AC伺服控制系統(tǒng)標(biāo)準(zhǔn)培訓(xùn)

1、AC王智寬間安排:第一天伺服系統(tǒng)綜述伺服控制系統(tǒng)的組成及特點(diǎn)伺服馬達(dá)原理編碼器原理伺服放大器基本原理伺服系統(tǒng)定位控制第二天系列定位模塊應(yīng)用第三天系列伺服放大器應(yīng)用第一章基礎(chǔ)知識第一節(jié)伺服控制系統(tǒng)的組成及特點(diǎn)圖伺服機(jī)構(gòu)的組曲圖伺服機(jī)構(gòu)定義以物體的位置方位姿勢等為控制量組成跟蹤目標(biāo)的任意控制系統(tǒng)伺服控制系統(tǒng)的主要性能:最大轉(zhuǎn)矩300%轉(zhuǎn)動慣量小轉(zhuǎn)矩恒定動態(tài)性能好0.03%調(diào)速范圍寬(1:1000)用途:需要定位的機(jī)械高頻度定位變速范圍廣的機(jī)械轉(zhuǎn)矩控制第二節(jié)AC伺服馬達(dá)原理1.SM型AC伺服馬達(dá)一般為7.5KW以下AC伺服馬達(dá).馬達(dá)定子線圈,是通過逆變器的晶體管ON-OFF,給垂直于轉(zhuǎn)子磁鐵的磁通的

2、線圈通電.外加電壓可在數(shù)KHZ內(nèi)轉(zhuǎn)換.施于線圈電壓的正負(fù)區(qū)間是根據(jù)接在馬達(dá)軸上的檢測器指示的磁極位置信號進(jìn)行判斷.始終保持磁通和電流被控制成垂直狀態(tài),保持轉(zhuǎn)子和定子同步,即效率最高.船E招電流指令乘迭器:回,IGH7兀件速廃隔王IW1標(biāo)準(zhǔn)Jia速度控制嚴(yán)簽電流1A相-4斗2.IM（感應(yīng)）型AC伺服馬達(dá)一般為7.5KW以上（不包括7.5KW）AC伺服馬達(dá).原理與異步電動機(jī)（鼠籠）相同.變頻交流感應(yīng)電機(jī).矢量控制:定子電流分解為:磁通電流和轉(zhuǎn)矩電流矢量.圖1.14時型馬達(dá)栽面第三節(jié)編碼器原理1.增量編碼器光電皿怖營旋轉(zhuǎn)伯2信號光躱光隙摳增量編碼器通過軸旋轉(zhuǎn)只輸出ONQFF脈沖的設(shè)備*單相型僅輸出A

3、脈沖不指示軸旋轉(zhuǎn)方向a2-相型輸出人和日脈沖串山以判斷旋轉(zhuǎn)方臥如果A為ON時日肚沖川變成ON則方向判為“前,如果B為ON時A變成ON貝方庇判為反也另外還有帶零信號的增星編碼器。最通出的增量編碼器軸每轉(zhuǎn)輸出100至10000牛脈沖。參考我編碼器”2.機(jī)械式絕對位置編碼器二進(jìn)制格雷碼聞定繾隙二進(jìn)制代碼絕對編碼器這是能將山動機(jī)一轉(zhuǎn)山的角度數(shù)據(jù)輸出到外部H標(biāo)的檢測塑口絕對編碼器一般能夠以8到12位輸出360.增駅編碼器有一亍缺點(diǎn)：即當(dāng)發(fā)並電源故障時丟失軸位置口然而.對于絕對編碼器來說即使發(fā)半電源故障也不丟失軸位置*匚以輸山各種代碼.諸如二進(jìn)制代碼和BCD代碼*絕對編碼器比增壯編碼器更餅噩、更精確、史大

4、*參考“編碼器那3電子式絕對位置編碼器第四節(jié)AC伺服放大器基本原理24JQ23GV50Z&0Hz甬生單元間膽故人器何服烏達(dá)PW屯流扌官令0Oel!HA-JE-氏試吋i-il.sAC伺服系統(tǒng)框囲第五節(jié)伺服系統(tǒng)定位控制位置控制方式I尢反協(xié)不叫何服機(jī)構(gòu)、|過載失控停轉(zhuǎn)|只有小客飜|受感速機(jī)、進(jìn)給絲桿裁響容易I不穩(wěn)定I減速機(jī)的間隙不石幅止紐成簡單+晌應(yīng)最快|控制系統(tǒng)穩(wěn)定詞故容使麻I減速機(jī)的同隙縄傕正|需蜃髙嬌的橫観檢測器：|受因輪進(jìn)結(jié)絲桿的瞬晌傅|燼乎穩(wěn)定,響應(yīng)性環(huán)能提高匸|減遽機(jī)的間晾不帑修正馬達(dá)軸檢測進(jìn)絡(luò)殖桿端部檢柯半閉環(huán)77丄2ZZT7J2.定位指令裝置與伺服放大器的分工A.定位指令裝置功能:機(jī)

