施耐德伺服system中-英對照

1、Simple Tuning Method of ASAD Servo system 對ASDA伺服系統(tǒng)簡易調(diào)整方法Automation for a Changing World為了改變世界的自動化About This Presentation關(guān)於此份文件Intended Audience 目標(biāo)觀眾This material is a step by step guide for simple tuning of ASDA-A2 & B2 system. 這份教材是一步一步指導(dǎo)簡易調(diào)整ASDA-A2;B2系統(tǒng),It just covers the range for running a mach

2、ine in acceptable level not for the best performance tuning. 它涵蓋範(fàn)圍為機(jī)臺運(yùn)轉(zhuǎn)可接受的水平,非為了最好的性能運(yùn)轉(zhuǎn).There are several essential settings for running a machine:有機(jī)個機(jī)臺運(yùn)轉(zhuǎn)需要的基本設(shè)定 Mode selection, DI/O assignment, J/L ratio calculation, bandwidth tuning, resonance suppression, command source selection, and filters fo

3、r command smoothing. 模式選擇,Di/O指定,J/L 比率計(jì)算,頻寬調(diào)諧,共振抑制,命令源選擇,並過濾命令平滑Presentation Revision文件版本Revision: 12/27/2012The Contents內(nèi)容The Procedure Table 程序表格All the procedures for a simple tuning 一個簡單的調(diào)整程序Sharing Portions for All Control Modes所有的控制模式,都是共享的.DI/O assignment, J/L ratio calculation, bandwidth tu

4、ning, and resonance suppression settingDI/O功能指定,J/L 比計(jì)算,頻寬調(diào)整,共振抑制設(shè)定Command Source Defining and All Filters命令源定義和所有過濾Command source selection and defining, and all filters for command smoothing命令源選擇,定義,並過濾所有平滑命令.The Procedure for Simple Tuning簡易調(diào)機(jī)程序The Cross Reference Table對照索引表ItemContentPage1P1-01,

5、 Control Mode62DI/O Settings73P1-37, J/L Ratio8,9,11,124Bandwidth and Resonance Suppression10,11,13,14,155Position Control Mode16,176PT Mode17,18,19,297P1-44/45, Electronic Gear20,218P1-00, Pulse Command Type229P1-68, Position Comm. Moving Filter23,2410P1-08, Position Comm. Low Pass Filter23,2511P1-

6、46, Encoder Feedback Resolution2612PR Mode17,18,19,2913P1-36, Speed S-curve Smoother23,3114Speed Control Mode16,27ItemContentPage15S Mode27,28,2916P1-40, Analog Speed Comm. Scaling3017P1-36, Speed S-curve Smoother23,3118P1-59, Speed Comm. Moving Filter23,3219P1-06, Speed Low Pass Filter23,3320P1-38,

7、 Analog Comm. Zero Speed Clamp3421Sz Mode27,28,2922P1-911, Register Speed Comm. Settings3523Torque Control Mode16,3624T Mode36,3725P1-41, Analog Torque Comm. Scaling3826P1-07, Torque Comm. Low Pass Filter23,3927Tz Mode36,3728P1-1214, Register Torque Comm. Settings40 P1-01 The Operation ModesP1-01操作模

8、式The Table Beside is for ASDA-A2 右邊表格為ASDA-A2使用Most of the operation modes are shared by all series.大多數(shù)操作模式適用於全系列Please reference to user manuals for details.請?jiān)斪x使用手冊Declaim DI/ODD/Do說明All the DI/Os are programmable 所有Di/Do可程式化The same physical pin can be defined to different function by different fu

9、nction codes. 相同的接腳可以依據(jù)不同功能設(shè)定不同使用 Normally Open or Close contact also can be assigned to every physical pin. 一般常開或常閉接點(diǎn),可被指定在接腳上P1-37 The J/L RatioP1-37 慣量比The ratio of load inertia to motor inertia 負(fù)載轉(zhuǎn)動慣量的馬達(dá)慣量比This is a very important parameter which tells a system what the load is put on its shaft.

