西門(mén)子小型伺服驅(qū)動(dòng)系統(tǒng)應(yīng)用指南

序
前言
第 1章　概論 ···································· 1
1.1　交流伺服驅(qū)動(dòng)系統(tǒng) ·······························1
1.2　西門(mén)子交流伺服驅(qū)動(dòng)系統(tǒng)······················1
1.3　西門(mén)子小型伺服驅(qū)動(dòng)系統(tǒng)······················3
第 2章　SINAMICS V90伺服驅(qū)動(dòng)系統(tǒng) ··· 6
2.1　SINAMICS V90伺服驅(qū)動(dòng)系統(tǒng)的優(yōu)點(diǎn) ·······6
2.2　SINAMICS V90脈沖型伺服驅(qū)動(dòng)器 ··········9
2.2.1 SINAMICS V90 PTI伺服驅(qū)動(dòng)器硬件接································9
2.2.2 SINAMICS V90 PTI伺服驅(qū)動(dòng)器的通用功能 ··································· 12
2.2.3 SINAMICS V90 PTI伺服驅(qū)動(dòng)器外部脈沖位置控制 ····························· 13
2.2.4 SINAMICS V90 PTI伺服驅(qū)動(dòng)器內(nèi)部位置控制 ··································· 17
2.2.5 SINAMICS V90 PTI伺服驅(qū)動(dòng)器速度控制 ······························· 20
2.2.6 SINAMICS V90 PTI伺服驅(qū)動(dòng)器轉(zhuǎn)矩控制 ································· 22
2.2.7 SINAMICS V90 PTI伺服驅(qū)動(dòng)器混合控制 ····························· 22
2.2.8 SINAMICS V90 PTI伺服驅(qū)動(dòng)器 RS485 通信控制 ·························· 23
2.3　SINAMICS V90總線型伺服驅(qū)動(dòng)器 ········ 24
2.3.1 SINAMICS V90 PN伺服驅(qū)動(dòng)器硬件接口 ···························· 24
2.3.2SINAMICS V90 PN伺服驅(qū)動(dòng)器 PROFINET通信 ·························· 26
2.3.3SINAMICS V90 PN伺服驅(qū)動(dòng)器速度控制 ·························· 31
2.3.4 SINAMICS V90 PN伺服驅(qū)動(dòng)器基本定位器控制 ··································· 32
2.4　SINAMICS V90伺服驅(qū)動(dòng)器非周期通信 ·· 37
2.5　SINAMICS V90伺服驅(qū)動(dòng)器調(diào)試工具 ····· 40
2.5.1　V-ASSISTANT調(diào)試軟件 ················ 41
2.5.2　TIA Portal調(diào)試軟件 ······················ 50
2.6　SINAMICS V90伺服驅(qū)動(dòng)器的安全功能 ·· 62
2.6.1　 SINAMICS V90伺服驅(qū)動(dòng)器與 SIMATIC S7-1200F PLC安全功能的連接 ··················· 62
2.6.2　 SINAMICS V90伺服驅(qū)動(dòng)器與 ET200S安全功能的連接 ················ 62
2.6.3　 SINAMICS V90伺服驅(qū)動(dòng)器與 SIRIUS 3SK1安全繼電器安全功能的連接 ········63
2.6.4　 SINAMICS V90伺服驅(qū)動(dòng)器與急停開(kāi)關(guān)安全功能的連接 ····················· 64
2.6.5　多伺服驅(qū)動(dòng)器與急停開(kāi)關(guān)安全功能的連接 ·················· 64
2.7　 SINAMICS V90 伺服驅(qū)動(dòng)系統(tǒng)的制動(dòng) ····· 64
2.7.1　 SINAMICS V90伺服驅(qū)動(dòng)系統(tǒng)的制動(dòng)方法 ··········· 65
2.7.2　制動(dòng)過(guò)程的計(jì)算 ·························· 66
2.7.3　制動(dòng)電阻的選擇原則 ····················· 68
2.7.4　制動(dòng)單元的核算 ·························· 69
2.7.5　驅(qū)動(dòng)器最大制動(dòng)能力的估算 ············ 71
2.8　 SINAMICS V90伺服驅(qū)動(dòng)系統(tǒng)的選型工具 ····················· 72第
3章　運(yùn)動(dòng)控制功能 ······················· 81
3.1　SIMATIC S7-1500 系列 PLC ················· 81
3.2　電子齒輪同步 ·································· 82
3.2.1　電子齒輪運(yùn)動(dòng)控制向?qū)?·················· 82
3.2.2　電子齒輪運(yùn)動(dòng)控制指令 ·················· 84
3.3　電子凸輪同步 ······················ 88
3.3.1　電子凸輪運(yùn)動(dòng)控制向?qū)?·················· 88
3.3.2　電子凸輪運(yùn)動(dòng)控制指令 ·················· 91
3.4　測(cè)量輸入 ·························· 92
3.4.1　測(cè)量輸入運(yùn)動(dòng)控制向?qū)?·················· 92
3.4.2　測(cè)量輸入運(yùn)動(dòng)控制指令 ·················· 95
3.5　凸輪輸出 ········································ 98
3.5.1　凸輪輸出運(yùn)動(dòng)控制向?qū)?·················· 99
3.5.2　凸輪輸出運(yùn)動(dòng)控制指令 ·················102
第 4章　 SINAMICS V90伺服驅(qū)動(dòng)器的應(yīng)用技巧 ·················· 104
4.1 SIMATIC S7-200 SMART脈沖輸出指令控制 SINAMICS V90 PTI伺服驅(qū)動(dòng)器 ······104
4.2 基于 HSP的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ············108
