伺服驱动器参数设置步骤.docx
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伺服驱动器参数设置步骤.docx
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伺服驱动器参数设置步骤
伺服驱动器参数
打开DriveTop软件之后出现下图画面选择“OnlineRS232
IndraDrive
串口以及波特率选择如下图
参数设定首先进入“Operatingmodeselecting”菜单“Primaryoperationmode”一栏选择“velocitycontrol”最后点击Next就可以进入以下参数设置画面
Statesignalstatusword
Sourceparameter
Bit-No.
012345678B-B-boB-B-B-B-B-B-
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;・signalcontrolword-Drive5.Anvendungsart Statesignalcontrolword Targetparameter Bit-No. Jdp-zlplvvpl-zlp-"o八■2■2■八■八■八■2■ del del f? P&Tersupply-Drive5,Anvendungsart MAD160-C-0150-SA-S2-K-G-0-35-N1发动机型号 Temperaturesensor: KTY84 f? Gear,Mechanical-Drive5$Anvendun^sart QUputrevoldtionscfloadgearn2[T Datawithinspectto苗'MotorsFiaft广Load Positionda(air> 厂absoluteforma*忖moduloformal 函而5Deg Mode 厂positivedhection「negativedirectiont*shoitestpath 旦elp 2500Rpm需要设置 Accelerationfactor: 1需要设置 Ramp2pitch: 150rad/s与Decelerationramp2: 150rad/s需要设置 Drivecontroledpositioning/relativedrivecontr.interpolation,enc.1zlegless Positioningvelocity Positioningacceleration Positioningdeceleration |10.0000 Rpm Positioningjerk lo.ooo 1000.000 (ad/$ FeedrateOverride 100.00 1000.000 rad/s Velocitythresholdpositioning 20.0000 rad/$^ N Rpm inibalizationreference 厂lasteffectivetargetposition Po$.commandvalue Deg |0.0000 tPositioning〜interpreterrL— interpreter Positioning Stop Jogging QEnable (0Accept r r♦ C・ Gabsolutetargetposition「relativetravelrange 「ReferenceispositionfeedbackvalueeReferenceisactivetargetposition Acceptnewtravelrange ISequentialblockwithstop二| Pgcommandvalue Targetposition|0.0000 Statuspositioninggeneralor 厂Targetpotionattained(S-0-0342)rIN.TARGETPOSITIONrizp 厂Interpolatorhasstopped Actualvalues Positionmotor Positionexternal 239.2576Deg I00000喝 Next: > LHP| Driveliaitations^positionliaits-Drive5.Anvendungsart Positionlimitcontrol 「active Positsfeedbackvalue( PositiveportionOmitvalue Negatepositionlimitvalue Gnotactive Monitocrgthetravelrangelimitswitch THptravelrangeIrmif时chz* Oacbve Gnotactive rN/e ReactionwhenezceecHptravellimit 〉|Exit|旦elp I? Aziscontro1 Limit: values |0.000 iLimitvaluer|K»OOlOOO' 10.0000 110107 _0.0|0.D 厂Firn? in^rpolaliiQn [25000000 CoriTolloopmode Standard供-Ft旳500u&/V-Reg: 250u$) Selectedpar曰meter NameAccderalionfeedfcMwaidgain R»Oe0.0000to[214740L3S47mMm/frad/s? ) p^nbrolIqqpmonitofing AutomtaliccohItoIloop企etti闻 CJosftI Limitvalues: 10000和2500与PI: 46和6需设置 JpControlloop,Controlloopmonitoring Velocitycontrolloopmonitoring C*active 「notactive Positwriloopmonitoring Maamummodeldeviation Monitoringwindow 1D041 DegSettozero\\ 1100.0000 Deg Encodermonitomg Errorthreshold 1000' 「Travelrangeinput GLimitinput 4travelrangemustbedefinedfortheautomaticcontrolloopsettinginwhich: heaxismaymovefreely.Anupperandalowerlimitpositionmustbe$etProceedasfollowsforthesetting: A 1.Pressthe'Lowerposition'button.Thevalueforthelowerpositionbegins: obiinkandthe'Teach-in'buttonappears. 2.Movethea»stotheoneendofthetravelingrange(usethejogfunctionorentera$etvalue)Youcan$eetheexactpositionoftheaxisfromthe阳lueshowedbythe'Currentposition*. 3.Pressthe^each-ri1button,andthevalueforthecurrentpositioni$enteredastheoneforthelowerposition. 4.Pressthe'Upperposition*button.Thevaluefortheupperpositionbeginsoblinkandthe*Teach-in'buttonappears. 