1、Welcome!2009年7月20日培訓人：王天將，周建明，曹海笑Basic Training : 基本培訓基本培訓L-force 9400 Servo Drives 9400 Servo Drives2Introduction to L-force 9400 and engineerL-force 9400 和和 engineer 的介紹的介紹9400 servo drive basic introduction 9400伺服基本介紹L-force Engineer software introduction Engineer 軟件介紹Technology Applications (TA)

2、 技術應用 Next Back9400 Servo Drives3System overview系統總覽系統總覽 next back9400 Servo Drives49400 servo drive system at a glance9400伺服驅動系統概覽伺服驅動系統概覽 Innovative 創新 a completely new concept in installation全新的安裝方式 Tailor-made 定制系統 modular architecture 模塊化結構 Safety 安全功能 - simply integrated 易于集成 Next Back9400 Ser

3、vo Drives5Innovative a completely new concept in installation 創新全新的安裝方式創新全新的安裝方式 Easy installation and high system availability thanks to innovative design technology 全新的安裝理念，更易于安裝、提供系統可用性Separation of mounting base and drive electronics 安裝底座和驅動裝置分離A pluggable memory module contains all the data rel

4、evant for the application可插式存儲模塊中記錄下系統的所有數據信息Rapid servicing and maintenance, since no tools are required維修和維護方便快捷，無需額外工具Compact, space-saving design 結構緊湊、節省使用空間 Next BackMounting base up to 11 kW 安裝底座功率達11kW 9400 Servo Drives6Modular set-up ( 11 kW) Mounting base 安裝底板 Power module 功率模塊 Extension mo

5、dule 擴展模塊 Accessories 附件 Next Back9400 Servo Drives7Innovative a completely new concept in installation 創新全新的安裝方式創新全新的安裝方式Single shield單屏蔽端口單屏蔽端口Motor connection電機連接端口電機連接端口Brake resistor connection (single drive)制動電阻端口（單軸驅動）制動電阻端口（單軸驅動）Integrable motor brake module內置電機制動模塊內置電機制動模塊Configuration of i

6、solated-neutral systems中性點絕緣配置端口中性點絕緣配置端口Mains connection電源連接端電源連接端Integrated DC busbar內置直流母線端口內置直流母線端口DC fuse直流熔斷器端口直流熔斷器端口 Film Next Back9400 Servo Drives8Design with mounting base帶背板的設計數據帶背板的設計數據0.37 15 kW next back Multi Drive多軸多軸 DC 260775 V 0 % Single Drive單軸單軸 3 x AC 180550 V 0 % DC 260775 V

7、0 % integrated brake transistor制動晶體管 EMC filter (class C2)EMC濾波器Unit sizeIIIIIIE94AME.fromto.0134.0244.0074.0094.0024.0044E94ASE.fromto.0134.0244.0044.0074.0024.0034max. output power up to kWMulti Drive1141.59400 Servo Drives9Design設計數據設計數據15 200 kWUnit size98X876E94ASE. fromto.2454.3664.1724.2024.1

8、454.0864.1044.0324.0594max. output power up to kW200110755530 45 kW Single Drive單軸單軸 3 x AC 180 (342 )550 V 0 % DC 260 (480 )777 V 0 % integrated brake transistor制動晶體管 EMC filter (class C2) EMC濾波器 next back9400 Servo Drives10Interfaces at the power moduleDiagnostic interface診斷接口診斷接口Resolver input旋轉變

9、壓器接口旋轉變壓器接口Multi encoder input編碼器接口編碼器接口Analog / digital IOs模擬模擬/數字數字 I/O24 V supply and state bus24V和狀態總線和狀態總線CAN on board 內置內置CAN2 module receptacles for extensions 2個擴展模塊插槽個擴展模塊插槽Module receptacle for memory module存儲模塊插槽存儲模塊插槽Module receptacle for safety technology安全模塊插槽安全模塊插槽LEDs 指示燈指示燈 Next Bac