5、械進(jìn)給量的指令脈沖輸出決定機(jī)械速度的脈沖頻率輸出決定控制對象運(yùn)動特性曲線記憶理論上的機(jī)械位置B.伺服放大器的功能:按照定位指令裝置輸出的脈沖頻率和脈沖數(shù)控制馬達(dá)的速度和進(jìn)給量.伺服馬達(dá)鎖定功能進(jìn)行適合機(jī)械負(fù)荷的自動增益的調(diào)整.反謚瞅沖3伺服放大器關(guān)鍵要件偏差計(jì)數(shù)器編碼器A位置控制:偏差計(jì)數(shù)器（滯留脈沖）=指令脈沖-反饋脈沖偏差計(jì)數(shù)器=0,速度指令為0,馬達(dá)停止.B速度控制:偏差計(jì)數(shù)器輸入脈沖頻率=指令脈沖頻率*電子齒輪傳動比馬達(dá)加速:偏差計(jì)數(shù)器輸入脈沖頻率反饋脈沖頻率馬達(dá)減速:偏差計(jì)數(shù)器輸入脈沖頻率反饋脈沖頻率累積牀沖由于機(jī)械的慣件GD2)*如果以i匚常狀態(tài)發(fā)布定位模塊速度命令.則這些命令會滯

6、后L4；能夠跟蹤。因此，對于伺服也動機(jī)來說，就使用一種方法，通過偏耀計(jì)數(shù)器;I：累積來延遲速度命令融沖。這些累積的脈沖稱為累積脈沖出在機(jī)器停止時倔差計(jì)數(shù)器發(fā)出所有的脈沖并返到CL電爪4.位置控制基本功能自動定位手動控制校正原點(diǎn)回歸原點(diǎn)回歸方法:近點(diǎn)狗方法限位器方法計(jì)數(shù)方法自動定位曲線手動控制近點(diǎn)狗方法限位器方法計(jì)數(shù)方法OPR方法（6）：計(jì)數(shù)方法2）nopr7x_z不EiXXop地址和的值以匸表示“方法2）”O(jiān)PR方法的運(yùn)ff概述。當(dāng)不能接收“零信號”時“計(jì)數(shù)方法.2）、方法有效弋（注意與BI數(shù)方法1）”方法相比，使用該方法會導(dǎo)致機(jī)器OPR期間停止位置有更大的偏差亠）當(dāng)檢測到近點(diǎn)狗ON時機(jī)器開始

7、減速a機(jī)器減速壬“蠕動速度”，井且晡后以該速度移動。當(dāng)機(jī)器從近點(diǎn)狗Ohl位置起的FF3TI近點(diǎn)狗ON后的位移量設(shè)置”中設(shè)置的拉移量完成時，來自QD75的脈沖輸出會停止#且金完成OPR起動機(jī)器OPFL（機(jī)器以PFOPR方向中指定的方向開始Fi3TOPR加速時間選擇中指定的加速-然后當(dāng)加厘.忙成叮以“OPR速度榻動.、P-朝OPR速度OPR起動:b3OFF”Md一26|軸運(yùn)行狀態(tài)OPR請求標(biāo)志麗可狀東OPR完成標(biāo)蠱H伽31|狀態(tài)：b4，|Pr.即近點(diǎn)WON后的位移量設(shè)置rPr-47|動速度不二藥）!（存儲機(jī)器移勁何值畫國近點(diǎn)狗ON硏的位移址咖.四當(dāng)前進(jìn)給值1剛機(jī)器進(jìn)給值|麗.甜近點(diǎn)狗ON后的位移量

8、!廠從0P惶置到近點(diǎn)狗J_OFF留下足夠的距離ION近點(diǎn)狗off廠運(yùn)行圖ZoN(1)OFF油IONiOFF、第二章系列定位模塊應(yīng)用QD75MGarTacannnriandEk1ee；3Idiflputs為呃(ReferIhEECliDn3.32)Fig.1.2OutlineoftheoperationofpositioningsystemusingQD75：Upperbmit或劉廚):Lozierlinitsignal)(ExbemaiDonirandiEgna/switohingsignal)|：坤5郭ta】：i(Near-poTi1doszfinaO)SpeedfeedbasicResit

9、cnfewtsiakManu.aipu穽generatorA-phe&B-phe&eOGrtoming+Mnlr-ul*Curnent+oarlrcl-FLSRLS-GF3STOPDOGRead,wrEleandetc.RaalieningccmmandFaihofilngCtnLrdca-maraQD75P/D與各模塊之間通訊信號QD75M與各模塊之間通訊信號QD75PLCCPUn良EhDElgral再OD百尺EADslgnailAllaxisaerwOlElgnalSyncranlzallpnnagY3rAYC,VEY0.YB.YD.YFFormartirunJQGsiarlgggjgru

10、nJOGEtmrtEdgrslSSCNET手電cuttanpMiDHiDnnagExtaTialnterfaceOperatingInrarmallDnofnbseivnarrpurerPoeIU口nlngcwnmand,centralccrnnianniServeparameterannlif&rY1D.Y11.Y12.Y13XH.XIS.XIS.XI?Positzoningstartsignal視PdEilllDniHjgcgmplmlEElgeal_Manualpulse;ManualpusegeriratarlS-pnaEegeneratcr:-sXC.XD.XE.XFX1D.X11J