10、 這是非常重要的參數(shù),讓系統(tǒng)知道心軸有多少負(fù)載.For all tuning processes, this parameter should be defined first. 所有的調(diào)整程序,此參數(shù)必須要定義Manually Tune J/L and Stiffness(1)手動調(diào)整慣量比和強(qiáng)度(1)Use ASDA-soft manually to tune J/L Ratio P1-37使用ASDA調(diào)機(jī)軟體手動調(diào)整慣量比 P1-37Manually Tune J/L and Stiffness(2)手動調(diào)整慣量比和強(qiáng)度(2)Use ASDA-soft to tune bandwidth

11、 and stiffness使用ASDA調(diào)機(jī)軟體調(diào)整頻寬和強(qiáng)度Semi-auto Tuning J/L and Stiffness半自動調(diào)整慣量比和強(qiáng)度The condition 條件This method can work only when the machine is running with speed change. 此方法能使用在速度變化時(shí).If a machine runs at a low speed with a unit direction, it could be a problem for this method to evaluate the J/L ratio. I

12、f P2-33 wouldnt turn to 1 eventually, it means this method does not work. 假使運(yùn)轉(zhuǎn)時(shí)朝單一方向低速,可能會造成問題,假使 P2-33 沒有轉(zhuǎn)成1,表示此 方法不能執(zhí)行.Calculate J/L from Scope Trend (1)計(jì)算由平滑區(qū)域內(nèi)慣量比(1)Can be used for all cases but one is compulsory 可適用全部案例,但有一點(diǎn)必須是強(qiáng)制. If a machine can only be operated at a low speed less than 200 r

13、pm with a unit direction, the PC scope should be used to evaluate J/L ratio.假使有個機(jī)構(gòu)在小於200 rpm的速度下單一方向操作,電腦評定來計(jì)算慣量比.Calculate J/L from Scope Trend (2)計(jì)算由平滑區(qū)域內(nèi)慣量比(2)The bandwidth can be set from ASDA-soft The Whole Picture of Notch Filters共振抑制全貌Auto and Manual自動和手動Notch Filter (1) : P2-23P2-24 Manual M

14、ode共振抑制(1):P2-23P2-24 手動模式Notch Filter (2) (3) : P2-43P2-47 Auto/Manual Mode (Manual / One Time Deal / Continuously Searching)共振抑制(2)(3):P2-43P2-47 自動/手動模式(手動/ 一次 偵測/ 連續(xù)搜索 )Notch Filter Attenuation Rate共振抑制的衰減率The Attenuation by dB dB 衰減The larger the value, the greater attenuation it is. 更大的值,是最大的衰

15、減G(dB) = 20 log10 (V1/V0)The Skeleton of Control Mode控制模式的架構(gòu) Multiple Cascaded Loops 多個功能串連的迴路Position Mode, Speed Mode, and Torque Mode.位置模式,速度模式,扭力模式Position Control Mode位置控制模式Position Control Path 位置控制路徑Position Command Unit, Position Control Unit, Speed Control Unit, Torque Control Unit, and Vib

16、ration & Suppression Unit.位置命令單元,位置控制單元,速度控制單元,扭力控制單元,共振抑制單元Position Command Unit位置控制單元Position Command and Source Selection 位置命令和源頭選擇Pulse Type Selection, Control Mode, Electronic Gear Ratio, Moving Filter, Low Pass Filter, and Position Control Unit.脈波種類選擇,控制模式,電子齒輪比,運(yùn)動濾波,低通濾波器 位置控制單元Position Contr

17、ol Unit位置控制單元Tuning the Position Loop Gain調(diào)整位置增益 Proportional Position Loop Gain, Position Integral Compensation, Position Feed Forward Gain 比例位置增益,位置積分增益,位置前饋增益The Electronic Gear Ratio(1)電子齒輪比The Function and PUU 功能和Puu The Electronic Gear Ratio is applied to define the resolution of pulse command

18、 as well as internal command. 電子齒輪比f確認(rèn)派波指令分辨率及內(nèi)部命令I(lǐng)nside ASDA-A2 and B2, the command unit is called PUU (Pulse of User Unit) which is the data scaled by electronic gear ratio.ASDA-A2;B2裡面,命令部分稱作Puu(使用單元脈波) ,由電子齒輪比作數(shù)據(jù)規(guī)模The Electronic Gear Ratio (2)電子齒輪比(2)An Example 範(fàn)例:To set the command resolution f

19、or PUU 設(shè)定Puu 作為命令改善.The Pulse Command Type脈波種類P1-00 to set the type of pulse command P1-00 設(shè)定脈波種類The Delta servo supports three different types of pulse commands and they are AB phase, CW + CCW, and Pulse + Direction. 臺達(dá)伺服架構(gòu)有3種脈波形式,1.AB相脈波 2.正轉(zhuǎn)脈波列,及逆轉(zhuǎn)脈波列 3.脈波+方向For the hardware interface, it can be

20、line drive or open collector. Please reference Delta manual for details. 在韌體介面,可以連結(jié)驅(qū)動器或是斷開連結(jié). 內(nèi)容請參考臺達(dá)電手冊The Command Filters命令過濾器Whats the purpose for a command filter? 命令濾波器目的?For a reasonable position, speed, or torque command, it does not need any filter function added. 理的位置,速度,扭力命令,不用再增加濾波器功能.On