10、k HighLine StateLine: 1 個擴展插槽9400 Servo Drives11Available device modules應用模塊應用模塊ready next back Communication modules 通訊模塊 Ethernet Ethernet Powerlink (MN + CN) Profibus DP-V0+1 CANopen (DS 301)Extension modules 擴展模塊 Digital frequency 數頻Safety modules 安全模塊 SM 0 SM 100 (STO) SM 300 (STO & SS1 wit

11、h ProfiSafe) SM 301 V1.0 (extended functionality with safe supervision of the velocity with SinCos encoder)（帶有正余旋編碼器的安全監控的外部功能）9400 Servo Drives12LEDs指示燈指示燈CAN ERRORCAN 錯誤錯誤DRIVE ERROR驅動器錯誤驅動器錯誤USER用戶定義用戶定義CAN RUNCAN 運行運行DRIVE READY驅動器投入驅動器投入24 VOFF= CAN inactive CAN沒激活 = Pre-operational 預操作= Operat

12、ional 操作= Bus warning 總線報警= Bus off 總線關閉OFF= Pulse inhibit due to an error 由于錯誤而禁止= Controller inhibited 控制器禁止= Controller enabled 控制器使能OFF= OK= Error status 錯誤狀態= System error 系統錯誤Applicable in the application在應用中使用 ready Next Back9400 Servo Drives13Complete: from simple to complex完整性：從簡單到復雜完整性：從簡單

13、到復雜High-performance motor control 高性能電機控制 Field-based servo control for synchronous and asynchronous machines 同步/異步電機現場伺服控制 Sensorless operating modes in preparation 無傳感運行模式在籌備中Cycle times 運行周期 Current/torque control 62.5 s 電流/轉矩控制 Speed and position control 250 s 速度/位置控制 Fastest application task 最快

14、運行速度 HighLine: 1 msStateLine: 500 sWord widths 字節寬度 All signals 32 bit 所有信號字節為32 bit Next Back9400 Servo Drives14Complete: from simple to complex完整性：從簡單到復雜完整性：從簡單到復雜Performance-enhancing functions 加強性能 Motor model supported by electronic nameplate 電機電子銘牌 Band stop filters 帶阻濾波器 Inverter fault compen

15、sation 變頻器誤差補償 Pre-control values for speed and torque 速度/轉矩預控制值Inverter switching frequencies 變頻器轉換頻率 1, 2, 4, 8, 16 kHz (choice depends on power rating 頻率與功率相關) Next Back9400 Servo Drives15Communicative on all channels所有信道通訊所有信道通訊 CANopen system bus included (HighLine) 內置CANopen系統總線(HighLine) Choi

16、ce of fieldbus allows use throughout the world 可選用多種現場總線 PROFIBUS (HighLine) CANopen (HighLine & StateLine) others in preparation 其他總線在籌備中 Ethernet in the drive 控制器中的以太網 Ethernet (HighLine) 以太網 ETHERNET Powerlink ensures realtime capability* 確保實時控制 Remote maintenance to drive level 控制器遠程維護 Next

17、Back*-in preparation 籌備中9400 Servo Drives16Keypad面板面板 4 direction keys for navigation 4個方向鍵用于導航 2 context-sensitive function keys 2個功能鍵 Run and stop keys (configurable) 運行和停止鍵（可配置） Status field 狀態區Notes:注： Diagnostic & parameter setting only 僅用于診斷和參數設定 Application is stored in the memory module

18、應用存儲在存儲模塊中 ready Next Back9400 Servo Drives17Various data stores (memory locations)多種數據存儲多種數據存儲(存儲單元存儲單元)Firmware,Main memory, etc. 固件 Communication data,application, parameters (safe against mains failure), etc. 數據交換Engineer project 工程項目Motor parameters,encoder information, etc.電機參數ready Next Back

19、9400 Servo Drives18Product information產品信息產品信息 Flyer彩頁彩頁 Product presentation產品介紹 System overview系統一覽 Catalog手冊手冊 Selection and order選型及采購 next back9400 Servo Drives19Technical documentationServo Drives 9400技術文件技術文件 Mounting instruction 安裝說明安裝說明 Safety instructions安全說明 Preparation of the commissioni