4.2.1 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的硬件組態(tài) ······108
4.2.2　基于報(bào)文類(lèi)型 1的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ·············· 112
4.2.3　基于報(bào)文類(lèi)型 3的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ············· 114
4.2.4　基于報(bào)文類(lèi)型 102的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ········· 119
4.3　 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的周期性通信 ···············123
4.3.1　DPRD_DAT指令 ···················123
4.3.2　DPWR_DAT指令 ····················124
4.3.3 基于報(bào)文類(lèi)型 111的 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制··············124
4.3.4 基于基本定位器工藝對(duì)象的 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ······133
4.3.5　基于報(bào)文類(lèi)型 1的 SIMATIC S7-200 SMART PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的通信控制 ··········137
4.4 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的非周期通信 ·························142
4.4.1 基于 WRREC和 RDREC指令的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器間的非周期通信 ··142
4.4.2 基于 SinaPara的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的非周期通信 ···············149
4.4.3 基于 SinaParaS的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的非周期通信 ··············154
4.4.4 基于 SINA_PARA_S的 SIMATIC S7-200 SMART PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的非周期通信 ············159
4.5 SINAMICS V90 PN伺服驅(qū)動(dòng)器的回參考點(diǎn) ···················168
4.5.1　設(shè)置直接回參考點(diǎn)的方式 ··············169
4.5.2　參考點(diǎn)擋塊和編碼器零脈沖方式 ·····169
4.5.3　參考點(diǎn)擋塊和編碼器零脈沖硬限位反轉(zhuǎn)方式 ··············171
4.5.4　編碼器零脈沖方式·······················173
4.5.5　編碼器零脈沖硬限位反轉(zhuǎn)方式 ········175
4.5.6　參考點(diǎn)擋塊引入伺服驅(qū)動(dòng)器的參考點(diǎn)擋塊和編碼器零脈沖方式 ···········176
4.5.7　參考點(diǎn)擋塊引入伺服驅(qū)動(dòng)器的參考點(diǎn)擋塊和編碼器零脈沖硬限位反轉(zhuǎn)方 ···················177
4.5.8　硬限位開(kāi)關(guān)作為參考點(diǎn)擋塊和編碼器零脈沖方式 ········179
4.5.9　僅尋參考點(diǎn)擋塊的方式 ·················182
4.5.10　僅尋參考點(diǎn)擋塊的硬限位反轉(zhuǎn)方式 ··183
4.5.11　回參考點(diǎn)的應(yīng)用技巧 ··················185
4.6　巧用附加報(bào)文類(lèi)型 750 ······················186
4.6.1　基于報(bào)文類(lèi)型 1的 SIMATIC SMART 200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的附加報(bào)文應(yīng)用 ·······187
4.6.2　基于報(bào)文類(lèi)型 3的 SIMATIC S7-1500 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的附加報(bào)文應(yīng)用········192
4.6.3　基于報(bào)文類(lèi)型 105的 SIMATIC S7-1500 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的直接轉(zhuǎn)矩控制 ············201
4.6.4　基于報(bào)文類(lèi)型 102的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的直接轉(zhuǎn)矩控制 ···········206
4.6.5　基于報(bào)文類(lèi)型 111的 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動(dòng)器的參考點(diǎn)坐標(biāo)應(yīng)用 ············214
4.7　固定點(diǎn)停止 ····································215
4.7.1　基于 SINAMICS V90 PN伺服驅(qū)動(dòng)器基本定位器模式下的固定點(diǎn)停止 ·····215
4.7.2　基于 SINAMICS V90 PN伺服驅(qū)動(dòng)器速度模式下的固定點(diǎn)停止 ··············218
第 5章　運(yùn)動(dòng)控制系統(tǒng)的應(yīng)用技巧 ······ 222
5.1　運(yùn)動(dòng)控制系統(tǒng)的項(xiàng)目組態(tài)···················222
5.2　往復(fù)定位運(yùn)動(dòng) ·································231
5.3　帶測(cè)量輸入和凸輪輸出的基本定位運(yùn)動(dòng) ···237
5.4　相對(duì)電子齒輪同步運(yùn)動(dòng) ······················243
5.5　絕對(duì)電子齒輪同步運(yùn)動(dòng) ······················246
5.6　帶測(cè)量輸入的絕對(duì)電子齒輪同步運(yùn)動(dòng) ····250
5.7　凸輪同步運(yùn)動(dòng) ·································254
5.8　帶凸輪輸出的凸輪同步運(yùn)動(dòng)················260
參考文獻(xiàn) ······································· 263