611U学习笔记.docx
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611U学习笔记.docx
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611U学习笔记
SIMODRIVE611universal
_“Speed/torquesetpoint”mod(e速度/扭矩设定点模式):
在这个模式下,模块主要用于闭环速度控制,开环扭矩控制
_”Positioning”mode:
最大64个定位点,各个点可以进行自由的参数定义,参数中除了点的编号,还包含有目标位
置、加速度、速度、命令和使能电路
在模块上具有以下接口:
每个驱动具有两个模拟量接口(±10V);
角度编码器接口;
每个驱动有四个数字量输入和四个数字量输出;
每个驱动有两个模拟量的输出;
以下电机可以用在611U驱动上:
_1FK6,1FT6伺服电机,最大至140Nm
_1FE1永磁同步电机
_1PH异步电机,最大至100kW(1PH6,1PH4,1PH2,1PH7)
_不带编码器的异步电机
_标准1LA异步电机,最大至100kW
_1FN直线电机
X421:
信号终端,启动制约(常闭),脉冲使能(T663)后打开,从端子663取得反馈信号;
AS1和AS2这个信号是电源模块所需要的,开始的时候常闭,保证电源模块上9和48端子接通,电
源模块主开关吸合,提供DC600V电源给驱动模块,当驱动模块脉冲使能后,再断开。
X431:
Terminalsforsupplyandpulseenable(X431)电源以及脉冲使能
P24X431.1Externalpowersupplyfordigitaloutputs(+24V)
M24X431.2Referencefortheexternalsupply
9X431.3Enablevoltage(+24V)663X431.4Pulseenable(+24V)
19X431.5Reference(Referenceforalldigitalinputs)如果使能信号的控制电压来自外部而不
是来自9,则必须将此端子接地。
X471:
Serialinterface(X471)串口(RS232)1RS485DATA+6Reserved
2RS232TxD7RS232CTS
3RS232RxD8RS232RTS
4Reserved9RS485DATA–
5Ground0V
利用模块前面S1拨码开关切换为RS485串口;
connectaPG/PCto“SIMODRIVE611universal(RS232connectingcablewithRTS/CTSlines
)
connectaPG/PCto“SIMODRIVE611universal(RS232connectingcablewithoutRTS/CTSlines)
Cablediagramfor
RS485
RS485connectingcable:
PG/PC<––>RS232/RS485interfaceconverter<––>SIMODRIVE611universal
P0801=1changeoverRS232/RS485
X423:
PROFIBUS–DPinterface(X423)fortheoptionalPROFIBUS–DP3module可选择的DP
口
其9针接线图同X471接口;
X351:
Equipmentbus(X351)驱动总线(带状电缆,34针)
Voltages:
various
Signals:
various
X34:
Testsockets(X34)测试端子DAU1Testsocket12)DAU2Testsocket22)
MReferenceTestsocket:
2mm
Resolution:
8bit
Voltagerange:
0Vto5V
Maximumcurrent:
3mA
X411,X412:
Encoderconnection(X411,X412)编码器连接口
X411––Motorencoderconnection,driveA
X412––Motorencoderconnection,driveBorconnection,directmeasuringsystem(fromSW3.3)
X441:
Analogoutputs(X441)模拟量输出接口
75.AX441.1Analogoutput(Canbefreelyparameterized)
16.AX441.2Analogoutput(Canbefreelyparameterized)
75.BX441.3Analogoutput(Canbefreelyparameterized)
16.BX441.4Analogoutput(Canbefreelyparameterized)15X441.5Reference
X453,X454:
Terminalsfortheanaloginputsanddigitalinputs/outputs(X453,X454)模拟量
输入以及数字量输入/输出接口
56.AX453.156.BX454.1None
14.AX453.214.BX454.2None24.AX453.324.BX454.3None20.AX453.420.BX454.4None
65.AX453.565.BX454.5Controllerenabledrive–specific
9X453.69X454.6Enablevoltage(+24V)
I0.AX453.7I0.BX454.7DigitalinputFastinput快速输入I1.AX453.8I1.BX454.8Digitalinput1O0.AX453.9O0.BX454.9Digitaloutput0O1.AX453.10O1.BX454.10Digitaloutput1
Youcanparameterize“SIMODRIVE611universal”asfollows:
_usingthedisplayandoperatorunitonthefrontpanelof“SIMODRIVE
611universal”
_usingtheparameterizingandstart–uptool
(SimoComU)onaPG/PC
–SimoComUviaserialinterface(RS232/RS485)
––>refertoChapter3.3.3
–SimoComUviaPROFIBUS–DP(CP5511/CP5611/CP5613)
––>refertoChapter3.3.4
这些只有在POWERON后才能激活的参数,在模块的显示面板上在文字的前面会加上一个“.”。
Theparameters,whichareeffectiveafterPOWERON,aredesignatedintheparameterdisplay
byapointafterthedriveletters.
举例:
Example:
Changingaparametervalue
Taskdescription:
Theanalogsetpointistobeinvertedviaterminal56.B/14.B.Inthis
case,indriveB,parameterP0608mustbesetto1.
Assumptions:
_Thedrivewasalreadycommissionedonce.
_Presently“___run”isbeingdisplayed.