20、ng: Mounting & Wiring (Quick start) 試運轉準備 安裝及接線(快速) Manual手冊手冊 Additions to the Mounting Instruction, e. g 配合安裝說明. Technical data技術數據 Features and functions of the hardware特點及功能 Use cases 應用案例 next backWelcome!2009年7月20日培訓人：王天將，周建明，曹海笑L-force Engineer introduction : L-force Engineer 軟件介紹軟件介紹L-fo

21、rce 9400 Servo Drives 9400 Servo Drives21Runtime software 實時軟件實時軟件 L-force runtime software consists of 實時軟件實時軟件包括： Function block libraries 功能塊庫 Technology applications 技術應用（TA） Operating and application dialogs 操作和應用會話 Documentation and online help 文件和在線幫助 The usage of runtime software requiresMot

22、ion Control licenses, tied to memory modules 實時軟件的使用需要相關存儲卡中運動控制許可MC HighLevelMM220MC TopLevelMM330MM110MC StateLevelPLCMM440 : is preparedHardware equipmentgranted license ready Next Back9400 Servo Drives22Engineer project describes a real plant 用用Engineer工程來描述一個真實的工廠工程來描述一個真實的工廠Clear structure 清晰的

23、結構Device-independent information單獨的設備信息Online with several devices simultaneously 同時多個設備在線 Next Back9400 Servo Drives23Going online 在線連接在線連接 Diagnostic adapter 診斷適配器 CAN Ethernet TCP/IP 以太網Point-to-point-connection 點對點點對點連接連接10-pole special cable RJ69 10芯芯RJ69電纜電纜 ready Next Back9400 Servo Drives24H

24、ow to go online 如何連接如何連接Select the channel of communication 選擇通訊通道Start the search for devices 搜索驅動器 Confirm the detected device 確認檢測到的設備Connect 連接 ready Next Back9400 Servo Drives25User interface 用戶界面用戶界面Menu bar菜單欄菜單欄Tool bar工具欄工具欄View bar瀏覽欄瀏覽欄Project tree工程樹工程樹Work space工作區工作區Messages and monito

25、r panel信息和監視盤信息和監視盤 ready Next Back9400 Servo Drives26Colour represents online 在線的顏色表示在線的顏色表示Value in the work space:工作區的顏色yellow = modifiable黃 = 可修改grey yellow = read only土黃 = 只讀red = communication error 紅 = 通訊錯誤 Next Back9400 Servo Drives27Overview of the parameter setting surface 參數界面參數界面the same

26、 for all applicationsapplication specific ready Next Back9400 Servo Drives28Navigation in the parameter setting surface參數設定界面的導航參數設定界面的導航 ready Next Back9400 Servo Drives29Parameter list 參數列表參數列表Tab標簽 Category目錄Sub-categories子目錄Info area信息區 ready Next Back9400 Servo Drives30The function block editor

27、 as a “viewer“功能塊編輯器可作為瀏覽器功能塊編輯器可作為瀏覽器 Online diagnostics 在線診斷 Better comprehension of the applications function 易于應用功能的理解 Alternative parameter access 可選擇參數通道 Next Back9400 Servo Drives31Usage of the function block editor功能塊編輯器的使用功能塊編輯器的使用Free text search文字搜索Enlarge the operating range 放大操作范圍Help /

28、 Parameter dialog幫助/參數會話 ready Next BackGo to連接至9400 Servo Drives32Block and signal types塊和信號類型塊和信號類型 Next BackCode / variable 代碼/變量Port 端口L_function block 功能塊LS_system block 系統塊Signal type 信號類型信號類型Symbol 符號符號Resolution分辨率分辨率Unit 單位單位Position 位置 / 32 BitrevSpeed 速度rpmScaled signal 比例信號%Acceleration