11、C12.X13Y4.Y5.Ya.Y7BUSYslgrTiJlSlarlconifletsAxleFlapslgrulUppentiMerlimitsignalNear-polnndogsignalX4.X5.Xa,X7耳里gggggjjElgrmlExlerrt-aJcommafid創(chuàng)&ML1：:ringsignalStopsignalExternalsignalInterfacewitiiPLCCPUX8.X9.XA.XB.辰rrorcatadlDolfnalData!.vrute/readParamalarArLa.TssdPcstllonngdataTtle/r&aJBtickEl2i1

12、data/rlteeacPeripJienraldeviceinterfacedoaiepotlllDnreflwTaperarlan:廠鹹：IJOGcrattsn.hcrirgcp=r3U;n=?：_=DElUorlng叩eratJanrrssifiPeripheraldevice集電極開路方式:1)OpencollectorsystemConnectasshownbelow:Theexplanationassumesthattheinputwaveformhasbeensettothenegativelogicandforwardandi-eveisetotationpulsetrains

13、(pafametefNo.21hasbeensecco0010).Tltewavefounsnthecablen(al,(1)oftltJssectionarevoltagewavefotinsofPPandNPbasedonSG.TheirrehtLonshlpswithtransistorON/OFFareasfollows:ForAandratalonpuls?train,：3=f：.(on;(ofz;(ON)(CFFj(transstor)*1Reverserotadonpulsstrain(transstor)(OKIbFj,(ON)差動驅(qū)動方式2)Differentiallnedt

14、lvei-systemConnectassltowitbelow：Tlieexplatiadonassutnestltactlteinputwavefoi-mhasbeensettotltenegativeLogcandfoiAViandteversefotationpuIsetratnsipai-amecerNo.21hasbeensetcoOO1O).ForthedtfYerentiallinedriverthewaveformsinthetablein(a),(1)ofthissectionareasfolloxTliewavefofinsofPP.PG.NPandNGai-ebased

15、ontlmtoftltegroundofcbedifferentia11driver.0002脈沖串輸入(1)Pulsetraininput(a)InputptilsewaveformselecdonEncoderpulsesmaybeinputInanyofthreedifferentforms,forwhichpositiveo：rnegativelogiccanbecliiosen.SetthecommandpulsetrainforminparameterNo.2LArrow_fLor_TLinthetableindicatestlietimingofimportingapulsetr

16、ainaA-andB-phasepulsetraiifisareimportedaftertheyhavebeenmultipl)ledby4.PulsetrainfonrnForwardrotationpulsetrainRevererotationpulsetrainForwardrotationcommandReverserotationcommandParameterNo.21fComniandpuk已train)ppqjumj001000020011PPLTLUJITPulstrain-ksignNP00020002A-phasepulsetrainB-phasepulsetrain

17、0012FomardrotationpulsetrainReverserotationpulsetrainppWLTLfL0000Pulstrain-hsign000100020002A-phasepulsetrainPPB-phasepulsetrainQD75P/D輸入/輸出接口內(nèi)部電路(1)輸入(QD75P1和QD75D1公用)B9A20予動脈聲圾丄辭Q25不理用TISLS時1A111A121AB1A91A10信號名稱是否需要接線來近點(diǎn)狗信號DOGA上限LS信號FLSO下限LS信號RLSO停止信號STOPA外部命令信號CHGA公用COMO乎動骯沖發(fā)生器A相PULSERA+PULSERA-

18、AF動骯沖發(fā)生器B相PULSERB+PULSERB-驅(qū)動裝置READYREADYO馳動裝址READY魚用RDYCOMO寒信號PG024PG05A寒信號公用PGOCOM是否鬧要接線一欄的符號表示下列意賀;O：宦位祚要接線。A：依據(jù)惜況決宦是否需耍接線(2)輸出(QD75P1)外部接線引腳編號內(nèi)部電路信號名稱是否蘇接線1A13-1偏差計(jì)數(shù)器清零CLEARO1A14公用CLEARCOM1A15-、CWA相脈沖PULSEF1A16PULSECOMo1A17CCW日柑SIGNPULSER1A182PULSECOM輸出（QD75D1）外部接線引腳編號內(nèi)部電路信號名稱是否需要接斜1A13偏差計(jì)數(shù)器清零CLE

19、ARO1A14多6公用CLEARCOM1A15CW脈沖PULSEF+o1A16PULSEF-1A17CCWBM：SIGNPULSER+1A18PULSER-水：是否需要接線一欄的符號表示下列意義O：宦位需要接線。恠抵怙況決定琵否需要接線QD75M輸入/輸出接口內(nèi)部電路Eh:&1侶IwilingHarmmlpu昶ganarator:MR-HDPD1；PinNo.1A11A21A31A41A51A61A7E1A19（-）1B19E1A201B201A111A121A&1A91A10WhenupparMim:XlsIenatu&EdSignalnameNeedforwiring*Upper-limi

