training - motion 1/80 ax2000 drive. training - motion 2/80 overview( 概览 ) product overview...
TRANSCRIPT
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Training - Motion1/80
AX2000 Drive
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Training - Motion2/80
Overview( 概览 )
Product Overview Operating Modes
• Analog velocity command • Indexer• SERCOS• Step and direction• Electronic gearing
Power and Motor Connection Faults and Status Configuration Storage Servo loop configuration
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Training - Motion3/80
Section 1ProductOverview
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Training - Motion4/80
AX - Power and Dimensions功率及尺寸
Wide power range• 1.5 - 20A first release• 40A, 75A second release
Global input voltage (208-480 VAC) CE approval without external filters External 24V supply for logic functions and I/O allows position
tracking when 3 phase power is disconnected by safety interlock Internal regen. resistor with option of external resistor Internal regenerative shunt resistors can be connected in parallel
to share power in multi-axis applications Small footprint
• 1.5A, 3A, 6A and 10A: 325mm x 70mm• 10A: 325mm x 120mm
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Training - Motion5/80
AX - Operating Modes运行模式
SERCOS• Class A compliant with Class B/C supported IDNs
Analog • +/-10V velocity/current command• Current limit• Velocity feedforward• Simulated encoder output: incremental and SSI
Stand-alone indexer• 180 stored motion tasks• Additional 64 tasks can be configured in volatile memory via
serial interface• Tasks are selectable from I/O or serial interface• Homing
Step and direction interface Geared to external encoder
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Training - Motion6/80
AX - Servo Performance伺服性能
All digital servo-loops Loop updates
• Torque: 62.5 usec• Velocity: 250 usec• Position: 250 usec
Loop parameters set automatically after motor selected from pick-list in Unilink commissioning software
Oscilloscope simulation for tuning optimization after connecting to load
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Training - Motion7/80
AX - Feedback反馈方式
Resolver• Resolution: 14 bits
Hyperface encoder • Single and multi-turn• Resolution: 20 bits• Turn counter: 12 bits (4096 revolutions)
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Training - Motion8/80
AX - I/O 输入 / 输出点
Analog I/O (+/-10 Volts)• Input 1: 14 bits• Input 2: 12 bits • Output 1,2: 10 bits
Discrete I/O• Inputs (24V solid state optically isolated)
– 4 general purpose plus enable • Outputs (24V solid state optically isolated excluding fault)
– Two general purpose– One fault relay contact– One brake control
I/O expansion option• Inputs (24V solid state optically isolated)
– 14 fixed function• Outputs (24V solid state optically isolated)
– 7 fixed function
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Training - Motion9/80
AM Motors - A Common Offer for AM 伺服电机
High torque-to-inertia samarium cobalt brushless motors 0.4 - 100 Nm torque range IP65 rating with IP67 option DIN standard mounting CE, UL and cUL approvals Resolver and SINCOS encoder options Optional brake 7 motors are stock items (see next slide)
• IP65• Resolver feedback• No brake• Keyed shaft
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Training - Motion10/80
Section 2OperatingModes运行模式
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Training - Motion11/80
Section 2aAnalog Velocity Mode模拟速度方式
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Training - Motion12/80
Analog Velocity Command Mode 模拟控制
BreakoutBox
Command andControl Signals
Controller
System Device TaskPLC Application ProgramMotion Controller Path Planning
InterpolationPosition Loop
Drive Velocity LoopCurrent Loop
Power Converter
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Training - Motion13/80
Velocity Command Architecture 1速度控制结构 1
+ Motor
FB
+
-
Vcomp Icomp
Vderived
-
Pderived
Controller
Drive
Current Limit
VelocityCommand
Position Feedback
+
-Pcomp
Vff
+
+
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Training - Motion14/80
Velocity Command Architecture 2速度控制结构 2
+
-Pcomp
Vff
+ Motor
FB
+
-
Vcomp Icomp
Vderived
-
+
Pderived
Controller
Drive
VelocityCommand
Position Feedback
Velocity Feedforward
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Training - Motion15/80
Command Input Scaling量程输入
Command inputs are scaled for the desired maximum speed with the highest possible resolution
Care must be taken that the command outputs from the controller have the same scaling factor
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Training - Motion16/80
Command Input Offset and Filtering偏置及滤波
Offset can be manually adjusted by entering a voltage magnitude to trim out any motion when zero speed is commanded from the controller
The Lexium also offers an Auto Offset feature which eliminates the manual steps A digital filter is available to reduce noise present on the analog inputs. Caution must be
exercised in increasing the filtering as this introduce a delay in the response to the input signal. This can cause stability problems in the position loop.