29、加速rpm / sTime 時間sStatus word 狀態-Not standardised 非標準-Control/status signal 控制/狀態信號1 Bit9400 Servo Drives33The enabled function block editor激活功能塊編輯器激活功能塊編輯器New possibilities: 還可以做： Delete / draw lines.刪除/拖拽連線 Make inputs and outputs invisible / visible.使輸入和輸出隱藏/可見 Delete / insert blocks. 刪除/插入塊 Use s

30、everal tasks 使用多任務 ready Next BackWelcome!2009年7月20日培訓人：王天將，周建明，曹海笑Technical Application : 技術應用技術應用- multi-axis application & communication introduction 多軸應用及多軸應用及 通訊介紹通訊介紹- Positioning process application定位順序應用定位順序應用- electric shaft & synchronous application電子軸及同步應用電子軸及同步應用L-force 9400 Serv

31、o Drives 9400 Servo Drives35Applications 應用應用Application = configured function of one device應用 = 單個驅動器配置的功能How can applications be created?如何建立應用？如何建立應用？Two possible solutions:兩個可能的方法：Modify or extend a prefabricated technology application supplied by Lenze 修改和擴展倫茨預先提供的技術應用1. Create the application

32、completely by yourself (insert “No Application” or just dont insert any application. The empty application can be edited then within the function block editor) 完全由用戶自己創建（插入“No Application” 或不插入任何應用，可以用功能塊編輯器在空應用上編輯） ready Next Back9400 Servo Drives36Applications supplied by Lenze倫茨提供的應倫茨提供的應用用 are c

33、alled technology applications, e. g.我們稱作“TA”，如： Actuator speed 速度 Actuator torque 轉矩 Synchronism with mark synchronisation DF or MotionBus 數頻或運動總線的同步 Electronic gearbox DF or MotionBus 數頻或運動總線的電子齒輪 Table positioning 表格定位 Positioning sequence control 定位順序控制 are part of the runtime software 應用是實時軟件實時軟

34、件的一部分 use basic drive functions 使用基本的驅動功能 ready Next Back9400 Servo Drives37Three ways of processing an application 處理應用的處理應用的3個方法個方法Parameter setting參數設定Configuration配置Programming編程: is prepared ready Next Back9400 Servo Drives38Project elements 工程元件工程元件Automation module = general container for any

35、 structure自動化模塊 = 任何結構的總容器Axis = special container for one drive軸 = 單個驅動器的特殊容器Component = drive controller, motor, I/O system 元件 = 驅動控制器，電機，I/O系統Device module 設備模塊Gearbox 減速箱Application = designed function of one device應用 = 一個設備設計好的功能Machine application = Coaction of several applications機器應用 = 多應用聯合

36、Network 網絡 Next Back9400 Servo Drives39Typical structure of a project一個工程的典型結構一個工程的典型結構 Selection in the tree在樹中選擇 controls menus, icons, tabs 控制菜單，圖標，標簽 defines the element affected by user input 定義用戶輸入激活的元件 Structure 結構 Modular design 模塊設計 Networks can contain elements of the same or a lower level

37、 only 網絡可以包含相同的或者更低級元件 Next Back9400 Servo Drives40Usage of prefabricated applications預制應用的使用預制應用的使用Catalogue目錄Project 工程9400MotionControl license ready Next Back9400 Servo Drives41Update the devices (Build project) 更新設備更新設備Prior to download, the device-specific representation of the project data mu

38、st 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.下載前， Engineer創建設備細節更新，這個處理包括連貫性檢查，設定參數和編譯應用The user can start the processing at any time by clicking on .通過點擊 ，用戶可以在任何時間開始處理。Whe

39、n going online, he will be prompted to do so, provided that this has not happened yet. 當在線連接時，如果還沒有處理，會提示你這樣做 Next Back9400 Servo Drives42Transferring the application to the device將應用傳遞到設備將應用傳遞到設備 ready Next Back9400 Servo Drives43Multi axis application introduction多軸應用介紹多軸應用介紹MasterCAN node 1SlaveC

40、AN node 2Positioning 定位Following 跟隨 Next Back9400 Servo Drives44Structure of multi axis applications多軸應用結構多軸應用結構Ports of applications 應用端口Machine application 機械應用Network 網絡Compilation of the complete project 整個工程編譯(update of the devices) Next Back9400 Servo Drives45Ports of applications 應用端口應用端口Task