20、tLSsignalFLSOLower-limitLSsignalRLSONear-pointdogsignalDOGAStopsignalSTOPAExternalcommandsignal.S.vizchingsignalCHGACommonCOMOh/lanualpulsegeneratorAphasePULSEDA+APULSERA-h/lanualpulsegeneratorBphasePULSEDB+PULSERB-*:ThesymbolsinNeedforfiringcolumnindicatethefollowingmeanings:O:Wiringisnecessaryforp

21、ositioning.A:Wiringisnecessarydependingonthesituation.QD75P/D外部設(shè)備接頭連接器的信號QD75P1RUhQAX1AX1QD75P4RUNDAX1AX2UAX3ERRQAX4AX3AX4AX1AX2引懈布局軸卸AX4)細(xì)3(AX3)丄2(AX2)1AXD引騰編號信號名稱引腳編號信號容稱惜號名稱引騰編號信號名商2B2Q空2A20空1B20PULSER1A2QPULSERB+2B19空2A19空1B19PULSER1A19PULSERA+B20A202B1&*3PULSECOMPULSER-2A1E*3PULSECOMPULSER-1B18

22、-3PULSECOMPULSER-IA1&*3PULSECOMPULSERB19&A192B17PULSER2A17PULSER1B17PULSER1A17PULSEFB18B17I?O0OAl8A17*3PULSER4-水3PULSER4*3PULSER43PULSERB16B15B1I4B13&DDA16A15A1I4A132B16*3PULSECOM2A16*3PULSECOM1B16K3PULSECOM1A16：.?PULSECOMb&DOPULSEF-PULSEF-PULSEF-PULSEFB12aoAl22B15PULSEF2A15PULSEF1B15PULSEF1A15PULSE

23、FB11B10B9i?pAllA10A9*3PULSEF+PULSEF+*3PULSEF+*3PULSEFDDD2B14CLRCOM2A14CLRCOM1B14CLRCOMIA14CLRCOkB80OAS2B13CLEAR2A13CLEAR1613CLEARIA13CLEARB7B6DQOA7A62B12RDYCOM2A12RDYCOM1B12RDYCOM1A12RDYCOhB5oA52B11READY2A11READY1B11READYIA11READYB4B3B2&白A4A3A22B10PGOCOM2A10PGOCOM1B10PGOCOMIA10PGOCORDOao2B9PGO52A9PG

24、OS1B9PG051A9PG05B10oA1I2B6PG0242A3PG0241B8PG0241ASPG024L2B7COM2A7COM1B7COM1A7COM徑挾旳前盪國2B6COM2A5COM1B6COM1A6COM2B5CHG2A5CHG1B5CHG1A5CHG2B4STOP2A4STOP1B4STOP1A4STOP2B3DOG2A3DOG1B3DOG1A3DOG2B2RLS2A2RLS1B2RLS1A2RLS2B1FLS2A1FLS1B1FLS1AIFLS*1：引腳編號!-表示右邊連接器的引騰編號.引詞編號烷表示左邊連接器的引腳編號。*2t當(dāng)便用單軸模塊時.引腳編號IB1至1B18是“

25、空的口*3t上面一廳表示QD75P1/QD75P2/QD75P4的信號名稱，F(xiàn)面一行表示QD75D1/QD75D2/QD75D4的信號名稱口QD75M外部設(shè)備接頭連接器的信號QD71HLWnnAtI_QD75M4_hwDAXI戰(zhàn)211鯨戈tmJkX電AXlAJC4KH2wWPinlayoutAxis4(AX4)Axis3(AX3)Axis2(AX2)Axisl(AXI)PinNo.SignalnamePinNo.SignalnamePinNo.SignalnamePinNo.Signalname2B20Hoconnect2A20Hoconnect1B20PULSERA1A3QPULSERIB+

26、B2DDA202B19Noconnect2A19Noconnect1B19PULSERM1A19PULSERA-EEE-J0gOooA19A18A172BiabJoconnect2A.iaMoconnect1B1-3Noconnect1A18Noconnectaa2B17Hoconnect2A17Noconnect1B17Noconnect1A17NoconnectB16B15B1400A10A15A142B15Noconnect2A.15Noconnect1B16Noconnect1A16Noconnect00oa2B15Moconnect2A15Noconnect1B15Noconnect

27、1A15NoconnectB13口口A132B14Noconnect2M4Noconnect1B14Noconnect1A14NoconnectB12B11A12A11.2B13MoconnectNoconnect1B13Noconnect1A13NoconnectB1DA102B12Noconnect2A12Noconnect1B12Noconnect1A12NoconnectB9B8B7口aA9ASA72B11Noconnect2A.11Noconnect1B11Noconnect1A11Noconnectaa2B10Moconnect2A10Noconnect1B1QNoconnect1

28、A10NoconnectB6aM2B9Noconnect2A9Noconnect11B9Noconnect1A9Noconnect65B4o口AaA42B6Noconnect2A.&NoconnectieaNoconnectIASNoconnectB3oA32B7COW2A7COM1B7COM1A7COMB2B1aA2A12B6COM2A6COM11B6COM1A6COM2B5CHG2A5CHG11B5CHGTASCHG2B4STOP2A4STOP1B4STOP1A4STOPFrontviewof2B3DOG2A3DOG冋DOG1A3CGthsmndulA2B2RLS2A2RLS1B2RLS1

