Simo ComU use software to set up and adjust the speed up debugging, maintenance schedule, but if repairs to debug live without computers or without Simo ComU software, 611U/Ue drive settings and adjustments can also be set up on the drive and operation of panel.
⑴ operator panel display
The use of 6 on the drive liquid crystal display, the drive can display the following three ways:
① turned on display.
- For the first time the new drive boot, the display will show "A1106", or "b1106", prompt commissioning personnel enter "power module code" and other initialization parameters;
- For normal work the drive, the display will show "-run", said the drive is already in the "Run" state.
In this display mode, through the operation panel "+""-"" P "key to enter the parameters displayed.
② parameter display.
Parameter Display for selecting the parameters or sub-parameter which indicates or modify the parameters or sub-parameter.
Parameters can be displayed in the "Boot status shows", "alarm display" mode, through the operation panel "+""-"" P "key to enter.
In the parameter display mode, can not normally go back to the other display, such as the need to re-boot approach, into the other display.
③ Alarm display.
Alarm display for the display driver in the last one occurred in error or warning number.
In this display mode, through the operation panel on the "-" key to enter the parameters displayed.
⑵ the use of control panel buttons
Drive configuration and operation of the panel layout has "+""-"" P "three buttons, depending on the circumstances, the respective keys have the following effects.
① parameter display.
In the parameter display mode, the button functions as follows:
Individual click "+": increase of parameter No. "1", or select the next parameter number;
Single click "-": decrease parameter number "1", or the choice of a parameter number;
Separately by "P": display sub-parameter number, or display the parameter values;
Press the "+" and "P": Fast search down the other parameters;
Press the "-" and "P": fast up and search for other parameters;
Press the "+" and "-": the use of dual-axis drive, display the same parameters to another drive shaft.
② sub-parameter display.
In the sub-parameter display mode, the button functions as follows:
Individual click "+": increase in sub-parameter number "1", or return to the parameter display mode;
Single click "-": sub-parameter to reduce number "1", or return to the parameter display mode;
Separately by "P": display sub-parameter value;
Press the "+" and "P": Fast search down to other sub-parameters;
Press the "-" and "P": fast up and search for other sub-parameters;
Press the "+" and "-": the use of dual-axis drive, display the same sub-parameters of the other drive shaft.
③ parameter value display.
In the parameter value display mode, the button functions as follows:
Individual click "+": an increase in the last parameter value "1";
Single click "-": a reduction of the final parameter value "1";
Separately by "P": Back to the parameters or sub-parameter number display;
Press the "+" and "P": a rapid increase in the parameter value;
Press the "-" and "P": the parameter value rapidly reduced;
⑶ parameter settings and changes
Drive parameter settings follow these steps:
① connected to the drive power, the drive displays "-run";
② Press "P" button, the display into the "parameter display" mode;
③ According to the needs of the use of dual-axis drive, for the first two parameters of the drive shaft changes should also press the "+" and "-" key to show the first two-axis drive parameters;
④ Click "+", parameter numbers increase, select the parameters P0651;
⑤ Press "P" key, indicating P0651 parameter values;
⑥ Click "+" several times, set P0651 parameter value of "4" (or other value), lift the "parameter protection";
⑦ Press "P" button to return to parameter number display;
④ ~ ⑦ ⑧ follow the steps one by one to change the parameter values need to be amended. When the value of change is larger, you can press the "+" and "P" key, so that a rapid increase in the parameter value; or press the "-" and "P", so that rapid decrease in the parameter value;
⑨ change is complete, follow the steps ④ ~ ⑦ P0652 set to "1", the implementation of "parameter write" operation, the drive parameters will be automatically sent to the FEPROM from RAM to store. Write is complete, parameter P0652 automatically revert to "0."
⑩ reset the P0651 parameter value of "0" so that effect is written to protect.
Tuesday, November 24, 2009
AC servo motor structure and control principle
Like with ordinary motors, AC servo motor also constituted by the stator and rotor. There are two stator windings, the excitation winding and control winding, the two windings in the space difference between the 90 ° electric angle. Servo motor is a permanent magnet inside the rotor, drive gS control u / V / W three-phase power to form the rotor electromagnetic fields under the influence of this magnetic field rotation, while built-in encoder motor feedback signals to the drive, the drive values and goals based on feedback to compare the value to adjust the angle of the rotor rotation. Determined by the precision of servo motor encoder accuracy (line number).
The working principle of AC servo motors and single-phase induction motor is essentially no difference. However, the AC servo motor must have a performance AC servo motor is able to overcome the so-called "rotation" phenomenon, that is, no control signal, it should not be turning, especially when it has been in the rotation, if the control signal disappears, it should be immediately stop turning. Ordinary induction motor rotation up later, such as the control signal disappear, often continued to rotate.
When the motor is still original state, such as the control winding voltage is uncontrolled, this time only the field winding magnetic field pulse generated electricity. Pulsating magnetic field can be regarded as two circular rotating magnetic field. The two circular rotating magnetic field with the same size and speed, in the opposite direction of rotation, the establishment of the positive and reverse rotating magnetic field were cut cage winding (or cup-shaped wall), and sensor out of the same size and phase reverse electromotive force and the current (or eddy current), these currents were generated magnetic field with the respective moments are also equal and opposite, synthetic torque is zero, servo motor rotor to switch it up. Once the control system error signal, the control winding must accept corresponding to the control voltage. Under normal circumstances, the motor internally generated magnetic field is oval-shaped rotating magnetic field. An elliptical rotating magnetic field can be seen as synthesized by the two circular rotating magnetic field together. The two circular rotating magnetic field amplitude range (with the original elliptical rotating magnetic field to switch the magnetic field is being turned to the same large, with the original turn in the opposite reversal of a small magnetic field), but at the same speed, to rotate in the opposite direction. They cut the rotor winding induction of electric potential and current, as well as the electromagnetic torque is also generated in the opposite direction, size range (positive turn have a large, inverted are small) synthesis of torque is not zero, so the servo motor is transferred toward the direction of the magnetic field rotation up, with the signal strength, the magnetic field near the circle, this time is to switch the magnetic field and the torque increases, reversing the magnetic field and the torque decreases, synthetic torque larger, such as the load torque constant, rotor speed has increased. If you change the control voltage of the phase, that is, phase-shifted 180o, turn in the opposite rotating magnetic field, resulting in the opposite direction of the synthesis of torque, servo motor will be reversed. If the control signal disappeared, and only pass into the field winding current, servo motor will be a pulsating magnetic field generated by magnetic field, the rotor quickly stopped.
In order to have the AC servo motor control signal disappeared immediately stop rotating features, it's the rotor resistance are particularly large, it's critical slip Sk greater than 1. The motor is running, if the control signal reduced to "zero", excitation current still exists, generate a pulse of air gap magnetic field, this pulsating magnetic field can be regarded as forward and reverse rotating magnetic field rotating magnetic field synthesis. Once the control signal disappeared, air-gap magnetic field into a pulsating magnetic field, which can be regarded as forward and reverse rotating magnetic field rotating magnetic field of synthetic motor that is run by synthetic characteristic curve. As the rotor inertia, operating point moves from the A-point B-point, this time produced a motor rotating in the opposite direction with the original rotor braking torque. The load torque and braking torque rapidly under the action of the rotor to stop.
Must be pointed out that ordinary two-phase and three-phase induction motor under normal circumstances are the symmetrical mode of operation, asymmetric operation is of a fail state. The AC servo motor can be run by different levels of asymmetry to achieve control purposes. This is the AC servo motor is running with the fundamental difference between ordinary induction motor.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
Another way is:
1, torque control: torque control method is through an external analog input or direct address of the assignment to set the motor shaft the size of the external output torque, is specifically expressed in the corresponding 5Nm for example 10V, so that when the external analog-based fixed 5V output when the motor shaft 2.5Nm: If the motor shaft when the motor load is less than 2.5Nm turn, the external load is equal to 2.5Nm when the motor does not turn, is greater than 2.5Nm reversed when the motor (usually in a gravity load conditions generation). Can be simulated by changing the amount of real-time settings to change the size of set torque, but also by means of communication to change the address of the corresponding values to achieve. Applied mainly in the right material, there are strict requirements force the winding and unwinding devices, such as Rao-line devices or pulling fiber optic equipment, torque settings according to the changes in the radius of the winding change at any time to ensure that the material Shouli Bu With the winding radius of the changes will change.
2, position control: position control mode is usually through an external input pulse frequency to determine the size of the rotation speed by the number of pulses to determine the angle of rotation, while others can communicate directly to servo speed and displacement of the assignment. Given the strategic location of speed and position of patterns can have a very strict control, it is generally used in positioning devices. Applications such as CNC machine tools, printing machinery and so on.
3, the speed mode: The analog input or pulse frequency of rotation can be speed control, control devices, where the upper outer PID control of the speed model also can be positioned, but must be the motor position signal or direct load feedback signals to the upper position in order to do computation. Location model in support of direct-load outer position signal detected at this time of the motor shaft encoder detects only the motor speed, position signals by direct detection of the ultimate load device to provide such advantages can be reduced during the middle of transmission error, increasing the positioning accuracy of the whole system.
The working principle of AC servo motors and single-phase induction motor is essentially no difference. However, the AC servo motor must have a performance AC servo motor is able to overcome the so-called "rotation" phenomenon, that is, no control signal, it should not be turning, especially when it has been in the rotation, if the control signal disappears, it should be immediately stop turning. Ordinary induction motor rotation up later, such as the control signal disappear, often continued to rotate.
When the motor is still original state, such as the control winding voltage is uncontrolled, this time only the field winding magnetic field pulse generated electricity. Pulsating magnetic field can be regarded as two circular rotating magnetic field. The two circular rotating magnetic field with the same size and speed, in the opposite direction of rotation, the establishment of the positive and reverse rotating magnetic field were cut cage winding (or cup-shaped wall), and sensor out of the same size and phase reverse electromotive force and the current (or eddy current), these currents were generated magnetic field with the respective moments are also equal and opposite, synthetic torque is zero, servo motor rotor to switch it up. Once the control system error signal, the control winding must accept corresponding to the control voltage. Under normal circumstances, the motor internally generated magnetic field is oval-shaped rotating magnetic field. An elliptical rotating magnetic field can be seen as synthesized by the two circular rotating magnetic field together. The two circular rotating magnetic field amplitude range (with the original elliptical rotating magnetic field to switch the magnetic field is being turned to the same large, with the original turn in the opposite reversal of a small magnetic field), but at the same speed, to rotate in the opposite direction. They cut the rotor winding induction of electric potential and current, as well as the electromagnetic torque is also generated in the opposite direction, size range (positive turn have a large, inverted are small) synthesis of torque is not zero, so the servo motor is transferred toward the direction of the magnetic field rotation up, with the signal strength, the magnetic field near the circle, this time is to switch the magnetic field and the torque increases, reversing the magnetic field and the torque decreases, synthetic torque larger, such as the load torque constant, rotor speed has increased. If you change the control voltage of the phase, that is, phase-shifted 180o, turn in the opposite rotating magnetic field, resulting in the opposite direction of the synthesis of torque, servo motor will be reversed. If the control signal disappeared, and only pass into the field winding current, servo motor will be a pulsating magnetic field generated by magnetic field, the rotor quickly stopped.