41、: Data exchange between applications 應用之間的數據交換Ports of the supplied technology applications from the catalogueThe structure of application variables defines what is to be communicated via the port. ready Next Back9400 Servo Drives46Machine application 機械應用機械應用By interconnecting several applications

42、to one machine application information can be exchanged between independent devices.通過將幾個應用互聯到一個機器上，各獨立設備的信息可以相互交換Proper connection of the ports適當的多口連接 ready Next Back9400 Servo Drives47Network 網絡網絡 defines the participants of the communication 定義參加通訊設備configures the communication parameters of bus

43、devices配置總線設備的通訊參數In the project tree all bus devices of a network have to be in the same or a lower level. 在工程樹里，一個網絡的所有總線設備必須是相同或更低級別 ready Next Back9400 Servo Drives48Solution: Update of the complete project 整個工程更新整個工程更新1. Mark2. Start Next Back9400 Servo Drives49Solution: Copy the speed setpoint

44、 from the port 從端口拷貝速度設定點從端口拷貝速度設定點 Next Back9400 Servo Drives50Solution: Creating a connection with the function block editor 用功能塊創建連接用功能塊創建連接2. Accepted message1. Draw a line3. Enable the controller Next Back9400 Servo Drives51Go online via system bus (CAN)通過系統總線的聯機通過系統總線的聯機 CAN plug with terminat

45、ing resistor 帶終端電阻的CAN插頭 DIP switch on the memory module 存儲模塊的DIP開關 Parameter channel 1 參數通道1 Next Back9400 Servo Drives52Go online via Ethernet TCP/IP通過以太網聯機通過以太網聯機 Extension module Ethernet擴展以太網模塊 Establishment of a TCP/IP network, e. g.: 網絡建立 Patch or Crossover cable 轉接或交叉電纜 Hub /switch 集線器/交換機 L

46、AN 局域網 Setting a suitableaddress in the 9400 設定合適的地址 Next Back9400 Servo Drives53Comparison:比較：比較：Fast 快速快速Simple 簡單簡單Expandable 擴展擴展Transmission speed bit/s 傳輸速度Connection and setting連接和設定Participants, length站數，長度DiagnosticEthernet3M100KCAN11281:1 connectionTCP/IPknow-ledge1M5.5K100M100KLAN Interne

47、t effective for file transfer 文件傳輸 Nominal 標稱 Next Back9400 Servo Drives54Solution: Machine view in the engineer在在engineer中瀏覽中瀏覽 Next Back9400 Servo Drives55positioning sequence control Introduction定位順序控制介紹定位順序控制介紹Profile dataProfile numberControl signalsPositioning profilesPositioning toolSequence

48、control ready Next Back9400 Servo DrivesApplications for the Positioning sequence control定位順序控制的應用定位順序控制的應用 General application for the controlled processing of time-dependent travel profiles: 一般應用于與時間相關的運動輪廓的控制過程： Next BackTimed handling equipment 時間處理裝置Rotary distributors 旋轉分配器Dosing pumps, fillin

49、g systems 計量泵，灌裝系統Stop adjustment 停止調整Barriers 安全柵欄Roller doors and sliding doors 輥道門和滑動門Hoists 提升機械9400 Servo DrivesFeatures of the Positioning sequence control 定位順序控制的特性定位順序控制的特性Point-to-point positioning 點對點定位Limited, unlimited or modulo traversing ranges 限位，非限位或模數轉換范圍Positioning in various modes

50、 多種定位方式Absolute 絕對定位Relative 相對定位in combination with Touch Probe (residual path positioning) 探針組合定位（剩余路徑定位）by the shortest route (rotary table) 最短路徑方式（旋轉臺）Configurable sequence control with up to 100 individual steps:最多有100步可組態的順序控制： positioning, counting, waiting, branching, switching, etc. 定位，計數，等