5.MovetheaxisluIhDulhaendufUieU ;PrawIhpi*Tftarh-r»'hirf^nnAndfhpvalijftforthftnjrrftrrfnn^rtmnia V < > Delveli&itations: torque/forceandcurrentlisits Effectivetorque/forcecommandvalue 「orque-geneiratingcurrent,commandvalue TwqueAorcellimits Cuuentlimits Activepeakcurent149.999 Mawnum]possiblecontinuouscurrent94.999 Aeff Aefl Torque/forcelimitvaluepositive: 400% Torque/forcelimitvaluenegative: -400% Torque/forcepeaklimit: 400% Bipolartorque/forcelimitvalue: 400% 需设置 Tempeiaturmodelmotor Motorpeakctmrsnl: 152.EOO AeFI Temperaturmodelamplifier Amplifiefps^kcurienl: Mutorcur»nlalelardstil 67.000 Ampltfieinaminalojirent AmplVi«tlamperaturft TherniAldrivelaad □wrlo^dw-arning Toigufr/force limit lotorcontrol *■Min■* Id-匚omEand FIukloop Stalleurrenllimil Min■* ActivepBakcunent 149.999 Maximunpossiblecontinuouscurrent94339 Iq-匚□mmand Currenrtcontr. Aeff Aeff Het IderitNo name |value HQ「匚 CurnniIqodorQawtionaloain1 2.39 S-0-0107 Currentloopintegralactiontime1 1.5 S-D-0380 DCbusvoltage 561.6 P-0-0001 SnitchrigfrequencyMthepQvvetOi/putstage 4000 P4T0M3 Torque-generatingcurrent,actualvalue 0.207 P-0-0044 FluX'genefatingcurrent,actualvalue 191868 P-0-D045 Control^ordclcurrentcoritnoller 0000.0000.00010... P-0-0D4G Statuswordofcurrentcontroller 0000.0000.00010... P0-0526 Fluxcontrolloopproportioralgain e.3i P-0-0529 Scaingofstallcurrentimit 100 p.n.n^in fin尸gBig 1RO mVHA.A."""怎1 Sorting 金idenlnumbers 厂names Search Close drivehalt-Drive輻,Anv^ndun^sart Drivehaltacknowledge艸ith Staixltetil训indo理|MPJOO Lookindialog"Staursmessages" Rpm Next> 1 1. H* DriveHaltaccelerationbipolar: 800rad/s Standstillwindow: 5Rpm £2E-stopfunction-Drive5.Anvendungsart EvaluationoftheE-Stop$ign^l 「...active Q...notactive Q.ErrorF40"Theerrsmustbereset. iill. 「A^nrnpE8Q34Drivemovable^geinafterrfand^ -ReatJtfpn 「<elppftycommentvefweequ曲zero Q*dpfredby礙ethodafi: b«Jpo$sibfedeceferationl <Back| Next: > Exit| Help| 厂MessageJnposition" Deg 厂Message"actualvelocity Velocitythresholdnx Positionwindow Lookinoperationmodesv Postioncontrol1'homing" |0.1000 Mth |1000.0000 Rpm FMessage"Standstill" 厂Message"Actualtorque/foccevalue>thresholdMdx* Standstillwindow |5.0000 Rpm TorquethreshodTx|100.0 厂Message"actualvelocity=velocitycommand" 厂Message'Tactualpowervalue! >=thresholdPxM Velocitywindow |10.0000 Rpm PowerthresholdPx|0 Watt r厂Message"velocitycommand>Smit" 厂Message"Lagerror coaree" B^olarvelocitylimitvalue Positioningwindowcoarse10.5000 Deg 12500.0000 Rpm <更CR1|理以: >|Exit|Help Probeevaluadon 「Measurementstarted AMeasurementterminated 厂Probe1actuated Probevalue1pos. 0.0000 •• Probevalue1neg. o.oooof Probe1positivelatched Differ©nee 0.0000 •• Probe1negativelatched Markerfailurecounter 0 HelpI Resolutionofencoderemulat: 2048Counts/Rev Makerpulseoffset: 0CountsMakerpulsedistance: 2048Counts Measuringencoderinterface Noencoderinterface Assignmentmeasuringencodersoptionalslot|Onboard(X8)~^] ■Errcodertype 厂drectior? invertedProtaryencoder 7U Resolr-rtion|0 -Adfjrfmenrt Modulofact了measuringencoder Multiplication IVernalpos.dataformat F? ! ertimecoolant Potionfeedbackvalue nff^pfp^ifirrzfepffharkvalrip Absoluteencoderrange Incr Incr Rev Absoluteencoderevaluationndposabler厂Measuringencoderhwprf Setabsc/uterneasunngofmeasuringencoderI £9Averagevaluefilterfordisplay-Drive5.Anvendungsart Filter1 SignalF Timeconstant卜m$ Filter2 jjJPositionsvitchpoint1-Dcive5jAnvendunfsart ■—C4QZHPri+r4L 注: 此软件为翻页就会保存修改数据,未提到的参数为默认制值
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- 伺服 驱动器 参数设置 步骤