In order to have the AC servo motor control signal disappeared immediately stop rotating features, it's the rotor resistance are particularly large, it's critical slip Sk greater than 1. The motor is running, if the control signal reduced to "zero", excitation current still exists, generate a pulse of air gap magnetic field, this pulsating magnetic field can be regarded as forward and reverse rotating magnetic field rotating magnetic field synthesis. Once the control signal disappeared, air-gap magnetic field into a pulsating magnetic field, which can be regarded as forward and reverse rotating magnetic field rotating magnetic field of synthetic motor that is run by synthetic characteristic curve. As the rotor inertia, operating point moves from the A-point B-point, this time produced a motor rotating in the opposite direction with the original rotor braking torque. The load torque and braking torque rapidly under the action of the rotor to stop.
Must be pointed out that ordinary two-phase and three-phase induction motor under normal circumstances are the symmetrical mode of operation, asymmetric operation is of a fail state. The AC servo motor can be run by different levels of asymmetry to achieve control purposes. This is the AC servo motor is running with the fundamental difference between ordinary induction motor.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
Another way is:
1, torque control: torque control method is through an external analog input or direct address of the assignment to set the motor shaft the size of the external output torque, is specifically expressed in the corresponding 5Nm for example 10V, so that when the external analog-based fixed 5V output when the motor shaft 2.5Nm: If the motor shaft when the motor load is less than 2.5Nm turn, the external load is equal to 2.5Nm when the motor does not turn, is greater than 2.5Nm reversed when the motor (usually in a gravity load conditions generation). Can be simulated by changing the amount of real-time settings to change the size of set torque, but also by means of communication to change the address of the corresponding values to achieve. Applied mainly in the right material, there are strict requirements force the winding and unwinding devices, such as Rao-line devices or pulling fiber optic equipment, torque settings according to the changes in the radius of the winding change at any time to ensure that the material Shouli Bu With the winding radius of the changes will change.
2, position control: position control mode is usually through an external input pulse frequency to determine the size of the rotation speed by the number of pulses to determine the angle of rotation, while others can communicate directly to servo speed and displacement of the assignment. Given the strategic location of speed and position of patterns can have a very strict control, it is generally used in positioning devices. Applications such as CNC machine tools, printing machinery and so on.
3, the speed mode: The analog input or pulse frequency of rotation can be speed control, control devices, where the upper outer PID control of the speed model also can be positioned, but must be the motor position signal or direct load feedback signals to the upper position in order to do computation. Location model in support of direct-load outer position signal detected at this time of the motor shaft encoder detects only the motor speed, position signals by direct detection of the ultimate load device to provide such advantages can be reduced during the middle of transmission error, increasing the positioning accuracy of the whole system.
Some introductory remarks on the encoder
1: Selection of incremental rotary encoder which Note: 1. Armed installation dimensions, including location only the mouth of the shaft diameter, the installation holes; cable outlet way; installation space volume; work environment protection rating meets the requirements.
2. Resolution, that is, the work of each encoder output pulse lap number, is designed to be used to meet the required precision.
3. Electrical interface, the encoder outputs are push-pull output common mode (F-type HTL format), voltage output (E), open collector (C, common C for the NPN-tube output, C2 for the PNP-tube output), long-term driver outputs. A manner that its output and its control system interface circuit match.
2 How to use an incremental encoder? 1, incremental rotary encoder with resolution of differences, using the number of pulses generated by each lap to measure the number from 6-5400 or higher, and pulse a few more higher the resolution; this is an important basis for selection of one.
2, incremental encoders are usually three-way signal output (differential and six-channel signal): A, B, and Z, generally use the TTL-level, A pulse in the former, B pulse in the post, A, B pulse difference of 90 degrees, each Circle issued a Z pulse can be used as reference to machine zero. Ahead of the general use of A or B to B ahead of A to contracting, our company is defined as the incremental encoder shaft encoder clockwise to see a positive change, A ahead of B is 90 °, the other hand anti-clockwise rotation for the reverse B ahead of A is 90 °. There are not the same, look at product description.
3, using PLC data collection may make use of high-speed counting module; the use of IPC data collection may make use of high-speed counting board; the use of microcomputer data acquisition, the proposed use with optical coupler input port.
4, the proposed B-pulse becoming obedient to the (forward) Pulse, A pulse did reverse (backward) pulse, Z origin of zero pulse.
5, set up in the electronic device counts the stack
3: from proximity switches, photoelectric switches to the Rotary Encoder: industrial control positioning, proximity switches, photoelectric switches application has been quite mature, and it just works. However, with the IPC continues to develop, there has been new requirements, so that the application of rotary encoders use advantages of the highlights:
Information: In addition to positioning, the control room can also be aware of their specific location;
Flexible: Positioning in the control room flexible adjustment;
On-site installation of convenience and safety, longevity: fist the size of a rotary encoder, can be measured from several μ to dozens, hundreds of meters distance, n a working position, as long as a rotary encoder to solve installation problems of security, you can to avoid a lot of proximity switches, photoelectric switches installed in the field machine trouble, was damaged and was easy to heat, water, gas trouble and other issues. Because it is optical encoder, no mechanical wear and tear, as long as the installation location accuracy of their service life is often very long.
Multi-function: In addition to location, you can also FET current position, velocity conversion for the inverter, stepping motor applications such as particularly important.
Economic-oriented: For multiple control stations, only the cost of a rotary encoder, and more the main installation, maintenance, loss, cost reduction, service life of growth, its economy based increasingly to the fore.
4: Power supply and encoder and PLC connection: General encoder Power Supply There are three: 5Vdc ,5-13 Vdc or 11-26Vdc. If you are buying Encoder is 11-26Vdc, and can use PLC's 24V power supply, take note:
1. Encoder current consumption, in the PLC, Power range.
2. The case of parallel output of the encoder to connect PLC's I / O points, need to know the encoder signal level is a push-pull (or push-pull) output or open collector output, the case of open-collector output, there are N-type and P-type two, the need and the PLC, I / O polarity of the same. The case of push-pull outputs to connect without any problems.
3. Encoder case of driver output, the general signal level is 5V, and the connection time to be careful not to let the 24V power supply into the 5V level string signal wiring damage to the end of the encoder signals.
5: Interference caused by bad wave, resulting in count are not allowed. How to judge? The encoder is a precision components, mainly because of the encoder around the more serious interference, such as: whether there are large electric motors, electric welding machine caused by frequent start-interference, whether the same pipeline and power line transmission.
Choice of what kind of output to the interference is also very important, the general output signal with interference better than the reverse, namely, A ~ A-, B ~ B-, Z ~ Z-, is characterized with the power eight lines, while the than five lines (a total of zero). With a reverse signal in the cable transmission is symmetrical, a small disturbance in the receiving device can also be an additional judge (for example, the signal receiving equipment, the use of A, B signal 90 ° phase difference, read the level of 10,11 , 01,00 four kinds of condition, counted as a valid pulse, this program can effectively improve the system anti-jamming performance (an accurate count)).
Is the encoder also has good and bad, its encoder \ electronic chip \ internal circuit \ signal output vary considerably, which is why a 1000-line incremental encoder from 300 yuan to 3,000 yuan in the reasons for the difference. ① exclusion (relocated, closed, isolated) interference sources, ② to determine whether the cumulative gap for the mechanical errors, ③ to determine whether the control system and the encoder circuit interface does not match the (encoder selection error); ① ② ③ Method else is even trying after the failure the phenomenon of exclusion, may be a preliminary judge, If you do not rule out the need for further analysis.
Encoder to determine whether a simple method is own fault exclusion. Exclusion of the specific method is: the same model with a single encoder to replace up, if the failure phenomenon of the same can basically rule out the possibility encoder failure, because there are two encoders at the same time a small probability of failure events may be small, you can considered as 0. If the same model encoders replace it up, breakdown phenomenon at once removed, can be found is the basic encoder failure.
6: What is long-term drive? Common type encoder can telematics? , Also known as Differential Line Driver Line Driver, 5V, TTL positive and negative waveform symmetry, because of its positive and negative current in the opposite direction, to offset the external electromagnetic field, so anti-interference ability.
Common type encoder general transmission distance is 100 meters, if it is 24V HTL-type and there is a negative signal symmetry, the transmission distance of 300-400 meters.
7: rotary encoder detecting linear displacement method? 1, the use of "flexible Couplings" will be driven rotary encoders and linear displacement of the power unit directly linked spindle axis.
2, using a small gear (spur gear, bevel gear or worm gear) box in conjunction with the power unit shaft.
3, using the straight rack gear to pass on a rotating linear displacement information.
4, in the transmission chain sprocket on a straight-line displacement to obtain the information.
5, in the synchronous belt wheel gain linear displacement information.
6, using the rotating wheel equipped with magnetic linear displacement encoder in the formation of the steel surface to obtain displacement information (to avoid the slip).
7, using a similar "steel tape measure," "may retracting wire assembly" Connect rotary encoder to detect linear displacement information (data processing required to overcome the stacked winding error).
8, similar to 7, using a small torque motor with a "retractable steel wire assembly" Connect rotary encoder to detect linear displacement information (currently in Germany, a similar product, complex structure, almost no laminated winding error)
8: Incremental Grating Z signal can be used as zero? Radial grating encoder How to choose?
Both linear grating or its Z-axis encoder signal can reach with the A \ B the same accuracy as the signal, only one shaft encoder is a circle, while the straight-line grating is a certain distance intervals, with the signal can reach a very a high repeatability. Can first close switch with ordinary first position, and then find the closest Z-signals (each in the same direction to find), filled with hope when the do not forget its phase modulation and phase grating line, otherwise not allowed.
Segmentation accuracy based on your requirements, and resolution requirements selection. High precision, naturally choose a week-lined high accuracy is not high, there is no need to choose the number of high-lined circular grating encoder has.
9: incremental encoder and absolute encoder What's the difference? Servo system how to make a choice? Commonly used for the incremental encoder, if the right position, the stringent requirements of zero-bit absolute-type encoder. Servo system to a specific analysis to see applications.
Measuring the speed with commonly used incremental encoder, unlimited accumulation measurement; measuring absolute position encoder, the location and uniqueness (single ring or multiple ring) with a final look at applications to see to achieve the purpose and requirements.
10: absolute type rotary encoder selection of attention, rotary encoders and proximity switches, photoelectric switches advantage of comparison: absolute encoder lap 8 from the economy to high-precision 17, the price from several hundred dollars to more than 1 trillion range;
The majority of multi-turn absolute encoder with 25-bit, output has SSI, bus, Profibus-DP, Can L2, Interbus, DeviceNet, the price is also available from more than three to more than 1 range.
Rotary optical encoder measuring the angle and length, is already a very mature technology, and today a large number of range then the high-precision absolute-type encoder, greatly increased the accuracy and reliability, but also economical and practical. For now, it is still is a measure of the length of the maximum choice.
11: from an incremental encoder to the absolute encoder: rotary incremental encoder to rotate when the output pulse, through the counting device to know its location, when the encoder is not fixed or a power outage, the device's internal memory to rely on counting to remember the location. Thus, when the power failure, the encoder can not have any movement, when the phone work, the encoder output pulse process can not be lost of interference pulse, otherwise the count will be offset zero memory devices, and this partial the amount of shift is not know, only the production of errors be known until after the outcome.
The solution is to increase the reference point after the encoder for each reference point, a reference location of the amendment into the counting device memory locations. In the reference point before, we can not guarantee the accuracy of the location. To this end, the IPC will have to go first to a reference point for each operation, the boot Keep the change and other methods. Optical encoder absolute encoder that there are many Road groove, each groove followed by a 2 line, 4 lines, 8 lines, 16 lines. . . . . . Arranged, so that every one in the encoder position, by reading the line Every moment pass, dark, get a group from two to two zero-th power n-1 th power of the only two binary code ( Gray code), which is called n-bit absolute encoder. This encoder is a mechanical position by the encoder decide, it is not power failures, interference effects.