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Training - Motion17/80
Simulated Encoder Output模拟编码输出
Configurable as incremental encoder or SSI (single and multiturn) SSI encoder simulation
• Match parameters to controller Incremental encoder simulation
• Resolution must match controller• The encoder null can be offset to assist in home switch placement
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Training - Motion18/80
Basic Discrete Interface to Controller开关量与控制器接口
Controller Drive
Enable
Fault
Ground Reference
Machine Overtravel Limits
Reset
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Training - Motion19/80
Optional Discrete Interface to Controller可选接口
Controller DriveIntegral Gain Off
Select Current Limit
Regen Power Exceeded
Torque Mode
Current <> Value
I T Exceeded2
Power Stage Ready
Bus Voltage <> Value
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Training - Motion20/80
Section 2bIndexer Mode组合方式
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Training - Motion21/80
Indexer Mode 1 - Discrete I/O Interface数字量 I/O 接口
I/O ExpansionBoard
Control Signals
Controller
System Device TaskPLC Application ProgramDrive Path Planning
InterpolationPosition LoopVelocity LoopCurrent Loop
Power Converter
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Training - Motion22/80
Indexer Mode 2 - Serial Interface串行接口
Ascii Commands on RS232
Machine I/O
Controller
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Training - Motion23/80
Indexer Mode 3 - Standalone 独立使用
I/O ExpansionBoard
Control Signals
3 2Simple Control
Panel
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Training - Motion24/80
Parameters Common to all Indexes
Linear or rotary indexes Velocity and acceleration limits In position window Resolution Software limits Output triggers on position <> programmed value
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Training - Motion25/80
Setting Resolution 设定分辨率
The resolution parameter relates the linear or rotary movement of the load to motor revolutions via gearboxes, leadscrews etc.
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Training - Motion26/80
In Position Window
Velocity
Time
In Position
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Training - Motion27/80
Defining an Index
Velocity
Run Speed
Timeta tr td
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Training - Motion28/80
Variable S-Curve Profiles
accel
velocity
accel
velocityS-Curve
Variable
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Training - Motion29/80
Creating Index Sequences
Velocity
Time
Immediate Dwell Input
Index 1 Index 4
Index 2
Index 3
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Training - Motion30/80
Blending Indexes
Velocity
Time
Transition Dwell
Index 1 Index 4
Index 2
Index 3
Transition
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Training - Motion31/80
Homing and Jog Mode寻原点和点动
6 Homing options Specify seek-speed, direction and accel/deccel Define Home Offset Define Jog Speed (negative sign changes direction) On-line initiation of homing and jogging
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Training - Motion32/80
Home Switch Placement原点开关放置
If the home switch is too close to the feedback null, it is possible to miss the null and rotate a whole revolution to the next null
The switch should not inactive, 45 degrees each side of the null
45-315 degrees
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Training - Motion33/80
I/O Expansion Card扩展卡
14 dedicated inputs• 8 move select lines (move 0 is homing sequence)• Start selected move (rising edge starts, falling edge holds)• Continue move held by falling edge on Start• Home limit switch (reference)• Clear following error fault• Start jog in programmed direction at programmed speed• Start next task in sequence if defined as triggered by I/O
transition 7 dedicated outputs
• 4 position register (transition on <> defined position or software limit)
• Following error fault• In position• In position (sequence)
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Training - Motion34/80
Section 2cSERCOS Mode网络方式
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Training - Motion35/80
Sercos Mode
SERCOSRing
Controller
System Device TaskPLC Application ProgramMotion Controller Path Planning
InterpolationDrive Position Loop
Velocity LoopCurrent Loop
Power Converter
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Training - Motion36/80
SERCOS Architecture
PositionCommand
+
-Pcomp
Vff
+ +
-
Vcomp Icomp
Vderived
-
+
Pderived
Drive
Position Feedback
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Training - Motion37/80