29、A2RLS2B1IFLS2A1IHLS1B1IHLS1A1FLS1:PinNo.COOindicatesthepinNo.northsrightconnectof.IPinMo.2Oind祀atestiiepinMo.fortheleftoonnectar.#2:Whena1-axis.moduleisused,pinNos.1B1Ito1B18areNoconnect.3:For1-axismoduleand2-axismodjledonothaveAX3呂ndAX4connectoroftheleftside.PrecautionsforSSCNETcablewiringIftheduct

30、isbelowthebottomofthemodule:leavesufficientclearancetoeliminateeffectsontheSSCNETcable,limitthespaceheightto70nm(2.76inch)MIN.Unt:rrnljincnjII-7IMR.-J2HBUSLM1O12O-0OODEL(cofmector)10120-8CX5DEL(connectorJ10320-3210-000(shellkh)1QS20-321D-000*h創(chuàng)kitMaker3MMaker3M7定5位模塊參數(shù)5.2.1基本參數(shù)1項(xiàng)目訃置僅、設(shè)住范圍默認(rèn)值設(shè)置僅緩沖行忻，

31、器也址用外他匱備設(shè)置的值用順控程序訃器的亞軸I軸2軸3軸4PrTl草位設(shè)芒0r0301503004501t英寸12r度23:脈沖3毎-轉(zhuǎn)的脈沖數(shù)Ap）（單位t脈沖）11至655351至655351至32767:訃置為十進(jìn)制32768y65535:轉(zhuǎn)換成彳7進(jìn)制井設(shè)置200001151301451Pr.3每轉(zhuǎn)的也移量（A1）搖照凹匚1單位設(shè)蛋蛙置萱范同不同“此SL設(shè)呂農(nóng)1范圍內(nèi)的帖。200002152302452下一頁I.的衰1單杭放大倍率Am）1:1-ffi11315330345310：10-ffi10100：100咅10010GQ：WOO-ffi1000Pr.1單位設(shè)置設(shè)置用：定文定位運(yùn)行的

32、單位依據(jù)控制口杠類型的不同從下列單位中選擇毫米、英寸、度或脈沖*不同的軸（軸1至4）可以定義不同的單位（例子）不同的單位（毫米、英丁、度和脈沖）適用于不同的系統(tǒng)占亳米或英寸.X-YT作臺、傳送帶儂據(jù)機(jī)器規(guī)格選擇毫米或英寸。）度旋轉(zhuǎn)休3沈度/旋轉(zhuǎn)）脈沖X-Y:r.作臺傳送常比當(dāng)你更改單位時，注意其它參數(shù)和數(shù)據(jù)的值不會動變化.在更改單位后.檢査參數(shù)和數(shù)據(jù)值是否在容許范圍之內(nèi)匚設(shè)置以“度”為單位來執(zhí)行速度-位置切換控制（ABS模式）。(1)電了齒輪的槪念對于輸人的脈沖*可以乘上任意的倍率使機(jī)械運(yùn)行CMXNi：l3CDV參數(shù)Z4:電機(jī)|編碼器AP:鬧服電機(jī)旋轉(zhuǎn)I周的所對應(yīng)的脈沖數(shù).AL:電機(jī)旋轉(zhuǎn)周的聽

33、對阪胸進(jìn)給量,AM：單位倍率。侗服電機(jī)伺服電機(jī)的分辨率為131072(脈沖/轉(zhuǎn))何服電機(jī)的速度和指今脈沖頻率之間的關(guān)系如下，聽示：伺服電機(jī)速度r/minl所需的指令脈沖頻率2000131072*2000/6()=436066卩盟3000|J107ZK2000/60-655300ppsOK-NoCDV-f：輸人脈沖頻率ppsjNo:何眼電機(jī)速度r/mirtP；伺服電機(jī)編碼器的分辨率脈沖/轉(zhuǎn)20()*qgCDV3噸60131072CMX_3000CDV-_j31W2=J-gOPJf,)72_4Q96卻U60*20000C-25仏）1脈沖相半于Mm進(jìn)給量的場合:伺服電機(jī)131072puIse/rev

34、機(jī)械規(guī)格滾珠絲桿進(jìn)給量:Pb-IOiim減速比：21/二何服電機(jī)編碼器分辨率Pt-131072【脈沖/轉(zhuǎn)】1310722621443276SMip-顧右在“帀=心IE.10125斯以設(shè)定CMX-32768CDV=125注意:*下面是計(jì)算電子齒輪比所用到的符號：Fb;滾珠絲桿進(jìn)給蚩（rum）11:減速比Pt:甸1R電機(jī)編碼器分辨率（脈沖/轉(zhuǎn)U包脈沖.也訶忖進(jìn)給量（mm/脈沖）S:電機(jī)每轉(zhuǎn)對應(yīng)的進(jìn)給量（mm/轉(zhuǎn)）Ae:每脈沖對應(yīng)的角度L/脈沖）A6:毎轉(zhuǎn)對砲的角度廣/轉(zhuǎn)）(b)傳送甫設(shè)定例1脈沖和當(dāng)于旋轉(zhuǎn)0卩的場合:機(jī)械規(guī)格轉(zhuǎn)盤：360/iv減速比：H-4/64伺服電機(jī)編碼器分辨率；Pt=1310