Absolute encoder determined by the mechanical position of the uniqueness of each location, it did not have memory, without the need to find a reference point, and do not always count, and when you need to know the location when the position went to read it. In this way, the encoder anti-jamming features, the reliability of data is greatly enhanced.
As the absolute encoder positioning in the location is obviously superior to incremental encoders, has been increasingly applied to industrial control positioning.
Measurement speed can be infinitely need to accumulate measurement, the current incremental encoder in speed applications are still in no position to replace the mainstream.
12: Using the absolute encoder should pay attention to what matters?
I). Mechanical parts:
1. Measuring length and angle measurement, the measured length of how mechanical conversion (there are some in the above description, such as the call is not clear to discussion). Measured angle is 360 degrees inside the (single circle), or may be too 360 degree (multi-turn). The direction of the production process is a rotating cycle to work, or back and forth direction of the work cycle.
2. Shaft connected to install the form, there are axial coupling through the soft link, or sleeve-type connections.
3. Use of the environment: dust, water vapor, vibration, impact?
(B) Electrical parts
1. Connect the output of receiving part of that?
2. Signal form?
3. Resolution requirements?
4. Control requirements?
12: From the single-ring absolute encoder to the multi-turn absolute encoder: rotary single-ring absolute encoder to measure the optical code disk rotating the Road engraved lines in order to obtain a unique code, when more than 360-degree rotation When encoding back to square one, so that is not consistent with the principle of absolute encoding only, so that encoders can be used only within a 360-degree rotation range of measurement, known as the single-ring absolute encoder.
If you want to rotate over 360 degrees range of measurement, it is necessary to use multi-turn absolute encoder.
Encoder manufacturers to use the principle of mechanical clock gears, when the center encoder rotation, through another set of gear transmission encoder (or group of gear, multiple sets of code plate), in a single lap on the basis of coding to increase the number of laps coding, in order to expand the scope of the encoder measurement, so that the absolute encoder is called multi-turn-type absolute encoder, which is also determined by the mechanical position code, the only non-duplication of code for each location, without memory.
Another advantage of multi-turn encoder is due to measuring range, the actual use is often more affluent, so that unnecessary struggling to find zero installation will be an intermediate position can be as a starting point, while greatly simplifying the installation and debugging more difficult.
Multi-turn-type absolute encoder positioning in the length of the obvious advantages, has become increasingly applied to industrial control positioning.
13: absolute-type encoder serial and parallel output information: the absolute encoder output is a number of digital (Gray code or pure binary code), parallel output interface is a little more high-low output, in order to on behalf of digital 1 or 0, for the median absolute encoder is not high, the general form of the output directly as a digital, direct access to PLC or host computer's I / O interface, the output immediately, the connection simple. But the parallel output of the following questions:
1. Must be a Gray code, as the case of a pure binary code, refresh the data may have a number of changes, readings will result in the wrong code in a short time.
2. All interfaces must ensure that the connection is good, because if the individual connection bad point, the point potential is always 0, resulting in the wrong code can not be judged.
3. Transmission distance can not be far, usually 12 meters, for complex environments, preferably isolated.
4. For more digits, to many-core cable, and to ensure that the connection quality, and the resulting difficulty of engineering, the same for the encoder to the same time, there are many nodes in the output to increase the failure rate of the encoder failure.
Parallel: timing, the data also issued; space, each digit of data with the occupation of a cable.
Incremental encoder output is usually parallel output.
Serial output:
Serial output is through the convention, in time, there has a data output, such an agreement known as the communication protocol, which connect the physical form of RS232, RS422 (TTL), RS485 and so on.
Less serial output cable, transmission distance, for the protection and reliability of the encoder will be greatly increased, the number of general high absolute encoders are serial output.
As the absolute encoder of some well-known manufacturers in Germany, so most of the serial output is supporting Germany's Siemens, such as synchronous serial output SSI, PROFIBUS-DP bus type is the output and so on.
Serial output encoder to connect Germany's Siemens equipment is relatively easy, but non-German line connecting the equipment, the interface is the problem, and I offer a variety of interface output devices, can solve this problem.
Serial: time, the data in accordance with convention, there are successively; space, all the data bits are in a group of cable on the (order) issued.
14: Serial Encoder should all be absolute it? Serial is defined as the time agreed, serial output digital code signals, the basic is absolute, but there are also some incremental encoder, through the built-in battery memory of the origin, its You can also place the serial output value, such as the battery cable is not associated or incremental encoder, this is also known as pseudo-absolute encoder, servo system in a number of Japan's more, see. In fact, by its very nature, or an incremental encoder.
15: Why is "an absolute encoder"? "Absolute encoder," as opposed to "incremental encoder" is concerned.
"Absolute encoder," expressed in some way, and remember to use an object's absolute position, angle and number of laps. That, once the position, angle and circle the number of fixed, when the encoder values are indicated only a fixed, including the electricity blackouts after the vote. "Incremental encoder," can not do this. General "incremental encoder" output 2 A, B pulse signal, and a Z (L) the zero bit signal, A, B pulse in each 90-degree phase angle difference. By pulse counting can know position, angle and circle the number of increments, through the A, B pulse signal advance or delay can know the direction of power failure, you must start again from the agreed baseline count. , "Incremental Encoder" for position, angle and circle the number of post-processing needs to be done to re-cast power to do, "re-zero" operation, therefore, "Incremental Encoder" than "absolute encoder" in cheaper price许多.
16: photoelectric encoder, optical electronic scale and static magnetic gate advantages and disadvantages of an absolute encoder? 1 advantages: small size, precision, their degree of resolution can be high, non-contact wear-free; the same species, can detect angle displacement, but also help in the mechanical conversion devices detecting linear displacement; multi-turn absolute optical encoder can detect very long-range straight-line displacement (eg, more than 25 laps). Long life, installation free, the interface forms a rich, reasonable price. Mature technology, many years ago is widely used at home and abroad.
2, disadvantages: Precision but for outdoor and harsh environments offer higher protection requirements; measuring linear displacement is dependent on plant transformation, the need to eliminate the error caused by mechanical clearance; detection of objects in orbit is difficult to overcome the slip.
Optical electronic scale:
1 advantages: precision, their degree of resolution is high (up to 0.005mm); volume is moderate, direct measurement of linear displacement; non-contact wear-free measuring broad gap; an affordable price, the interface forms a rich, has metal-cutting machinery industry in China and abroad get more applications (such as wire cutting, EDM, etc.).
2, disadvantages: Measuring straight line and angle to use a different species; range was limited (range of more than 4m, expensive manufacturing problems), not suitable for a large number of processes in the harsh environment at the implementation of displacement detection.
Gate absolute static magnetic encoder:
1 advantages: Volume is moderate, direct measurement of linear displacement, the absolute number of coding theory, there is no range restriction; non-contact-free wear, anti-poor environment, can be 1,000 meters underwater use; interface, the form of rich, diverse measurement methods; prices still capable of receiving .
2, Disadvantages: resolution is not high degree of 1mm; measuring lines and angles to use a different species; not suitable for a small office in the precise implementation of the displacement detection (greater than 260 millimeters).
17: absolute encoder how to find the origin? 50 locations targeting a 360-degree uniform Dividers do?
Encoding the absolute encoder is a power of 2-th power, there is no 360-degree uniform 50 equal portions, and to approximate to see how high precision, the election how high the number of encoder lines, if the accuracy requirement is not too high, with 8-bit 256-line on it. Encoder, each location has a unique encoding, zero can be used as zero, zero, can also be defined at any position, other positions compared with the calculation.
If you can use a reference point, then can also be incremental, and due to slow, it should be 3000 or more lanes in the election, each circle a zero.
2. Resolution, that is, the work of each encoder output pulse lap number, is designed to be used to meet the required precision.
3. Electrical interface, the encoder outputs are push-pull output common mode (F-type HTL format), voltage output (E), open collector (C, common C for the NPN-tube output, C2 for the PNP-tube output), long-term driver outputs. A manner that its output and its control system interface circuit match.
2 How to use an incremental encoder? 1, incremental rotary encoder with resolution of differences, using the number of pulses generated by each lap to measure the number from 6-5400 or higher, and pulse a few more higher the resolution; this is an important basis for selection of one.
2, incremental encoders are usually three-way signal output (differential and six-channel signal): A, B, and Z, generally use the TTL-level, A pulse in the former, B pulse in the post, A, B pulse difference of 90 degrees, each Circle issued a Z pulse can be used as reference to machine zero. Ahead of the general use of A or B to B ahead of A to contracting, our company is defined as the incremental encoder shaft encoder clockwise to see a positive change, A ahead of B is 90 °, the other hand anti-clockwise rotation for the reverse B ahead of A is 90 °. There are not the same, look at product description.
3, using PLC data collection may make use of high-speed counting module; the use of IPC data collection may make use of high-speed counting board; the use of microcomputer data acquisition, the proposed use with optical coupler input port.
4, the proposed B-pulse becoming obedient to the (forward) Pulse, A pulse did reverse (backward) pulse, Z origin of zero pulse.
5, set up in the electronic device counts the stack
3: from proximity switches, photoelectric switches to the Rotary Encoder: industrial control positioning, proximity switches, photoelectric switches application has been quite mature, and it just works. However, with the IPC continues to develop, there has been new requirements, so that the application of rotary encoders use advantages of the highlights:
Information: In addition to positioning, the control room can also be aware of their specific location;
Flexible: Positioning in the control room flexible adjustment;
On-site installation of convenience and safety, longevity: fist the size of a rotary encoder, can be measured from several μ to dozens, hundreds of meters distance, n a working position, as long as a rotary encoder to solve installation problems of security, you can to avoid a lot of proximity switches, photoelectric switches installed in the field machine trouble, was damaged and was easy to heat, water, gas trouble and other issues. Because it is optical encoder, no mechanical wear and tear, as long as the installation location accuracy of their service life is often very long.
Multi-function: In addition to location, you can also FET current position, velocity conversion for the inverter, stepping motor applications such as particularly important.
Economic-oriented: For multiple control stations, only the cost of a rotary encoder, and more the main installation, maintenance, loss, cost reduction, service life of growth, its economy based increasingly to the fore.
4: Power supply and encoder and PLC connection: General encoder Power Supply There are three: 5Vdc ,5-13 Vdc or 11-26Vdc. If you are buying Encoder is 11-26Vdc, and can use PLC's 24V power supply, take note:
1. Encoder current consumption, in the PLC, Power range.
2. The case of parallel output of the encoder to connect PLC's I / O points, need to know the encoder signal level is a push-pull (or push-pull) output or open collector output, the case of open-collector output, there are N-type and P-type two, the need and the PLC, I / O polarity of the same. The case of push-pull outputs to connect without any problems.
3. Encoder case of driver output, the general signal level is 5V, and the connection time to be careful not to let the 24V power supply into the 5V level string signal wiring damage to the end of the encoder signals.
5: Interference caused by bad wave, resulting in count are not allowed. How to judge? The encoder is a precision components, mainly because of the encoder around the more serious interference, such as: whether there are large electric motors, electric welding machine caused by frequent start-interference, whether the same pipeline and power line transmission.