Configuring SERCOS
Configure the baud rate and fiber optic cable length (fiber optic drivers are optimized for cable length)
The SERCOS address can be configured under Basic Setup or via the up/down arrow keys on the front panel
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Training - Motion38/80
SERCOS Discrete I/O
SERCOSDrive
Overtravel Limit
Home Switch
Position Register
Fault
Position Register
Overtravel Limit
Probe
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Training - Motion39/80
SERCOS Analog I/O
SERCOSDrive
Analog Input 1
Analog Input 2
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Training - Motion40/80
Homing 寻原点 Homing is limited to one mode
• Zero reference is defined by Home switch and feedback null.
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Training - Motion41/80
Section 2dStep/Direction,Encoder TrackingMode编码跟随方式
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Training - Motion42/80
Step and Direction Mode
Open LoopStep and Direction
Controller
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Training - Motion43/80
Encoder Tracking Mode
Geared Motor
EncoderInductionMotor
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Training - Motion44/80
Electronic Gearing
+
-Pcomp
Vff
+ +
-
Vcomp Icomp
Vderived
-
+
Pderived
Drive
Gear
Position FeedbackPosition
Command
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Training - Motion45/80
Section 3Power/Motor Connection
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Training - Motion46/80
Single Axis, Internal Regen Power Connection
AX2000
24V
Fuses
Contactor
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Training - Motion47/80
Single Axis, External Regen Power Connection
AX2000
24V
Fuses
Contactor
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Training - Motion48/80
Multi Axis, Internal Regen Power Connection
AX2000
24V
Fuses
Contactor
AX2000 AX2000Bus Bus
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Training - Motion49/80
Motor Connection
AX2000
24V
Fuses
Contactor
Choke
Motor
Brake
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Training - Motion50/80
Brake Timing
Enable Input
Speed
Brake Output
EnablePower Section
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Training - Motion51/80
Emergency Stop - Preferred
AX2000
24V
Fuses
Contactor
Motor
3 PhaseContactor
DynamicBraking
Resistors
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Training - Motion52/80
Emergency Stop - Alternative
AX2000
24V
Fuses
Contactor
Motor
EnableContactor Enable
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Training - Motion53/80
Motor Feedback Options
EncoderResolver
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Training - Motion54/80
Motor Overtemperature
AX2000
24V
Fuses
Contactor
MotorFeedback and
Overtemperature
Power
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Training - Motion55/80
Motor MSET
In a brushless servomotor system, it is necessary to know the relative position of the feedback device and the motor poles so that the motor can be commutated
AM motors and associated feedback devices are aligned in the factory. The relative position of feedback device and motor poles is expressed as a default feedback offset in the drive
No MSET is required for AM motors A third party motor must be MSET
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Section 4Faults andStatus错误及指示
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Warnings and Errors Warnings
• Generated when a non-fatal fault occurs • Drive stays enabled with fault relay contact closed• Some non-fatal faults result in a controlled shutdown (ramp down to zero speed) but
with drive still enabled Errors
• Drive is disabled and fault relay opens• Faults can be cleared by a power cycle or reset (from Drive or via pre-configured
input)
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Drive Status
A complete status of internal drive variables can be accessed via the Monitor icon on the main screen
• Motion information: position, speed, following error• Internal temperature• Regen power• Analog inputs• Current and bus voltage
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Analog Output Diagnostics/Status
Internal servo loop variables can be made available on either analog output as a +/-10V signal
• Actual velocity• Commanded veocity• Actual current• Commanded current• Following error
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Discrete Output Diagnostics/Status Discrete outputs can be configured to provide status
• Velocity <> preset value• Current <> preset value• Continuous current rating exceeded• Bus voltage <> preset value• Regen power dissipation exceeded• Any error, following error or warning