35、72脈沖/轉(zhuǎn)伺服電機(jī)131C72purse/rev需就嚅一幣M)兇為CMX的值超出設(shè)定范出L所以將CMX;和CD約分.戌至兩個值在設(shè)迅范圍以汕小數(shù)點(diǎn)右而四舍佢人。CMX_turnedON/OFFwiththesequenceprogram.ThePLCREADYsignalisturnedONduringpositioningcontrol,OPRcontrd,JOGoperaticn：inchingoperation,andmanualpulsegeneratoropeiiforiuni歸wthesystefnisinttieperipheraldevicetestmode.Alienpar

36、ametersarechanged,ItiePLCREADYsignalisturnedOFFdependingontheparamet-sf(RefertoCnapter7.).Thefollowingpnocea&ssarecairnedojtwJientJiePLCREADYsignalturnsfromOFFtoON.Theparametersettingrangeischecked.-TheQD75READYsignalXOturnsOHidThefollowingprocessesarecarriedoutwhenthePLCREADY宮ign創(chuàng)turnsfromONtoOFF.I

37、nthesecases,theOFFtimeshouldbesettoIMmsormore.-TheQD75READYsignal兇)turnsOFF.1Theoperatingaxisstops.1TheMcodeONsignalX4toX7|foreachaxisturnsOFF,andCTisstoredin|油日圧|ValidMcode.(e)AlienparametersorpositioningdataNo.11to6DD)arewrittenfromthepeiriphsaldeviceorPLCCPUtotheflashROM,thePLCREADYsignalwillturn

38、OFF.Y1AllaxisservoONIOFF:SaoOFFON:SawON1TheseivoforallthesefvoampliftefBconn&ctedtotheQD75isturnedONorOFF.Axis1Axis2Axis3Axis4AxisstopOFF:AxisstopriotrequestedON:Axisstoprequested1WhentheaxisstopsignaltjmsON.theOPRcontrol,pcnsitionongcontrol,JOGoperation,inchingoperaticnandmanualpulsegeneratoroperat

39、ionwilistop.ByturningtheaxisstopsignalONduringpositioningoperation：thepositioningoperationwillbestopped,Whethertodecelerateorsuddentystopcanbe&i&ctedwith13|Stopgroup3suddenstopselection.Duringinterpolationcontrdofthepositioningoperation,iftheaxisstop宮ign日1ofanyaxisturnsON,allaxesintheinterpolationco

40、ntrolwilld&cetefateandstop.AxislAxislAxis2Axis2Axis3Axis3Axis4Axis4ForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReverserunJOGstartForwardrunJOGstartReerserunJOGstartCFF:JOGnotskirtedCN:JOGstartedWhentheJOGstartsignalisON,JOGoperationwillbecannedoutstttw或存

41、IJOGspeed.WhentbsJOGstartsignalturnsOFF,theoperafcriwilld&celefateandstop.Wheninchingmovementamountiss&t,thedesignatedmavenwntamountis.outputraronecontrolcycleandthentheoperatiofistops.10111213Axis1Axis2Axis3Axis4PositioningstartOFF:PositioningstartnotrequestedON:Positioningstartrequested1OPRoperati

42、cnorpositionSngopefationis.started.Thepositioningstartsignalisvalidattherisongedge,andtheoperatianisstarted,WhenthepositioningstartsignalturnsONduringBUSY,theoperationstarlingwarningwilloccur(warningcode:100).14Y151617AxislAxis2A:is3Axis4ExecutionprohibitionflagOFF:MotduringexecirtionprctiibiticnON:

43、DuringexecutionprctiibitiontftheexecLftionprohibitionfagisONAientJiepositioningstartsignalturnsON,positioningcontroldoesnotstartuntiltheexecutionprohibitionflagturnsOFF.LfeedwithtiePre-readingstartfunction.(RefuteSection12.7.8)控制上機(jī)操作151815191618161917181719例于L當(dāng)|匚山口IOG速度”徙為a20000.00是米/為鐘”IM，耀神存儲器存儲OD

44、CuDCFrT亳米(xW2-英寸(xior3：度X1Q3度耐)脈沖際沖丿秒)口至20000000Q0口至20000000000至20000000000至1000000使用該數(shù)據(jù)項(xiàng)目設(shè)置JOG速度在下列范圍內(nèi)設(shè)置值：n單癥-2度/井胖Q脈沖/秒|118181819rCdT17|JOGspeed-Fig.11.4JOGoperationPLCREADYsignalQD75READYsignalON2j3)4/7OFFION一o-*ON甲OFFFFd1ONFFF1ON!OFFPNJu1FarAandrunJOGstartsignal11-4控制上機(jī)操作連續(xù)控制上機(jī)操作起動程序該程序用于用起動命令起動