Choice of what kind of output to the interference is also very important, the general output signal with interference better than the reverse, namely, A ~ A-, B ~ B-, Z ~ Z-, is characterized with the power eight lines, while the than five lines (a total of zero). With a reverse signal in the cable transmission is symmetrical, a small disturbance in the receiving device can also be an additional judge (for example, the signal receiving equipment, the use of A, B signal 90 ° phase difference, read the level of 10,11 , 01,00 four kinds of condition, counted as a valid pulse, this program can effectively improve the system anti-jamming performance (an accurate count)).
Is the encoder also has good and bad, its encoder \ electronic chip \ internal circuit \ signal output vary considerably, which is why a 1000-line incremental encoder from 300 yuan to 3,000 yuan in the reasons for the difference. ① exclusion (relocated, closed, isolated) interference sources, ② to determine whether the cumulative gap for the mechanical errors, ③ to determine whether the control system and the encoder circuit interface does not match the (encoder selection error); ① ② ③ Method else is even trying after the failure the phenomenon of exclusion, may be a preliminary judge, If you do not rule out the need for further analysis.
Encoder to determine whether a simple method is own fault exclusion. Exclusion of the specific method is: the same model with a single encoder to replace up, if the failure phenomenon of the same can basically rule out the possibility encoder failure, because there are two encoders at the same time a small probability of failure events may be small, you can considered as 0. If the same model encoders replace it up, breakdown phenomenon at once removed, can be found is the basic encoder failure.
6: What is long-term drive? Common type encoder can telematics? , Also known as Differential Line Driver Line Driver, 5V, TTL positive and negative waveform symmetry, because of its positive and negative current in the opposite direction, to offset the external electromagnetic field, so anti-interference ability.
Common type encoder general transmission distance is 100 meters, if it is 24V HTL-type and there is a negative signal symmetry, the transmission distance of 300-400 meters.
7: rotary encoder detecting linear displacement method? 1, the use of "flexible Couplings" will be driven rotary encoders and linear displacement of the power unit directly linked spindle axis.
2, using a small gear (spur gear, bevel gear or worm gear) box in conjunction with the power unit shaft.
3, using the straight rack gear to pass on a rotating linear displacement information.
4, in the transmission chain sprocket on a straight-line displacement to obtain the information.
5, in the synchronous belt wheel gain linear displacement information.
6, using the rotating wheel equipped with magnetic linear displacement encoder in the formation of the steel surface to obtain displacement information (to avoid the slip).
7, using a similar "steel tape measure," "may retracting wire assembly" Connect rotary encoder to detect linear displacement information (data processing required to overcome the stacked winding error).
8, similar to 7, using a small torque motor with a "retractable steel wire assembly" Connect rotary encoder to detect linear displacement information (currently in Germany, a similar product, complex structure, almost no laminated winding error)
8: Incremental Grating Z signal can be used as zero? Radial grating encoder How to choose?
Both linear grating or its Z-axis encoder signal can reach with the A \ B the same accuracy as the signal, only one shaft encoder is a circle, while the straight-line grating is a certain distance intervals, with the signal can reach a very a high repeatability. Can first close switch with ordinary first position, and then find the closest Z-signals (each in the same direction to find), filled with hope when the do not forget its phase modulation and phase grating line, otherwise not allowed.
Segmentation accuracy based on your requirements, and resolution requirements selection. High precision, naturally choose a week-lined high accuracy is not high, there is no need to choose the number of high-lined circular grating encoder has.
9: incremental encoder and absolute encoder What's the difference? Servo system how to make a choice? Commonly used for the incremental encoder, if the right position, the stringent requirements of zero-bit absolute-type encoder. Servo system to a specific analysis to see applications.
Measuring the speed with commonly used incremental encoder, unlimited accumulation measurement; measuring absolute position encoder, the location and uniqueness (single ring or multiple ring) with a final look at applications to see to achieve the purpose and requirements.
10: absolute type rotary encoder selection of attention, rotary encoders and proximity switches, photoelectric switches advantage of comparison: absolute encoder lap 8 from the economy to high-precision 17, the price from several hundred dollars to more than 1 trillion range;
The majority of multi-turn absolute encoder with 25-bit, output has SSI, bus, Profibus-DP, Can L2, Interbus, DeviceNet, the price is also available from more than three to more than 1 range.
Rotary optical encoder measuring the angle and length, is already a very mature technology, and today a large number of range then the high-precision absolute-type encoder, greatly increased the accuracy and reliability, but also economical and practical. For now, it is still is a measure of the length of the maximum choice.
11: from an incremental encoder to the absolute encoder: rotary incremental encoder to rotate when the output pulse, through the counting device to know its location, when the encoder is not fixed or a power outage, the device's internal memory to rely on counting to remember the location. Thus, when the power failure, the encoder can not have any movement, when the phone work, the encoder output pulse process can not be lost of interference pulse, otherwise the count will be offset zero memory devices, and this partial the amount of shift is not know, only the production of errors be known until after the outcome.
The solution is to increase the reference point after the encoder for each reference point, a reference location of the amendment into the counting device memory locations. In the reference point before, we can not guarantee the accuracy of the location. To this end, the IPC will have to go first to a reference point for each operation, the boot Keep the change and other methods. Optical encoder absolute encoder that there are many Road groove, each groove followed by a 2 line, 4 lines, 8 lines, 16 lines. . . . . . Arranged, so that every one in the encoder position, by reading the line Every moment pass, dark, get a group from two to two zero-th power n-1 th power of the only two binary code ( Gray code), which is called n-bit absolute encoder. This encoder is a mechanical position by the encoder decide, it is not power failures, interference effects.
Absolute encoder determined by the mechanical position of the uniqueness of each location, it did not have memory, without the need to find a reference point, and do not always count, and when you need to know the location when the position went to read it. In this way, the encoder anti-jamming features, the reliability of data is greatly enhanced.
As the absolute encoder positioning in the location is obviously superior to incremental encoders, has been increasingly applied to industrial control positioning.
Measurement speed can be infinitely need to accumulate measurement, the current incremental encoder in speed applications are still in no position to replace the mainstream.
12: Using the absolute encoder should pay attention to what matters?
I). Mechanical parts:
1. Measuring length and angle measurement, the measured length of how mechanical conversion (there are some in the above description, such as the call is not clear to discussion). Measured angle is 360 degrees inside the (single circle), or may be too 360 degree (multi-turn). The direction of the production process is a rotating cycle to work, or back and forth direction of the work cycle.
2. Shaft connected to install the form, there are axial coupling through the soft link, or sleeve-type connections.
3. Use of the environment: dust, water vapor, vibration, impact?
(B) Electrical parts
1. Connect the output of receiving part of that?
2. Signal form?
3. Resolution requirements?
4. Control requirements?
12: From the single-ring absolute encoder to the multi-turn absolute encoder: rotary single-ring absolute encoder to measure the optical code disk rotating the Road engraved lines in order to obtain a unique code, when more than 360-degree rotation When encoding back to square one, so that is not consistent with the principle of absolute encoding only, so that encoders can be used only within a 360-degree rotation range of measurement, known as the single-ring absolute encoder.
If you want to rotate over 360 degrees range of measurement, it is necessary to use multi-turn absolute encoder.
Encoder manufacturers to use the principle of mechanical clock gears, when the center encoder rotation, through another set of gear transmission encoder (or group of gear, multiple sets of code plate), in a single lap on the basis of coding to increase the number of laps coding, in order to expand the scope of the encoder measurement, so that the absolute encoder is called multi-turn-type absolute encoder, which is also determined by the mechanical position code, the only non-duplication of code for each location, without memory.
Another advantage of multi-turn encoder is due to measuring range, the actual use is often more affluent, so that unnecessary struggling to find zero installation will be an intermediate position can be as a starting point, while greatly simplifying the installation and debugging more difficult.
Multi-turn-type absolute encoder positioning in the length of the obvious advantages, has become increasingly applied to industrial control positioning.
13: absolute-type encoder serial and parallel output information: the absolute encoder output is a number of digital (Gray code or pure binary code), parallel output interface is a little more high-low output, in order to on behalf of digital 1 or 0, for the median absolute encoder is not high, the general form of the output directly as a digital, direct access to PLC or host computer's I / O interface, the output immediately, the connection simple. But the parallel output of the following questions:
1. Must be a Gray code, as the case of a pure binary code, refresh the data may have a number of changes, readings will result in the wrong code in a short time.
2. All interfaces must ensure that the connection is good, because if the individual connection bad point, the point potential is always 0, resulting in the wrong code can not be judged.
3. Transmission distance can not be far, usually 12 meters, for complex environments, preferably isolated.
4. For more digits, to many-core cable, and to ensure that the connection quality, and the resulting difficulty of engineering, the same for the encoder to the same time, there are many nodes in the output to increase the failure rate of the encoder failure.
Parallel: timing, the data also issued; space, each digit of data with the occupation of a cable.
Incremental encoder output is usually parallel output.
Serial output:
Serial output is through the convention, in time, there has a data output, such an agreement known as the communication protocol, which connect the physical form of RS232, RS422 (TTL), RS485 and so on.
Less serial output cable, transmission distance, for the protection and reliability of the encoder will be greatly increased, the number of general high absolute encoders are serial output.
As the absolute encoder of some well-known manufacturers in Germany, so most of the serial output is supporting Germany's Siemens, such as synchronous serial output SSI, PROFIBUS-DP bus type is the output and so on.
Serial output encoder to connect Germany's Siemens equipment is relatively easy, but non-German line connecting the equipment, the interface is the problem, and I offer a variety of interface output devices, can solve this problem.
Serial: time, the data in accordance with convention, there are successively; space, all the data bits are in a group of cable on the (order) issued.
14: Serial Encoder should all be absolute it? Serial is defined as the time agreed, serial output digital code signals, the basic is absolute, but there are also some incremental encoder, through the built-in battery memory of the origin, its You can also place the serial output value, such as the battery cable is not associated or incremental encoder, this is also known as pseudo-absolute encoder, servo system in a number of Japan's more, see. In fact, by its very nature, or an incremental encoder.
15: Why is "an absolute encoder"? "Absolute encoder," as opposed to "incremental encoder" is concerned.
"Absolute encoder," expressed in some way, and remember to use an object's absolute position, angle and number of laps. That, once the position, angle and circle the number of fixed, when the encoder values are indicated only a fixed, including the electricity blackouts after the vote. "Incremental encoder," can not do this. General "incremental encoder" output 2 A, B pulse signal, and a Z (L) the zero bit signal, A, B pulse in each 90-degree phase angle difference. By pulse counting can know position, angle and circle the number of increments, through the A, B pulse signal advance or delay can know the direction of power failure, you must start again from the agreed baseline count. , "Incremental Encoder" for position, angle and circle the number of post-processing needs to be done to re-cast power to do, "re-zero" operation, therefore, "Incremental Encoder" than "absolute encoder" in cheaper price许多.
16: photoelectric encoder, optical electronic scale and static magnetic gate advantages and disadvantages of an absolute encoder? 1 advantages: small size, precision, their degree of resolution can be high, non-contact wear-free; the same species, can detect angle displacement, but also help in the mechanical conversion devices detecting linear displacement; multi-turn absolute optical encoder can detect very long-range straight-line displacement (eg, more than 25 laps). Long life, installation free, the interface forms a rich, reasonable price. Mature technology, many years ago is widely used at home and abroad.
2, disadvantages: Precision but for outdoor and harsh environments offer higher protection requirements; measuring linear displacement is dependent on plant transformation, the need to eliminate the error caused by mechanical clearance; detection of objects in orbit is difficult to overcome the slip.