The on/off status of discrete inputs and outputs on the I/O expansion card are displayed in Drive
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Section 5ConfigurationStorage组态储存
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Internal Memory
WorkingMemory
NonVolatile
Defaults
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File Storage
Drive configurations can be stored on a PC using the Drive browser
A file can be loaded from disk and modified off-line before downloading to the drive
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Section 6Tuning运行
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The Step Response
How a control loop responds to a small step change is a good indicator of how well the system has been tuned
The rise-time (tr) is shorter if the bandwidth is high The higher the proportional gain the higher the bandwidth The red curve shows some ringing and indicates that we are
starting to see some phase shift. The green curve shows a critically damped control loop with close to the ideal response
In practice a small amount of ringing is acceptable since the rise-time is a little shorter i.e. faster response
Time
ActualVelocity
Ringing
Tr
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Tuning - The Golden Rules Command the System to Do Only What it is Capable of
• If the motor and drive is incorrectly sized for the desired motion profile no amount of tuning will yield the desired results
Tune Inside Out• It is essential to tune the inner loops first. A common mistake
is to have a low bandwidth, poorly tuned velocity loop then try to tune the position loop. The position loop can never be properly tuned because of the phase shift in the inner loop
Proper Grounding and Shielding• Great care must be taken in following the grounding and
shielding procedures in the installation manual. If there is excessive system noise the system must be detuned (low bandwidth) so that it is not excited by high frequency noise
Robust Mechanical Design• Ensure that there is minimum flexibility in the mechanical
system and that couplings are tight. Without a good mechanical design, resonances will be introduced which again force system detuning
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Velocity Control Architecture
+ +
-
P+I P+I
Vderived
-
Pderived
Position Feedback
Proportional Plus IntegralVelocity Loop
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Position Control Architecture
+
-P+I
Vff
+ +
-
P P+I
Vderived
-
+
Pderived
Position Feedback
ProportionalVelocity Loop
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Oscilloscope
Time
Velocity
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Oscilloscope Operating Modes
Reversing - step change in velocity Constant speed Constant torque Constant current
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The Current Loop
The current loop is configured automatically when the motor is selected. It is usually not necessary to modify parameters.
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The Velocity Loop
The goal is to tune the compensator so that the highest bandwidth is achieved appropriate for the mechanical system.
Velocity loop parameters are set automatically when the motor model number is selected. The velocity loop can then be adjusted for the appropriate performance when the load is connected
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Optimizing Velocity Loop Step Response
Proportional Gain• Higher proportional gain results in faster rise time but more overshoot and ringing.
The optimum response is a small amount of overshoot with minimal ringing Integral Gain
• Higher integral gain improves immunity to disturbances but increases ringing. In a high friction system the integral gain can be increased more significantly
Time
Velocity
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The Position Loop
The integral term moves from the velocity loop to the position loop. It should normally be increased 2-3 times the value from the optimized speed loop. A higher integral gain reduces following error but increases ringing
The proportional gain may require no adjustment. A higher gain reduces following error bu increases ringing
Following error is significantly reduced by Vff which normally requires no adjustment from the default
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AX2000 单独使用方案
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应用领域
包装机械 :各种包装材料的定长剪切 物料传输和搬运:立体仓库,产品传送 轮胎制造业: 医疗设备:大型诊断扫描仪 加工机械:木材,金属加工 卷绕机械: 汽车,摩托车制造业 纺织,印染机械 玻璃制造业 邮件分检设备