45、控制D可以用下面兩種方法起動控制匚1通過輸入定位起動信號Y10.YlLY12.Y13起動2通過輸入外部命令倍號起動1）按照要起動的控制在K應(yīng)定位起動編號”中設(shè)置“定位起動編號（上述例子中，設(shè)置定位數(shù)據(jù)編號“什“）2）輸入定位起動信號Y或外部命令信氐3）定位數(shù)據(jù)編號M1會起動匚圖6一2起動控制（用于軸I）的步驟1iWhenstartngoositioningwiththewcmnaftsrthecompledonopositoning：insertX1asaninterocksotnatpositoni世isstartedaftsrY10isUniBdOFFandX1isUrnsdOFF.Con

46、trolwithpositoni世data2i3)SetthepositioningstartNo.inCd.11|PositioningstartNo.accordingtothecontroltobestarted.(Intheaboveexample,setpositioningdataNo.I.)InputthepositioningstartsignalY1Cl;Y1I,Y12ortheexternalstartsignal.ThepositioningdataNo.1willstart.Fig6.2ProceduresforstartingcontrolIHJ.I|IUOILIUI

47、IIIIJIOLjSILIMUSetzingitenSettingvalueSeeingdetailsBuffernemoryaddressAxis1Axis2Axis3Positioningstarthe.=_1zo6009CD19C029C037C0Cto7010PositioningdataNo.MachinezeropointreturnHigh-speedzerop-ointrezurnCurrentvaluechangeBlockNo.(Foradvancedpositioningcontrol)115012Q01250Cd.11定位起動信號時序定位起動信號Y10；PLCREADY

48、f;iY0QD75READY仁號X0：定匱起動完成憶號X10BUSY信號吃出錯檢測佇號XSCd.3K位起動編號OPR詁求標(biāo)志狀態(tài):b3OPR完成抓忑|Md.311猿態(tài)：岡OFF.：Oj:近點(diǎn)殉:零信號1I41OFF:1X90011：OFF；Y10IYUYOXQXCXflONTimechartforstartingmachineOPRFig.6.4TimechartforstartingmachineOPR；Near-pointdogPcssitioningstartsignalAlliaxisservoONRLCREADYsignalQD75READYsigns!Positioningstar

49、tcomplete宮ignlBUSYsignalOFFErrordetectionsignalOFF(D|ON(1)OFF(D)|C|.3PositioningstartNo.OPRcompleteflag|Md.311Status:b4OPRrequestflagMd.31|Staikis:b3iiIZerosignalTuIiIOFF1丿iON!OFFJL1ONCFFirON1ofONIICFFhJ4ONOFF“電氣零”：2)TimechartforstartingfastOPR卩ositioningstartsignalAllaxisserOONPLCREADYsignalQD75REA

50、D7signalStartcompletesignalBUSYsignalErrordetectionsignal|Cd.3|Fo5tioningstartNo.Y101YDXCJpeiogXCxaCN；:.-OFFJ1ONOFFC-Noff】L1ON:lOFF*L1rONOFF*L2J：FaOFF)/9002Fiq.E.5TimechartforstartinqfastOPR地址的內(nèi)容傳送至和7.2數(shù)據(jù)傳送處理出=面所示的步驟門）至（即在QD75存儲器之間傳送數(shù)據(jù)水下一頁上的編號（巧至（陽的數(shù)據(jù)傳送形式與上一頁上的編號（至（8）對應(yīng)PLCCPU4)FRO閘命令緩沖存諸器|QD75裁數(shù)區(qū)a）E

51、HPrTI（1）接通電源FPLCCPU臭也PLGCPU備忘區(qū)|Pr.43|PLCREADY仁號YOOFFfON閃存ROM參數(shù)K（a）蕃數(shù)懷心定位數(shù)據(jù)區(qū)編匕1至EH塊起動數(shù)據(jù)區(qū)7000至7004:DatatransmissionprocessThedataistransmittedbetweentheQD75memorieswithsteps(1)to(10)shownbelow.Thedatatrailsmissionpatternsnumbered(1)to(10)ontherightpagecorresponcthenumbers(1)to(1Q)ontheleftpage.4)FROMc

52、orrnFndBuffermemoryParameterareaParameterarea(b)Servoparameterarea(No.3D10閃存ROMiiV求:寫PLCCPU5)閃URQM碼奉敵區(qū)r3）打譏|bPLCCPU備忘區(qū)（6）閃存ROM詰求（S）蔘數(shù)兇i3）參數(shù)1afPMlrFTl|Pr.li|卒|P.A|FT洞至阿麗|Pr.150|參數(shù)區(qū)Cb)|=T.a|Pr12|梓數(shù)恆b!崖位數(shù)據(jù)區(qū)F編I至型、塊起動數(shù)據(jù)區(qū)（舗號了DDO.乍了0041崖位數(shù)據(jù)區(qū)編打1至型2塊起動數(shù)據(jù)區(qū)lQ-3D1DDto30499MonitordataareaParameterarea(a)也to凹王四匹3