Optical electronic scale:
1 advantages: precision, their degree of resolution is high (up to 0.005mm); volume is moderate, direct measurement of linear displacement; non-contact wear-free measuring broad gap; an affordable price, the interface forms a rich, has metal-cutting machinery industry in China and abroad get more applications (such as wire cutting, EDM, etc.).
2, disadvantages: Measuring straight line and angle to use a different species; range was limited (range of more than 4m, expensive manufacturing problems), not suitable for a large number of processes in the harsh environment at the implementation of displacement detection.
Gate absolute static magnetic encoder:
1 advantages: Volume is moderate, direct measurement of linear displacement, the absolute number of coding theory, there is no range restriction; non-contact-free wear, anti-poor environment, can be 1,000 meters underwater use; interface, the form of rich, diverse measurement methods; prices still capable of receiving .
2, Disadvantages: resolution is not high degree of 1mm; measuring lines and angles to use a different species; not suitable for a small office in the precise implementation of the displacement detection (greater than 260 millimeters).
17: absolute encoder how to find the origin? 50 locations targeting a 360-degree uniform Dividers do?
Encoding the absolute encoder is a power of 2-th power, there is no 360-degree uniform 50 equal portions, and to approximate to see how high precision, the election how high the number of encoder lines, if the accuracy requirement is not too high, with 8-bit 256-line on it. Encoder, each location has a unique encoding, zero can be used as zero, zero, can also be defined at any position, other positions compared with the calculation.
If you can use a reference point, then can also be incremental, and due to slow, it should be 3000 or more lanes in the election, each circle a zero.
3-wire proximity switch PNP, NPN's the difference?
1, PNP and NPN sensors generally have three pin-out, that is power line VCC, GND, OUT signal output line
1, NPN type
NPN is triggered when a signal, the signal output line OUT and GND connections, equivalent to the output OUT low.
2, PNP type
PNP is triggered when a signal, the signal output line OUT and VCC connections, equivalent to OUT output high power cord.
Multimeter can be used with power measurements, as follows: In the VCC, GND termination on the power supply, I plant close to three-wire switching power supply for the DC12-36V, with a piece of metal type things to put near the switch measured end, its indicator lights, DC voltage with the multimeter test files between OUT and GND voltage (red table pen then OUT, black table pen access GND), if there is voltage, indicating a high potential of the output OUT is a PNP type, if there is no voltage, indicating a low potential output OUT is a NPN type.
2., PNP and NPN type sensor
PNP and NPN transistor sensor is actually using the saturation and cut-off, the output of two different states, belonging to switch-type sensors. But in either case the output signal is the opposite, namely, high and low.
PNP output is low 0, NPN output is high one.
PNP and NPN sensors (switch type) is divided into six categories:
○ 1, NPN-NO (normally open type)
○ 2, NPN-NC (normally closed type)
○ 3, NPN-NC NO (normally open, normally closed a total of type)
○ 4, PNP-NO (normally open type)
○ 5, PNP-NC (normally closed type)
○ 6, PNP-NC NO (normally open, normally closed a total of type)
PNP and NPN sensors generally have three pin-out, that is power line VCC, 0V line, OUT signal output line.
1, NPN type
NPN is triggered when a signal, the signal output line OUT and VCC power line connections, the equivalent output of high power lines.
NPN-NO type, in the absence of the signal is triggered, the output line is left vacant, namely, VCC power line and the OUT-line disconnect; when the signal triggered, OUT and VCC power line voltage is the same, both connected to the output of high power Ping VCC.
NPN-NC type, in the absence of the signal triggered, OUT and VCC power line voltage is the same, the output high VCC; when the signal is triggered, the output line is left vacant, namely, VCC power line and out line disconnected.
NPN-NC NO type, is actually more an output line OUT, the user can choose.
2, PNP type
PNP refers to the signal is triggered, the signal output OUT and 0V line connection, equivalent to the output low 0V.
PNP-NO type, in the absence of the signal is triggered, the output line is vacant, is the 0V line and the OUT-line disconnected. When a signal is triggered, OUT line and 0V lines connected to the same voltage, output low OV.
PNP-NC type, with the PNP-NO-based characteristics of the opposite.
PNP-NC NO type, and the NPN-NC NO type is similar to an extra output line OUT, that is, two signal inversion of the output line.
commonly used is the PNP type, that is, high active state. NPN seldom used.
1, NPN type
NPN is triggered when a signal, the signal output line OUT and GND connections, equivalent to the output OUT low.
2, PNP type
PNP is triggered when a signal, the signal output line OUT and VCC connections, equivalent to OUT output high power cord.
Multimeter can be used with power measurements, as follows: In the VCC, GND termination on the power supply, I plant close to three-wire switching power supply for the DC12-36V, with a piece of metal type things to put near the switch measured end, its indicator lights, DC voltage with the multimeter test files between OUT and GND voltage (red table pen then OUT, black table pen access GND), if there is voltage, indicating a high potential of the output OUT is a PNP type, if there is no voltage, indicating a low potential output OUT is a NPN type.
2., PNP and NPN type sensor
PNP and NPN transistor sensor is actually using the saturation and cut-off, the output of two different states, belonging to switch-type sensors. But in either case the output signal is the opposite, namely, high and low.
PNP output is low 0, NPN output is high one.
PNP and NPN sensors (switch type) is divided into six categories:
○ 1, NPN-NO (normally open type)
○ 2, NPN-NC (normally closed type)
○ 3, NPN-NC NO (normally open, normally closed a total of type)
○ 4, PNP-NO (normally open type)
○ 5, PNP-NC (normally closed type)
○ 6, PNP-NC NO (normally open, normally closed a total of type)
PNP and NPN sensors generally have three pin-out, that is power line VCC, 0V line, OUT signal output line.
1, NPN type
NPN is triggered when a signal, the signal output line OUT and VCC power line connections, the equivalent output of high power lines.
NPN-NO type, in the absence of the signal is triggered, the output line is left vacant, namely, VCC power line and the OUT-line disconnect; when the signal triggered, OUT and VCC power line voltage is the same, both connected to the output of high power Ping VCC.
NPN-NC type, in the absence of the signal triggered, OUT and VCC power line voltage is the same, the output high VCC; when the signal is triggered, the output line is left vacant, namely, VCC power line and out line disconnected.
NPN-NC NO type, is actually more an output line OUT, the user can choose.
2, PNP type
PNP refers to the signal is triggered, the signal output OUT and 0V line connection, equivalent to the output low 0V.
PNP-NO type, in the absence of the signal is triggered, the output line is vacant, is the 0V line and the OUT-line disconnected. When a signal is triggered, OUT line and 0V lines connected to the same voltage, output low OV.
PNP-NC type, with the PNP-NO-based characteristics of the opposite.
PNP-NC NO type, and the NPN-NC NO type is similar to an extra output line OUT, that is, two signal inversion of the output line.
commonly used is the PNP type, that is, high active state. NPN seldom used.
How to use multimeter check the SCR
Sub-way and two-way SCR SCR SCR 2 kinds, all three electrodes. One-way thyristor cathode (K), anode (A), control the pole (G). BTA is equivalent to two parallel single silicon reverse-made. That is one way in which a silicon anode and cathode relative to the other side with its leads, said terminal T2 pole, in which a single silicon cathode-anode connected with another, which leads to terminal T2, said pole, and the remaining, compared with control pole (G).
1, single, bi-directional thyristor discriminant: first as test two poles, if the positive and negative test are not moving the pointer (R × 1 block), may be A, K, or G, A pole (for a one-way thyristor ) may also be T2, T1 or T2, G pole (for bi-directional SCR). If one has a measurement direction for the tens to hundreds of Europe, use a one-way thyristor. Hong Bi, K and then by a very, black pen then for G polar, and the remaining shall be A great. If positive, the reverse test instructions are tens to hundreds of Europe, use a bidirectional thyristor. Knob and then allocated to the R × 1, or R × 10 block retest, which must have a resistance slightly larger, then the larger one for the G Hongbi then very, black pen by then most of T1, T2 rest is a very .
2, the performance difference: The dial knob to the R × 1 block, for 1 ~ 6A-way thyristor, then K Hong Bi polar, black pen at the same time connected to G, A pole, keeping out of black ink is not very state of A Next disconnect the G pole, indicators should be instructed to dozens of Europe to the 100 in Europe, at this time SCR has been triggered, and the trigger voltage is low (or trigger current small). A very transient and then disconnect and then connect, the pointer should be returned to ∞ position, it indicates that SCR good.
For the 1 ~ 6A Triacs, Hong Bi then T1 pole, black pen with simultaneous access by G, T2 pole, in ensuring that the black pen from the T2 does not disconnect G, under the premise of a very great, the pointer should be directed to a few dozen to more than 100 Europe (as the thyristor current size, manufacturers vary). And then 2 pen swap, repeat the above steps measuring time, a pointer directed but also slightly larger than the last time a dozen to a few dozen in Europe, indicates that the silicon well, and the trigger voltage (or current) small.
If the pole to keep connected to A or when the T2 pole disconnect G pole position of the pointer immediately returned ∞, then SCR trigger current is too large or damaged. According to Figure 2 ways to further measurements, for a one-way thyristor, closed switch K, lights should be shiny, disconnect K lamp is still not extinguished, or explain SCR damage.
1, single, bi-directional thyristor discriminant: first as test two poles, if the positive and negative test are not moving the pointer (R × 1 block), may be A, K, or G, A pole (for a one-way thyristor ) may also be T2, T1 or T2, G pole (for bi-directional SCR). If one has a measurement direction for the tens to hundreds of Europe, use a one-way thyristor. Hong Bi, K and then by a very, black pen then for G polar, and the remaining shall be A great. If positive, the reverse test instructions are tens to hundreds of Europe, use a bidirectional thyristor. Knob and then allocated to the R × 1, or R × 10 block retest, which must have a resistance slightly larger, then the larger one for the G Hongbi then very, black pen by then most of T1, T2 rest is a very .
2, the performance difference: The dial knob to the R × 1 block, for 1 ~ 6A-way thyristor, then K Hong Bi polar, black pen at the same time connected to G, A pole, keeping out of black ink is not very state of A Next disconnect the G pole, indicators should be instructed to dozens of Europe to the 100 in Europe, at this time SCR has been triggered, and the trigger voltage is low (or trigger current small). A very transient and then disconnect and then connect, the pointer should be returned to ∞ position, it indicates that SCR good.
For the 1 ~ 6A Triacs, Hong Bi then T1 pole, black pen with simultaneous access by G, T2 pole, in ensuring that the black pen from the T2 does not disconnect G, under the premise of a very great, the pointer should be directed to a few dozen to more than 100 Europe (as the thyristor current size, manufacturers vary). And then 2 pen swap, repeat the above steps measuring time, a pointer directed but also slightly larger than the last time a dozen to a few dozen in Europe, indicates that the silicon well, and the trigger voltage (or current) small.
If the pole to keep connected to A or when the T2 pole disconnect G pole position of the pointer immediately returned ∞, then SCR trigger current is too large or damaged. According to Figure 2 ways to further measurements, for a one-way thyristor, closed switch K, lights should be shiny, disconnect K lamp is still not extinguished, or explain SCR damage.
What is the RS232, RS422, RS485 solution
1, RS-232-C
RS-232-C is the American Electronics Industry Association EIA (Electronic Industry Association) to develop a kind of serial physical interface standard. RS is in English "recommended standard" abbreviation, 232 for the identification number, C indicated that the number of changes. RS-232-C bus standard equipped with 25 signal lines, including a main channel and an auxiliary channel.