51、待，分支，開關轉換等Standard positioning features: 標準定位特性 override, overchange, teach, jerk reduction 超控，過度改變，示教，急減速 Next Back9400 Servo Drives58Structure of the positioning program定位控制結構定位控制結構Positioning program 定位程序Action 動作Homing回零Positioning定位Waiting等待Counting計算Positioning profilePositionSpeedAcceleration

52、10010 action types10動作類型1502520Counter計數器101001005050different possible settings不同設定Next step下一步Step 步100 Next Back9400 Servo Drives59Preset positioning program 先設置定位程序先設置定位程序 Next Back9400 Servo DrivesPositioning basic function: 定位的基本功能定位的基本功能 Who services the LS_Positioner LS_定位控制器怎樣工作定位控制器怎樣工作rea

53、dy Next Back 9400 Servo DrivesPositioning sequence control 定位順序控制器定位順序控制器 Contents of the sequence table 順序表的內容順序表的內容 Act. number + Act.type作用號作用類型作用號作用類型 Action parameter作用參數作用參數Output 2 輸出 2Output 1 輸出 1noneNone 無(basic function基本功能)Comment 說明Profile numberInput 輸入Sequence step numberProfile 1Prof

54、ile 2Profile 3Profile 4ModePositionSpeedAccelerationDelayready Next Back Comment 說明Waiting time 等待時間Input 輸入順序步號9400 Servo DrivesParameter setting dialogues for the Positioning sequence control & Definition of the program flow用來定位順序控制和定義程序流的用來定位順序控制和定義程序流的參數設置對話框參數設置對話框 Next Back9400 Servo Drive

55、sParameter setting dialogues for the Positioning sequence control & Short setup用來定位順序控制和快速設置的用來定位順序控制和快速設置的參數設置對話框參數設置對話框 Next Back9400 Servo DrivesTerminal assignment for the Positioning sequence control (default setting)用來定位順序控制（默認設置）的用來定位順序控制（默認設置）的端子分配端子分配 Next BackAIN1 Setpoint speed overri

56、de 設定值速度超越AIN2 Setpoint acceleration override設定加速度超越RFRController enable via terminal 端子使能DI1Deactivate quick stop 快停無效DI2Home mark 原位標記DI3Limit switch positive 正向限位開關DI4Limit switch negative 負向限位開關DI5Reset error / Reset sequence controlDI6Start sequence control 啟動順序控制DI7Pause sequence control 暫停順序控

57、制DI8Input 8 sequence control / Input for Touch Probe sensor 輸入8順序控制 / 用于探針傳感器輸入DO1Drive is ready 驅動器準備狀態DO2Positioning target reached 到達定位目標DO3Motor control in limitation 電動機控制處于限制狀態DO4Error is active 出現錯誤錯誤復位 / 順序控制復位9400 Servo DrivesInterconnection via electrical shaft introduction 通過電軸相互連接應用通過電軸相

58、互連接應用Electronic gearbox 電子齒輪減速箱Synchronism 同步with register formation and mark synchronisation 套準和標記同步with register control 套準控制同步Table synchronism (electronic cam) 列表同步（電子凸輪） Film Next BackMotionBus 運動總線運動總線: in preparation 即將投產9400 Servo DrivesSynchronisation application 同步應用同步應用Synchronism 同步同步Abs

59、olute synchronism 絕對同步 There is an absolute, firm reference between master angle/value and tool/material position, e. g. cloth feeder, press feeder, sealing machines, 在主軸的角度/值與工具/材料位置，例如紡織品的喂料，壓力機械的喂料，封裝機械，之間存在一個絕對的固定的參考Relative synchronism (with mark synchronisation) 相對同步（帶標記同步） There is no absolut

60、e, firm reference between master angle/value and tool/material position, e. g. in continuous processes without collision risk such as printing rolls, cross cutters, 在主軸的角度/值與工具/材料位置，例如無碰撞風險的連續過程，像印刷機械的輥筒，橫切機械之間不存在一個絕對的固定的參考- Proportional synchronism 比例同步（電子減速箱同步） Speed synchronism or angular synchronism, the transmission ratio