53、J7:c|Fr.mF|Pr200Pararreterarea(b)PrT|:c|Pr10|PE岡to|FT.421Servoamplifier7定5位模塊專用指令14.4PSTRT1.PSTRT2.PSTRT3,PSTRT4使用軟元杵內(nèi)部軟元件文杵寄存器MELSECNET/WdirectJLILI特殊模塊LOG口變址寄存器Zn常數(shù)其它也字也字K、H、S(S)0(D)OO這些專用指用于起動指定軸的定位口捋令符號.PSTRTIPSTRT2PSTRT1.PSTRT2.PSTRT3和PSTR74彼此公用時.把它們衷川為PSTRT匚TZP.PSTRT1Un(S)(DiPSTRT3ZP.PSTRT2Un(

54、S)ZP.PSTRT3Un(S)(DiZP.PSTRT4Un(S)Q設(shè)宜建據(jù)設(shè)置內(nèi)容設(shè)置方數(shù)揭類型“UrTQD75起始1,9地址C00至FE：以位數(shù)v農(nóng)示的高也兩位數(shù)0地汕）用戶BIN16(S)存儲控制數(shù)據(jù)的軟元杵的起始地址軟元件(D)在指令完成時，使運(yùn)行變?yōu)镺N并持續(xù)一次掃描時間的位牧元杵的起始地址。果異常完成指令.恥（+n也會變成on,系統(tǒng)位注）各個本地軟元件和程序的文件寄存器不能用作設(shè)宜數(shù)據(jù)的軟元件。控制數(shù)據(jù)軟元件項(xiàng)目設(shè)譽(yù)數(shù)據(jù)設(shè)置范圍設(shè)置方（胡s)+0系統(tǒng)冋(S)+1完成狀態(tài)存儲完成時的狐態(tài)0:止常完成除0之外；異常完成C出錯代碼）系統(tǒng)(S)+2起動編號指定下列要通過PSTRT指令起動的

55、數(shù)據(jù)編號定位數(shù)據(jù)編號：1至EOO塊起動：70007004機(jī)器OFH:9001怏速OPR:9002當(dāng)前值更改：90胎歩個軸同吋起動：90041至6007000至70049000至9004用戶木1:設(shè)置方的數(shù)據(jù)如下：用戶;在執(zhí)行專用指令前ElIIU戶存儲的數(shù)矍系統(tǒng)；在執(zhí)行專用指令后由PLCCPU存儲的數(shù)據(jù)卑2：關(guān)于異常完成時的出惜代碼.參考第152節(jié)n功能扭廳要處理的軸的定位起動見下而）PSTRT1：軸1PSTRT2：軸2PSTRT3：軸3PSTRT4：軸4可以通過設(shè)置（S）+2）中的“起動編號”兀I00至7004/9001至9004執(zhí)行塊起動、OPR起動、當(dāng)前值更改和多個軸同時起動。可以使用完成

56、軟丿訥（D）+0）和（D）+1）確認(rèn)PSTRT指令完成*（a）完成軟元件D+0）通過定成PSTRT指令的掃描的END處理，該軟元件變成ON，并通過下一次END處理變成OFF.I-4ModelpositioncontrolModelspeedcontrolVirtualencodefVirtualmotorModelpositionModel&eedModeltorqueActualpositionActualspeedCurrentcontrolcontrolcontrolI/OranirolServoonStartFailure,etc.Controller_Electra-鶯magneti

57、c-brake!第三章系列伺服放大器應(yīng)用Note:1.Thebuilt-inregenerativebrakeresistorisnotprovidedfortheMR-JI2S-10A(1l).For1-phase230VAC,connect1tiepowersupplytoLigandleaveLjopen,Lzisnotprovidedfora1-phase10Dto120VACpowersupply.ForMR-J2S-35Dorless.Junctonterminalblock(FR-BALwcnQ1aLrPCPersonalcomputetH!Note:1TheHC-SFS,HC-

58、IRFSserieshavecannonconnectors.2-A1-phase230VACpowersupplymaybeusedwitiittieservoamplifierofMR-J2S-7DAorless.Connectthepower尋叩plytoLiandLsterminal呂andleaveL3open.ServomotorServoamplifier(Notel)EncodercableControlcircuitterminalblock.(Notel)jqRmversupplyleadRegenerativebrake*option*忖o-fusebreaker(NMB

59、)orfuseMagneticcontactor(MC)ToCNIBF3口factorServoconfigurationsoft/are-MRZJW3-SETUP121ECHARGE*ToCN3irrrprovingreactorToCN2；l)MR-J2S-100Aorless(a)For3-phase200Vto230VACor1-phase230VAC(Note23-phase20DVto230VACpcwsfsupplyar1-phase23DVACpowersupplyjProtectiveeafth(PE)terminalCommanddeviceToCN1IAOptions自n

60、dauxiliaryequipmentRefertoNo-fusebreakerSection1322MagneticcontajctorSection13.2.2Serv!oconfigurationsoftwareSeccion134.8Options自ndauxiliaryequipnteniRefertoRegeneratlxnebrakeoptionSection13.1.1CablesSection13.2.1PowerfactorimprovingreactorSection13.2.2電蒲12匚14H梅.TtPEPEPCtlLSPLZLZR12衛(wèi)b515111212215衛(wèi)jT