In most cases, mainly in the main channel, for general duplex communication, only a few signal lines can be achieved, such as a transmission line, a receiving line and a ground wire.
RS-232-C standard specifies the data transfer rate per second 50,75,100,150,300,600,1200,2400,4800,9600,19200 Porter.
RS-232-C standard requirements, the drive allows 2500pF capacitive load, communication distance will be affected by this capacitance limits, for example, use of 150pF / m communication cable, the maximum communication distance of 15m; if the cable capacitance per meter decreases communications distance can be increased. Another reason for the short transmission distance is the RS-232 is a single-ended signal transmission, there is common ground can not suppress common mode noise and interference problems and therefore are generally used for communication within 20m.
2, RS-485
RS-485 bus, demands for the communication distance of tens of meters to the previous 1000 meters, the widely used RS-485 Serial Bus
RS-485 uses differential balanced send and receive, and therefore has the ability to suppress common mode interference. Bus Transceiver with high sensitivity, can detect voltages as low as 200mV, so the signal can be transmitted outside of 1000 meters to be restored.
RS-485 half-duplex mode, any time there can be only one point in the sending state, therefore, to send the circuit to be controlled by the enable signal.
RS-485 for multi-point interconnection is very convenient, you can dispense with a number of signal lines. Application of RS-485 can constitute a network distributed system, which allows a maximum of 32 drives in parallel, and 32 sets receiver.
3, RS-422
RS422 bus, RS485, and RS422 circuit is basically the same principles are based on differential way to send and receive without digital ground.
Differential is the same rate of transmission distance and under the conditions of the root causes, which is the fundamental difference between the two with the RS232, because RS232 is a single-ended input and output, duplex digital ground at least at work. A transmission line and receive line 3 line (asynchronous transmission), you can also add other control lines to complete the synchronization functions.
RS422 full-duplex through the work of two pairs of twisted pair transceiver can not affect each other, but only half-duplex RS485 work, income can not be made at the same time, but it only needs a pair of twisted-pair.
RS422 and RS485 can be transmitted in the 19kpbs under 1,200 meters. Line with the new transceiver devices can be connected.
RS-232-C is the American Electronics Industry Association EIA (Electronic Industry Association) to develop a kind of serial physical interface standard. RS is in English "recommended standard" abbreviation, 232 for the identification number, C indicated that the number of changes. RS-232-C bus standard equipped with 25 signal lines, including a main channel and an auxiliary channel.
In most cases, mainly in the main channel, for general duplex communication, only a few signal lines can be achieved, such as a transmission line, a receiving line and a ground wire.
RS-232-C standard specifies the data transfer rate per second 50,75,100,150,300,600,1200,2400,4800,9600,19200 Porter.
RS-232-C standard requirements, the drive allows 2500pF capacitive load, communication distance will be affected by this capacitance limits, for example, use of 150pF / m communication cable, the maximum communication distance of 15m; if the cable capacitance per meter decreases communications distance can be increased. Another reason for the short transmission distance is the RS-232 is a single-ended signal transmission, there is common ground can not suppress common mode noise and interference problems and therefore are generally used for communication within 20m.
2, RS-485
RS-485 bus, demands for the communication distance of tens of meters to the previous 1000 meters, the widely used RS-485 Serial Bus
RS-485 uses differential balanced send and receive, and therefore has the ability to suppress common mode interference. Bus Transceiver with high sensitivity, can detect voltages as low as 200mV, so the signal can be transmitted outside of 1000 meters to be restored.
RS-485 half-duplex mode, any time there can be only one point in the sending state, therefore, to send the circuit to be controlled by the enable signal.
RS-485 for multi-point interconnection is very convenient, you can dispense with a number of signal lines. Application of RS-485 can constitute a network distributed system, which allows a maximum of 32 drives in parallel, and 32 sets receiver.
3, RS-422
RS422 bus, RS485, and RS422 circuit is basically the same principles are based on differential way to send and receive without digital ground.
Differential is the same rate of transmission distance and under the conditions of the root causes, which is the fundamental difference between the two with the RS232, because RS232 is a single-ended input and output, duplex digital ground at least at work. A transmission line and receive line 3 line (asynchronous transmission), you can also add other control lines to complete the synchronization functions.
RS422 full-duplex through the work of two pairs of twisted pair transceiver can not affect each other, but only half-duplex RS485 work, income can not be made at the same time, but it only needs a pair of twisted-pair.
RS422 and RS485 can be transmitted in the 19kpbs under 1,200 meters. Line with the new transceiver devices can be connected.
Siemens Torque Motor ERN Encoder adjustment
1. Unloading open motor rear cover, rear cover encoder
2. Release encoder mounting screws
4. Remove encoder, attention to handling the time to make use of special screws (which can produce their own one, seems to be 5mm of) top out to avoid damage to the encoder
Installation of encoder:
1, in the servo motor 45 degree angle where there is a sign of the circular depression (about 4 or 5mm in diameter is a look), while in the servo motor shaft is also a very significant mark, that this mark alignment the center of a circular mark, even if the motor shaft mark mark center circle coincides with that (we remember marking 1). To start the installation after the encoder.
2, in the encoder inside a tag (from the back of the encoder to look forward, to look very carefully, possible encoder of this tag may not be clear), while outside of the encoder (from the back look to the future can be saw) also has a flag, the encoder mark these two overlap (remember to tag 2), and then you can put on the servo motor encoder according to the (Note: The installation must be to make a mark and tag two overlap). In short, that is, so that the four markers coincidence!
The above are my personal installation process. After installation using normal. If the installation appears on the screen after the soft-limit alarm (both displayed on the screen is larger than the value of Axis-specific machine data parameters (if yes MD36100) set the soft limit value will appear when the alarm), then we have need to shake hands on the back of the shaft prior to demolition of the value on the screen.
Here are some book information, may be appropriate to do reference.
1. Unloading open motor rear cover, rear cover encoder
2. Release encoder mounting screws
3. Rotating rotor shaft, so that the encoder rotor encoder on the signs and marks on the shell overlap
4. Remove encoder, attention to handling the time out to make use of a special screw top to avoid damage to the encoder
5. Rotation of new encoders, so that the two signs coincide encoder
6. According to the above reverse order to install the encoder
Note: In the process of installing the encoder, to ensure that the rotor different, otherwise they will lose the relative position of the rotor, if the loss of the relative position of the old motor will need to use the oscilloscope to adjust the installation position of the encoder, the new motor can be based on a sign of rotor shaft to adjust the encoder to determine the installation location, which can be mechanical adjustments, you can also adjust the drive parameters MD1016 to set an offset value, but the method can only be used in the 840D, through this method to adjust the motor change to other machine tool use may be due to the different driving parameters can not work properly.
2. Release encoder mounting screws
4. Remove encoder, attention to handling the time to make use of special screws (which can produce their own one, seems to be 5mm of) top out to avoid damage to the encoder
Installation of encoder:
1, in the servo motor 45 degree angle where there is a sign of the circular depression (about 4 or 5mm in diameter is a look), while in the servo motor shaft is also a very significant mark, that this mark alignment the center of a circular mark, even if the motor shaft mark mark center circle coincides with that (we remember marking 1). To start the installation after the encoder.
2, in the encoder inside a tag (from the back of the encoder to look forward, to look very carefully, possible encoder of this tag may not be clear), while outside of the encoder (from the back look to the future can be saw) also has a flag, the encoder mark these two overlap (remember to tag 2), and then you can put on the servo motor encoder according to the (Note: The installation must be to make a mark and tag two overlap). In short, that is, so that the four markers coincidence!
The above are my personal installation process. After installation using normal. If the installation appears on the screen after the soft-limit alarm (both displayed on the screen is larger than the value of Axis-specific machine data parameters (if yes MD36100) set the soft limit value will appear when the alarm), then we have need to shake hands on the back of the shaft prior to demolition of the value on the screen.
Here are some book information, may be appropriate to do reference.
1. Unloading open motor rear cover, rear cover encoder
2. Release encoder mounting screws
3. Rotating rotor shaft, so that the encoder rotor encoder on the signs and marks on the shell overlap
4. Remove encoder, attention to handling the time out to make use of a special screw top to avoid damage to the encoder
5. Rotation of new encoders, so that the two signs coincide encoder
6. According to the above reverse order to install the encoder
Note: In the process of installing the encoder, to ensure that the rotor different, otherwise they will lose the relative position of the rotor, if the loss of the relative position of the old motor will need to use the oscilloscope to adjust the installation position of the encoder, the new motor can be based on a sign of rotor shaft to adjust the encoder to determine the installation location, which can be mechanical adjustments, you can also adjust the drive parameters MD1016 to set an offset value, but the method can only be used in the 840D, through this method to adjust the motor change to other machine tool use may be due to the different driving parameters can not work properly.
Siemens 611U Driver Summary
1. 611U drive control profile
611U is a universal-type control panel, It can accept analog volume control, you can also receive a digital volume control (via profibus) .611 U control panel control panel is divided into two kinds of uniaxial and biaxial control panel.
--- 2-axis for sin / cos 1Vpp encoder
--- 2-axis for resovler
--- 1-axis for resovler
2. 611U control mode
Speed / torque mode (speed / torque mode)
In this way, 611U control panel can be used for speed control and torque control. Speed control mode 611U control panel does not have a position control function.
Position mode (position control mode) In this way, 611U control panel can have up to 64 position control statements. Each one can freely define and programming. Including position, velocity, acceleration and other parameters to define. 611U-bit control panel also has speed control functions.
3. 611U can be connected to the motor
1FT6.1FK6.1FK7 Servo Motor (maximum 140NM)
1PH motor (1PH6.1PH7.1PH4.1PH2) Maximum 100KW.
1FN linear motors.
Permanent magnet synchronous motors 1FE1
Standard 1LA induction motor (maximum 100KW)
Without the induction motor encoder
4. 611U can be connected to the measuring system
Resovler, the number of pole pairs 1,2,3,4,5,6
Incremental encoder. Sin / cos 1Vpp maximum pulse number 65535
Absolute Encoder
- Sin / cos 1Vpp
- EnDat
5. 611U range of applications
Textile
Packaging Machinery
Machine
Transmission Line
Woodworking machinery, plastic machinery
Production lines
6. 611U palette
Terminal module
Terminal board a total of 8 inputs and 8 outputs. SW4.1 before the terminal is only assigned to the A axis. SW4.1
This terminal can freely define the future.