21、one hand, The filter can smooth the motion command which will help motor to run smoothly, but on the other hand, it will cause the response delay. 一方面,濾波器可以平滑運(yùn)動命令,也能讓馬達(dá)轉(zhuǎn)平順,但另一方面會造成可能的延遲,P1-68 Position Moving FilterP1-68 位置運(yùn)動過濾器The Function of Moving Filter運(yùn)動功能過濾器It can smooth a command with an idea

22、of average. 運(yùn)動功能過濾器 能平滑命令和平均方式A delay time will occur when this function applied.一個延遲時(shí)間 ,會發(fā)生功能在應(yīng)用時(shí).P1-08 Position Low Pass FilterP1-08 位置低通綠波過濾器 The sharp part of a command will be modified 命令尖銳的部份,將會被修改.A delay time will be added to the response. 延遲時(shí)間會增加響應(yīng)時(shí)間.P1-46 Encoder Feedback ResolutionP1-46 編

23、碼器回饋 改善The host can get the position feedback 程式能接受訊號回饋The feedback resolution can be defined via P1-46.回饋改善能定義 Via P1-46 Speed Control Mode速度控制模式Speed Control Path速度控制路徑Speed Command Unit, Speed Control Unit, Torque Control Unit, and Vibration & Suppression 速度命令單元,速度控制單元,扭力控制單元,振動抑制.Speed Command U

24、nit速度命令單元Speed Command and Source Selection速度命令和源頭選擇Analog and digital command selection, S-Curve Modifier, Low Pass filter, and Zero Speed Clamp模擬和數(shù)字命令 S-曲線修改,低通濾波器,零速檢出Speed Control Unit速度命令單元Tuning the Speed Loop Gain調(diào)整速度迴路增益 Proportional Speed Loop Gain, Speed Integral Compensation, Speed Feed-F

25、orward Gain, and Anti-Disturbance Gain比例速度迴路增益,速度積分補(bǔ)償,速度前饋增益,和抗干擾增益.P1-40 Speed Command ScalingP1-40 速度命令掃描Define the analog speed command resolution and range定義模擬速度命令改善和範(fàn)圍The definition in P1-40 is always referring to 10V of analog command. 在P1-40的定義是指10V模擬命令A(yù)n example of 3000 rpm is in P1-40 below

26、.在P1-40 3000轉(zhuǎn)下的範(fàn)例 P1-36 S-CurveP1-36 S-曲線Smooth the Speed Command平滑速度命令A(yù)cceleration Time, Deceleration Time, and S Time加速時(shí)間,減速時(shí)間,及加減速平滑時(shí)間.P1-59 Speed Moving FilterP1-59 速度運(yùn)動過濾器Smooth the Step-like Command平滑階梯狀命令For a step-like analog speed command, it is the best solution for smooth the command.階梯狀模

27、擬速度命令,最好的改善將命令平滑P1-06 Speed Low-pass FilterP1-06 速度 低通濾波器Trim the sharp-angle part of a speed command修剪速度命令尖銳的角度The low-pass filter will cause a delay time to the response.低通濾波器可能造成延遲時(shí)間 When it is 99.8% far from the target, it is hard to expect how long it will reach the target after this level.當(dāng)離目標(biāo)

28、99.8%,很難期望多久後到達(dá)目標(biāo).P1-38 Zero Speed Clamp零速度檢測 Regard a command threshold as zero speed作為一個命令為零的命令Zero Speed Setting = Speed Mode + Reach the Level Set in P1-38+ ZCLAMP DI Enable 零速度設(shè)定 =速度模式+達(dá)到設(shè)定的水平 在P1-38 Z相 到達(dá)使DI觸發(fā)Bit 10 in P2-65 can determine if the motor will stop immediately at the moment of all

29、 the conditions met.位元10 P2-65 能決定如果馬達(dá)緊急停止所有慣量條件The DI function code of ZCLAMP is 0 x05.DI 功能碼 Zclamp is 0 x05P1-09P1-11 Reg. Speed CommandP1-09P1-11 註冊速度Setup the register speed command設(shè)定暫存器存速度命令The register command can be used under Sz mode as well as S mode. 暫存命令能在SZ模式及S模式一樣好Torque Control Mode扭力控制模式Torque Control Path扭力控制路徑Torque Command Unit, Torque Control Unit, and Vibration & Suppression Unit扭力命令單元,扭力控制單元,共振抑制單元Torque Command Unit扭力命令單元Torque Command and Source Selection扭力命令和源頭選擇Analog and digi