal
Analog in put iSAl
va table
Table value
Note: The possible settings must be checked for plausibility
not defined
not define
The standard profile of the servo controller is the motion profile ds 402
PLC(5
va IEC 61131 program
EC61131
via parameter definition
Which is effective via field busses can ethercat and profibus for the con
PARA(6)
Pararmeter definition
trol locations and setpoint sources. In case the drive controller is operated via
S402(7)
a cia ds 40> motion profile
D540
internal setpoint sources or control locations, parameterisation through the
SERCOS(8)
via SERCoS motion profile
ERCOS
standardisation / units (standard sation via P 0283)of the ds 402 standard is
PROFIBUS(9)
via ProFiBus dPv motion profile
R○FBUS
recommended
P03C0
CON: CfgCon
Select control code
Selection of control mode
V/f control mode(test mode only)Uncontrolled U/foperaticn
For operation with the sercos field bus it is recommended to use the motion
TCON
Torcue control mode
Torque control
Profile SeRCoS for control locations, setpoint sources and standardisation
Speed control mod
PCON
Position control mode
Pos tion control
Current control(t
ICON
urrent control mode(test mode only,similar to VFCON can
only
be operated with current/fre
quency cortrol
Parameter P 0300 CON_Cfg Con: Selection of control mode
Parameter P 0301 CON_REF_ Mode: Selection of profile generator PG/fine
The positioning controller can be operated in three difterent control modes
interpolator IP
VFCON(O)= controlled operation via U/f characteristic: test mode only
PG(O The internal setpoint generation is accomplished by the so-called protile
generator. There all ramp functions, like ramps, jerk, slip, are converted. Internal
TCON(1)= torque control
generation always takes place with a cycle time of 1 ms
SCON(2)= speed control
IP(1): The setpoint assignment of the superimposed control leads directly to the
fine interpolator. The adaptation of the cycle time between control and drive con
PCON3)= position control
troller is mandatory. The standard setting is 125 us
ICON(4)= current control: test mode only
The following ill ustrations show the structures for setpoint processing and control result
The positioning controller is based on the principle of field oriented controlling. Field
ing from these settings
orientation means to memorize a current at the location in the motor at which the field
has the biggest size. The memorized current is thus optimally converted to torque. this
results in an optimal utilization of the machine with highest possible dynamics, together
ith low losses. The result is an exceptionally high rate of ef ficiency
2.1 Configuration of position control in PG(profile generator) mode
With position control configuration in PG-Mode a control transfers complete motion
The digitally controlled drive is most suitable for applications calling for the following
commands to the internal profile generator. The setting is made in the subject area Mo-
characteristics
tion Profile under "Basic Settings". A motion command consists of
Speed constancy(concentricity)
Ref_Position: Target position
· POSition accuracy
Ref_ speed: Maximum traversing speed
Dynamic
Ref acceleration maximum acceleration
Constant torque
Ref Deceleration maximum deceleration
Interference compensation
With the additional information on jerk P 0166 MPRO_REF_JTIME and an override factor
Note
P0167 MPRO_REF_OVR for the traversing speed the PG generates a time optimized
The parameter has an online effect. Uncontrolled online switching can cause
trajectory for the position setpoint, to reach the target position, under due consideration
of all limitation
an extreme jerk, a very high speed or an overcurrent, which may cause dam
age to the system
The position setpoints are subsequently fine interpolated in the interpolator, whereby
the interpolation method can be set via the parameter P 0370 CON_IP(Fig 1-1).The
position setpoints are used to generate feedforward values for speed and acceleration
These are scanned with the cycle time of the position controller (normally 125us) and
switched to the closed-loop control circuits
Further information on how to generate motion commands using the field busses or
internal possibilities can be found in the field bus documentation
LUST
Application Manual Servo One
9
Chap. 1 I
LUST
Application Manual Servoone
10
Position Control in Pg-mode
Basic settings
ontro
From Analog analog inputs not permitted
Input 0/1
Feedforward
Setpoint TablePos
current isq_ref
table
3
PLC
Motion profile Motion profile
Basic Settirhas
Feedforward
reserver
4,56
speed n ref
P0165
Standardisation
DS 402 CAN or EtherCat
7
UNITS/
Profile generator
Fine
eps_re
standardisation
PG
interpolator
to speed and
SERCOS
Sercos
selection of
current controller
USER specific
interpolation
Profibus\ Profibus DPv
SERCOS
Position controller
DS402
methods
Homing
nternal function
Setpoint in
user unit
increments
(Stop)Ra
pling Time
P 0305=125us default
BUS Sampling time
om 1 ms
Fig 1-1: Configuration of pasition contro/ in PG-Mode
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