Order NO: 6SN1114-0NA00-0AA0
? Profibus-DP module
Profibus communication board, for 611U the profibus communication
Order NO: 6SN1114-0NB01-0AA0
7. 611U and S7 communication
GSD file to import:
GSD file import is to ensure that the correct
Hardware configuration. GSD file in the hardware S7
Or in the random 611U of the TOOL-BOX
Correct choice of Profibus-DP type:
Profibus-DP type depends on the Profibus-DP
Module. Correspondence is as follows:
Profibus-DP1 --- 6SN1114-0NB00-0AA0
Profibus-DP2 --- 6SN1114-0NB00-0AA1
Profibus-DP3 --- 6SN1114-0NB01-0AA0
Parameters and data read and write:
SFC14 ---- read parameters and data
SFC15 ---- write parameters and data
SFC14 and SFC15 the address is hexadecimal, in the
Complete address must be converted. Such as:
Decimal hex
256,100
264,108
SFC14 Example:
CALL SFC 14
LADDR: = W # 16 # 108
RET_VAL: = MW10
RECORD: = P # M 50.0 BYTE 20
LADDR ---- data source starting address
RET_VAL --- error code records
RECORD ---- the start address of stored data
MW50 -
ZSW1 ----
ZSW1.0------ M51.0 ZSW1.8 ------ M50.0
ZSW1.1------ M51.1 ZSW1.9 ------ M50.1
ZSW1.2------ M51.2 ZSW1.10 ------ M50.2
ZSW1.3------ M51.3 ZSW1.11 ------ M50.3
ZSW1.4------ M51.4 ZSW1.12 ------ M50.4
ZSW1.5------ M51.5 ZSW1.13 ------ M50.5
ZSW1.6------ M51.6 ZSW1.14 ------ M50.6
ZSW1.7------ M51.7 ZSW1.15 ------ M50.7
SFC15 Example:
CALL SFC 15
LADDR: = W # 16 # 108
RECORD: = P # M 100.0 BYTE 20
RET_VAL: = MW14
LADDR ---- write data starting address of
RECORD --- user data start address
RET_VAL --- error code records
Write STW1 Example:
MW100 -
STW1 -----
STW1.0------ M101.0 STW1.8 ------ M100.0
STW1.1------ M101.1 STW1.9 ------ M100.1
STW1.2------ M101.2 STW1.10 ------ M100.2
STW1.3------ M101.3 STW1.11 ------ M100.3
STW1.4------ M101.4 STW1.12 ------ M100.4
STW1.5------ M101.5 STW1.13 ------ M100.5
STW1.6------ M101.6 STW1.14 ------ M100.6
STW1.7------ M101.7 STW1.15 ------ M100.7
--- Be free to define the input / output terminals
Terminals are free to define the function. At
simcomU defined in the terminal capabilities.
--- Analog input:
- Speed control 56/14. 24/20
- Torque Control 24/20
--- Analog Output:
- 75/15, 16/15
--10V
- 8-bit D / A Converter
--- Angle encoder (X461/X462)
- P890 = 1 interface as the output
- P890 = 2 interface as input
Spindle Orientation:
- SW5.1 with this function only after
- P0125 = 1 entry into force of spindle orientation function of
- Feature Selection
Terminal choice --- Spindle positioning (28)
Profibus --- STW1 .15
- Location directive statement to complete, if there is no
Specify the statement, the first 0 is the default setting.
Siemens SIMODRIVE 611 power module on the S1 switch settings
SIMODRIVE 611 power module on the S1 switch has the following features: (I / R indicated that feedback from renewable power supply module; UE, said the open-loop power supply module)
S1.1
l OFF:
I / R module into the line voltage = 400VAC ± 10%; DC bus voltage = 600VDC
UE module into the line voltage = 400VAC ± 10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 644VDC (impulse conduction resistance value)
Pulse Resistance OFF = 618VDC (Pulse Resistance off value)
DC bus voltage ≥ 710VDC (DC bus overvoltage value)
l ON:
I / R module into the line voltage = 415VAC ± 10%; DC bus voltage = 625VDC
UE module into the line voltage = 415VAC ± 10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 670VDC (impulse conduction resistance value)
Pulse Resistance OFF = 640VDC (Pulse Resistance off value)
DC bus voltage ≥ 740VDC (DC bus overvoltage value)
S1.2
l OFF:
Ready signal (X111 ready relay)
If the following conditions are met, the relay:
- Power of Internal main contactor closed (terminals NS1-NS2 connected, terminal 48 to enable)
- Enable terminal 63,64
- No Fault is generated (also including the standard interfaces 611A, 611D, and MCU)
- Standard interface or connection into the spin change to the module 611A must be enabled (terminal 663,65)
-NCU/CCU Has been running (SINUMERIK 840D/810D)
-MCU has been running
l ON:
Fault signal (X111 ready relay)
If the following conditions are met, the relay:
- Power of Internal main contactor closed (terminals NS1-NS2 connected, terminal 48 to enable)
- No Fault is generated (also including the standard interfaces 611A, 611D, and MCU)
- Standard interface or connection into the spin change to the module 611A must be enabled (terminal 663,65)
-NCU/CCU Has been running (SINUMERIK 840D/810D)
-MCU has been running
S1.3
l OFF:
Standard setting, regenerative feedback function of the effective
I / R module can be fed into the energy grid
UE module internal resistance of the effective pulse
l ON:
Regenerative feedback function is invalid
I / R module can not be the energy fed into the grid
UE internal pulse resistor module is invalid
Note: This feature is only 10KW following UE module as effective in the 28KW module is invalid
S1.4
l OFF:
When the S1.1 = ON time
l ON:
Jin-line voltage = 480V +6% -10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 744VDC (impulse conduction resistance value)
Pulse Resistance OFF = 718VDC (Pulse Resistance off value)
DC bus voltage ≥ 795VDC (DC bus overvoltage value)
S1.5 This feature is only right I / R power supply module and effective.
l OFF:
Standard setting, power DC bus voltage is controlled
l ON:
DC bus voltage is not controlled DC bus voltage = 1.35 × Jin-line voltage
S1.1 switch settings according to location, in the 600V or 625V power supply when the feed.
S1.6
l OFF:
The square-wave current control loop
l ON:
Standard settings. Closed-loop sinusoidal current control, this feature is only right I / R power supply module and effective.
The following conditions must be met in order to produce sinusoidal current:
n I/R16KW (6SN1145-1BA01-0BA1) HF reactor (6SN1111-0AA00-0BA1) into the line current into the line filter (6SL3000-0BE21-6AA0)
n I/R36KW (6SN1145-1BA02-0CA1) HF reactor (6SN1111-0AA00-0CA1) into the line current into the line filter (6SL3000-0BE23-6AA0)
n I/R55KW (6SN1145-1BA01-0DA1) HF reactor (6SN1111-0AA00-0DA1) into the line current into the line filter (6SL3000-0BE25-5AA0)
n I/R80KW (6SN1145-1BB00-0EA1) HF reactor (6SN1111-0AA00-1EA0) into the line current into the line filter (6SL3000-0BE28-0AA0)
n I/R120KW (6SN1145-1BB00-0FA1) HF reactor (6SN1111-0AA00-1FA0) into the line current into the line filter (6SL3000-0BE31-2AA0)
Tip: with the above list does not match the configuration of the square wave can only be closed-loop current control! ! !
611U is a universal-type control panel, It can accept analog volume control, you can also receive a digital volume control (via profibus) .611 U control panel control panel is divided into two kinds of uniaxial and biaxial control panel.
--- 2-axis for sin / cos 1Vpp encoder
--- 2-axis for resovler
--- 1-axis for resovler
2. 611U control mode
Speed / torque mode (speed / torque mode)
In this way, 611U control panel can be used for speed control and torque control. Speed control mode 611U control panel does not have a position control function.
Position mode (position control mode) In this way, 611U control panel can have up to 64 position control statements. Each one can freely define and programming. Including position, velocity, acceleration and other parameters to define. 611U-bit control panel also has speed control functions.
3. 611U can be connected to the motor
1FT6.1FK6.1FK7 Servo Motor (maximum 140NM)
1PH motor (1PH6.1PH7.1PH4.1PH2) Maximum 100KW.
1FN linear motors.
Permanent magnet synchronous motors 1FE1
Standard 1LA induction motor (maximum 100KW)
Without the induction motor encoder
4. 611U can be connected to the measuring system
Resovler, the number of pole pairs 1,2,3,4,5,6
Incremental encoder. Sin / cos 1Vpp maximum pulse number 65535
Absolute Encoder
- Sin / cos 1Vpp
- EnDat
5. 611U range of applications
Textile
Packaging Machinery
Machine
Transmission Line
Woodworking machinery, plastic machinery
Production lines
6. 611U palette
Terminal module
Terminal board a total of 8 inputs and 8 outputs. SW4.1 before the terminal is only assigned to the A axis. SW4.1
This terminal can freely define the future.
Order NO: 6SN1114-0NA00-0AA0
? Profibus-DP module
Profibus communication board, for 611U the profibus communication
Order NO: 6SN1114-0NB01-0AA0
7. 611U and S7 communication
GSD file to import:
GSD file import is to ensure that the correct
Hardware configuration. GSD file in the hardware S7
Or in the random 611U of the TOOL-BOX
Correct choice of Profibus-DP type:
Profibus-DP type depends on the Profibus-DP
Module. Correspondence is as follows:
Profibus-DP1 --- 6SN1114-0NB00-0AA0
Profibus-DP2 --- 6SN1114-0NB00-0AA1
Profibus-DP3 --- 6SN1114-0NB01-0AA0
Parameters and data read and write:
SFC14 ---- read parameters and data
SFC15 ---- write parameters and data
SFC14 and SFC15 the address is hexadecimal, in the
Complete address must be converted. Such as:
Decimal hex
256,100
264,108
SFC14 Example:
CALL SFC 14
LADDR: = W # 16 # 108
RET_VAL: = MW10
RECORD: = P # M 50.0 BYTE 20
LADDR ---- data source starting address
RET_VAL --- error code records
RECORD ---- the start address of stored data
MW50 -
ZSW1 ----
ZSW1.0------ M51.0 ZSW1.8 ------ M50.0
ZSW1.1------ M51.1 ZSW1.9 ------ M50.1
ZSW1.2------ M51.2 ZSW1.10 ------ M50.2
ZSW1.3------ M51.3 ZSW1.11 ------ M50.3
ZSW1.4------ M51.4 ZSW1.12 ------ M50.4
ZSW1.5------ M51.5 ZSW1.13 ------ M50.5
ZSW1.6------ M51.6 ZSW1.14 ------ M50.6
ZSW1.7------ M51.7 ZSW1.15 ------ M50.7
SFC15 Example:
CALL SFC 15
LADDR: = W # 16 # 108
RECORD: = P # M 100.0 BYTE 20
RET_VAL: = MW14
LADDR ---- write data starting address of
RECORD --- user data start address
RET_VAL --- error code records
Write STW1 Example:
MW100 -
STW1 -----
STW1.0------ M101.0 STW1.8 ------ M100.0
STW1.1------ M101.1 STW1.9 ------ M100.1
STW1.2------ M101.2 STW1.10 ------ M100.2
STW1.3------ M101.3 STW1.11 ------ M100.3
STW1.4------ M101.4 STW1.12 ------ M100.4
STW1.5------ M101.5 STW1.13 ------ M100.5
STW1.6------ M101.6 STW1.14 ------ M100.6
STW1.7------ M101.7 STW1.15 ------ M100.7
--- Be free to define the input / output terminals
Terminals are free to define the function. At
simcomU defined in the terminal capabilities.
--- Analog input:
- Speed control 56/14. 24/20
- Torque Control 24/20
--- Analog Output:
- 75/15, 16/15
--10V
- 8-bit D / A Converter
--- Angle encoder (X461/X462)
- P890 = 1 interface as the output
- P890 = 2 interface as input
Spindle Orientation:
- SW5.1 with this function only after
- P0125 = 1 entry into force of spindle orientation function of
- Feature Selection
Terminal choice --- Spindle positioning (28)
Profibus --- STW1 .15
- Location directive statement to complete, if there is no
Specify the statement, the first 0 is the default setting.