Operatoractions:
1.Switchintheparameterizingmode转换到参数设定模式
––>pressanykeyontheoperatorunit(e.g.“P”)
2.SelectdriveB选择驱动B
––>SimultaneouslypressthePLUSandMINUSkeys
3.Removewriteprotection去掉参数的写保护
––>SetP0651to4
4.Activateinversion,terminals56.B/14.B激活版本
––>SetP0608to1
5.SavetheparametersintheFEPROM保存修改的参数
––>SetP0652to1
6.Re–activatewriteprotection增加写保护
––>SetP0651to0
CommunicationsviaPROFIBUS–DP利用PROFIBUS进行通讯
Thenetdatastructureforcyclicdatatransferissub–dividedintotwo
areas,whicharetransferredineachtelegram.
Parameterarea(PKW,parameteridentificationvalue)
参数区,读写参数以及读出错误信息
Processdataarea(PZD,processdata)
这个区域包含控制字、设定点、状态信息和实际值
–controlwordsandsetpoints(task:
master––>drive)and
–statuswordsandactualvalues(responses:
drive––>master)
Basicfunctionsofthecyclicdatatransfer
Thediagram5-7indicateswhichinputterminalsignalsandPROFIBUS
controlsignalshaveaneffectonthecentralinternalenablesignals.
下图中是输入的控制字影响内部使能信号的电路图。
Thediagram5-8showswhichinputterminalsignalsandPROFIBUS
controlsignalshaveasignificanteffectonthemostimportantstatus
signalsandhowtheyareformed.下图中是611U发出的一些状态信号
Descriptionofthecontrolwords(setpoints)
ControlwordSTW1(n–setmode)
以CLAAS机械手为例,介绍关于Software,Followingerrormonitoring,Positionmonitoring,Standstill
monitoring的具体含义以及对,见下图:
315Minussoftwarelimitswitch890.0mm
316Plussoftwarelimitswitch16380.0mm
318:
0Dymanicfollowingerrormonitoringtolerance4.00mm
320Positionmonitoringtime1000.0ms
321Positioningwindow1.00mm
325Standstillmonitortime400.0ms
326Standstillwindow2.00mm
除了软限位外,还要设置必要的硬限位,正方向和负方向,当各轴运行到硬限位的时候,直接有信
号送到611U模块的输入点,随后此轴电机开始以参数P0104设置的减速度制动,当硬限位被压
上,会出现报警140或者141。
软限位的设定通过参数P0314来进行激活,并且必须设置了参考点,当软限位被激活,出现132或
者133报警,对于旋转轴而言,自动默认为不激活软限位
104Maximumdeceleration
314Activatingsoftwarelimitswitch
Fault132(driveislocatedaftertheminussoftwarelimitswitch)
Fault133(driveislocatedaftertheplussoftwarelimitswitch)
P0310(camswitchingposition1)––>camswitchingsignal1
P0311(camswitchingposition2)––>cmswitchingsignal2
Parameterrange(PKWarea)
PPO:
参数过程数据
PKW:
参数代码及数值
PZD:
过程数据
PKE:
参数ID
IND:
子参数代码
PWE:
参数数值
AK:
任务和响应代码
PNU:
参数代码
Programmingtraversingblocks
Traversingblocks最大有64个,范围从80:
0~86:
6380:
080:
1...Blocknumber
Atraversingblockmustbeassignedablocknumberbetween0and63,
sothatitbecomesvalidandcanbestarted.
...80:
63
81:
081:
1...Position
Specifiesthetargetpositionintheblocktobeapproached.
...81:
63
82:
082:
1...Velocity
Specifiesthevelocitywithwhichthetargetpositionisapproached.
...82:
63
83:
083:
1...Accelerationoverride
Thisallowstheaccelerationtobeinfluenced,referredtoP0103.
...83:
63
84:
084:
1...Decelerationoverride
ThisallowsthedecelerationtobeinfluencedreferredtoP0104.
...84:
63
85:
085:
1...Command
Eachtraversingblockmustcontainacommand(refertoTable6-36).
1POSITIONING(Standard)
+:
Blocknumber,position,velocity,
Accelerationoverride,decelerationoverride,mode
2/3ENDLESSTRAVERSING_POS/ENDLESSTRAVERSING_NEG
+:
Blocknumber,velocity,
Accelerationoverride,decelerationoverride,mode
4WAITING
+:
Blocknumber,delaytimeinthe”commandparameter”,mode5GOTO
+:
Blockno.,targetblockno.inthe“commandparameter”,mode6/7SET_O/RESET_O
+:
Blocknumber,outputNo.inthe“commandparameter”,mode
8FIXEDENDSTOP(fromSW3.3)+:
Blocknumber,position,velocity,Accelerationoverride,decelerationoverride,
Valuerangeandunitsforclampingtorque/clampingforcein
the“Commandparameter”,mode
9/10COUPLING_CLOSE/COUPLING_OPEN(fromSW3.3)
+:
Blocknumber,mode
...85:
63
86:
086:
1...Commandparameters
Additionallyrequiredinformationtoexecutethecommandisspecified
here.
...86:
63
87:
087:
1...Mode
Spindlepositioning(fromSW5.1)
BlocksequencecircuitPositioning
modeIDsXxxx
Targetposition
via
0:
traversing
block
1:
PROFIBUS
xXxx
0:
END(standard)
1:
CONTINUEWITH
STOP
2:
CONTINUEFLYING
3:
CONTINUEEXTERNAL
xXxx
0:
ABSOLUTE
(standard)
1:
RELATIVE
2:
ABS_POS
3:
ABS_NEG
xxxX
1:
SKIP_BLOCK
...87:
63
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