Siemens SIMODRIVE 611 power module on the S1 switch settings
SIMODRIVE 611 power module on the S1 switch has the following features: (I / R indicated that feedback from renewable power supply module; UE, said the open-loop power supply module)
S1.1
l OFF:
I / R module into the line voltage = 400VAC ± 10%; DC bus voltage = 600VDC
UE module into the line voltage = 400VAC ± 10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 644VDC (impulse conduction resistance value)
Pulse Resistance OFF = 618VDC (Pulse Resistance off value)
DC bus voltage ≥ 710VDC (DC bus overvoltage value)
l ON:
I / R module into the line voltage = 415VAC ± 10%; DC bus voltage = 625VDC
UE module into the line voltage = 415VAC ± 10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 670VDC (impulse conduction resistance value)
Pulse Resistance OFF = 640VDC (Pulse Resistance off value)
DC bus voltage ≥ 740VDC (DC bus overvoltage value)
S1.2
l OFF:
Ready signal (X111 ready relay)
If the following conditions are met, the relay:
- Power of Internal main contactor closed (terminals NS1-NS2 connected, terminal 48 to enable)
- Enable terminal 63,64
- No Fault is generated (also including the standard interfaces 611A, 611D, and MCU)
- Standard interface or connection into the spin change to the module 611A must be enabled (terminal 663,65)
-NCU/CCU Has been running (SINUMERIK 840D/810D)
-MCU has been running
l ON:
Fault signal (X111 ready relay)
If the following conditions are met, the relay:
- Power of Internal main contactor closed (terminals NS1-NS2 connected, terminal 48 to enable)
- No Fault is generated (also including the standard interfaces 611A, 611D, and MCU)
- Standard interface or connection into the spin change to the module 611A must be enabled (terminal 663,65)
-NCU/CCU Has been running (SINUMERIK 840D/810D)
-MCU has been running
S1.3
l OFF:
Standard setting, regenerative feedback function of the effective
I / R module can be fed into the energy grid
UE module internal resistance of the effective pulse
l ON:
Regenerative feedback function is invalid
I / R module can not be the energy fed into the grid
UE internal pulse resistor module is invalid
Note: This feature is only 10KW following UE module as effective in the 28KW module is invalid
S1.4
l OFF:
When the S1.1 = ON time
l ON:
Jin-line voltage = 480V +6% -10%; DC bus voltage = 1.35 × Jin-line voltage
Monitor Threshold: (I / R, UE and monitoring modules)
Pulse Resistance ON = 744VDC (impulse conduction resistance value)
Pulse Resistance OFF = 718VDC (Pulse Resistance off value)
DC bus voltage ≥ 795VDC (DC bus overvoltage value)
S1.5 This feature is only right I / R power supply module and effective.
l OFF:
Standard setting, power DC bus voltage is controlled
l ON:
DC bus voltage is not controlled DC bus voltage = 1.35 × Jin-line voltage
S1.1 switch settings according to location, in the 600V or 625V power supply when the feed.
S1.6
l OFF:
The square-wave current control loop
l ON:
Standard settings. Closed-loop sinusoidal current control, this feature is only right I / R power supply module and effective.
The following conditions must be met in order to produce sinusoidal current:
n I/R16KW (6SN1145-1BA01-0BA1) HF reactor (6SN1111-0AA00-0BA1) into the line current into the line filter (6SL3000-0BE21-6AA0)
n I/R36KW (6SN1145-1BA02-0CA1) HF reactor (6SN1111-0AA00-0CA1) into the line current into the line filter (6SL3000-0BE23-6AA0)
n I/R55KW (6SN1145-1BA01-0DA1) HF reactor (6SN1111-0AA00-0DA1) into the line current into the line filter (6SL3000-0BE25-5AA0)
n I/R80KW (6SN1145-1BB00-0EA1) HF reactor (6SN1111-0AA00-1EA0) into the line current into the line filter (6SL3000-0BE28-0AA0)
n I/R120KW (6SN1145-1BB00-0FA1) HF reactor (6SN1111-0AA00-1FA0) into the line current into the line filter (6SL3000-0BE31-2AA0)
Tip: with the above list does not match the configuration of the square wave can only be closed-loop current control! ! !
Servo-control knowledge
With regard to the three kinds of servo control mode, generally have three kinds of servo-control mode: Speed control mode, torque control mode, position control mode. Want to know is that these three kinds of control mode specific on what basis to choose from?
Speed control and torque control are the analog volume control. Position control is controlled by sending pulses. What is the specific control method used according to customer requirements, to meet to choose what kind of motor function.
If you are the motor speed and position are not required, as long as the output of a constant torque, of course, is to use torque mode.
If you have a certain position and velocity accuracy requirements, while the real-time torque is not very concerned with the torque model is not convenient, with better speed or position modes. If the upper controller has a better closed-loop control functions, with the speed control results will be better. If the request itself is not very high, or, basically no real time requirements of the position control of the upper controller does not have very high demands.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
2. Servo motion control card to connect the general steps to
Have recently seen many people make with the servo motor control card to connect the basic problems, which obviously should be by the control card's technical support staff to answer any questions. Here I give my clients to write the "control card servo motor speed control of the general steps", in order to avoid the ads as much as possible the card does not involve a specific model, and the control card brand model is different from the specific wiring and instructions are also different, and even some of the features do not necessarily support each control card, your reference bar.
1, initialization parameters
In the wiring before initialization parameters.
In the control card: the selected control; PID parameters will be cleared; to control the card by default when you enable signal power off; this state of preservation, ensure the control card again on the power-that is, for this state.
In the servo motor: Set control mode; setting enabled by an external control; encoder signal output of the gear ratio; set control signal and the ratio between the motor speed. In general, it is recommended to make servo work with a maximum design speed of the control voltage corresponding to 9V. For example, Matsushita is set to 1V voltage corresponding to the speed, factory value is 500, if you are only prepared to allow the motor to switch the following work in 1000, then this parameter is set to 111.
2, wiring
The control card power, the connection between the control card and the servo signal line. The following line is the need to take: the control card analog output lines so that it can signal line, servo encoder output signal line. Review wiring without error, the motor and control card (and PC) electricity. At this time motor should not move, and can easily rotate the outside, if not, check the enable signal setup and wiring. External rotation with the motor control card check whether the motor position can accurately detect the changes in, or check the encoder signal wiring and settings
3, test the direction of
For a closed-loop control system, if the feedback signal of the direction is not correct, the consequences will certainly be disastrous. By controlling the card to open servo enable signal. This is the servo should be a lower rate of rotation, which is the legendary "zero drift." General control card will have a zero-drift suppression commands or parameters. Use this command or parameters to see whether the motor speed and direction by this directive (parameter) control. If you can not control, check the wiring and control analog mode parameter settings. Confirmation is given a positive number, the electrical is being transferred, the encoder count increased; given negative, winding back around in circles, the encoder count decreased. If the motor with the load, travel is limited, do not adopt this approach. Test Do not give too much voltage, it is recommended below 1V. If the direction is inconsistent, you can modify the control card or motor parameters, to achieve consistency.
3. Ask: three-loop control principle
1, the first current loop: current loop input is the speed loop PID regulator that after the output, we called the "current loop to the definition of" bar, and then, this is a given current loop and the "feedback current loop" value to compare After the margin of doing in the current loop PID regulator output to the motor, "current loop output" is the motor phase current of each phase, "current loop feedback" is not the encoder feedback but the internal drive installed in each phase Hall elements (magnetic field induced into a current and voltage signals) back to the current loop.
2, speed loop: speed loop PID position loop input is adjusted to set the output as well as the location of the feed-forward value, we call "speed setting", the "speed setting" and "Speed-loop feedback" value to compare After doing the difference in the speed loop PID regulator (mainly the proportional gain and integral processing) after the output is the above mentioned "current loop given." Speed loop feedback from the encoder feedback and the value after "Speed Arithmetic Unit," to get.
3, position loop: Location is the outer ring of the input pulse (usually the case, a direct address to write data to drive the servo exceptions), the external pulse through the smoothing filter processing and electronic gear calculation as a "position of ring settings," setting and the feedback from the encoder pulse counter is calculated through the deviation of the value of the PID position loop after adjustment (proportional gain adjustment, non-integral-differential links) after the output and location of a given feed-forward signal on the combined value the rate mentioned above constitute a ring given. Position loop feedback also came from the encoder.
Encoder mounted on the tail servo motor, it had no connection and current loop, he sampled from the motor rotation rather than the motor current, and the current loop input, output, feedback without any contact. The current loop is formed within the drive, even without the motor, as long as the dummy load is installed on each phase (for example, a light bulb) will be able to form a feedback loop current work. . .
4. For general questions about servo
First of all, I personally think that the most important issue to do servo system is to have a clear concept. A complete set of servo system, should be completed "current loop", "speed ring" and "position loop" control, speed loop and current loop output directly as a given, the output of position loop speed loop as given. Servo drive according to conditions of use of three different settings mode, then the controller should do according to these three modes of the corresponding control. To put it simply, when the servo drive for position mode, its internal needs to adjust all the parameters of the three rings, the upper controller is just a simple given, the controller is open-loop control and, therefore, there is no quality control parameters need to be adjusted. When the servo drive is the speed mode, the controller general to issue-10v voltage as the speed for a given transmitted to the servo drives, while receiving position loop encoder feedback constitutes a closed-loop control, this time controller with adjustable parameters position-dependent control quality parameters, while the servo drive at this time as long as the adjustment speed loop and current loop-related parameter, the drive inside the position loop parameters does not make sense!
You use TRIO controller, which can pulse output, analog output can also be returned at the same time encoder. If you use pulse output, then you need to set the servo drive for position mode, to adjust the position loop, velocity loop and current loop The PID parameters, in addition you want to set the servo drive electronic gear ratio, at this time there is no PID controller parameters need to be adjusted.
If you use analog output increases to return control of the encoder, servo drives is set to speed mode, need to adjust the speed of servo loop parameters related to pid, controller side p_gain, i_gain, d_gain, vff_gain and other parameters needed to be adjusted in order to achieve a good quality control at this time of the position loop servo drive parameters and the electronic gear ratio parameter has no effect. Pid parameter adjustment from the inside out to follow the principle, first adjust current loop parameters, the speed loop parameters, the final position loop parameters, the general situation, you have to set a good servo used within the load ratio, using the recommended parameters can be used, fine-grained control the quality of mediation in the TRIO software, you can turn on the oscilloscope function, you adjust to any changes, can be seen through the oscilloscope, is very convenient!
Accordingly, only when you use the trio controller analog output plus the location of the encoder feedback closed-loop manner, only open-loop control of position loop controller, say, when the servo = 0, the controller is open-loop control, this when the motion commands do not work, only play a role DAC this directive, DAC is a direct analog output instructions, the direct output-10v to 10v voltage to control the servo speed. (In a manner somewhat like the controlled inverter) their descriptions to help you look carefully. When the servo = 1, the position loop closed-loop control, motion commands to be effective.
In the TRIO has a direct connection servo controller enables the output of the relay-type nodes. When the wdog = 1, the output is ON, so that servo enabled, when the wdog = 0, the disconnect servo enabled. WDOG and open loop does not matter. When the controller in operation process, the system failure, which will automatically wdog = 0!
5. Universal CNC servo and dedicated servo What is the difference
Simply put: NC dedicated servo is the servo and CNC systems are closed, NC dedicated servo you can not be applied in other host computer (such as hair pulse, analog command) occasions. And universal servo (talk UTV servo more professional) can only accept pulse or analog command upper machine, you are no way servo universal application of the NC with dedicated servo systems. an example. Siemens 802C (or S) is a general-purpose servo band, and However, 810,840 to fail you have to use it to their own dedicated servo can not. As for the CNC system made in China or Taiwan production of NC system, which control commands are generally issued by pulse or analog (pulse-fat is probably the most simplest of NC ), so they are (only) with a common servo.
Complex point say: NC-specific servo is a servo power after the class. Servo-driven, and numerical control system has many parts made of one of its signals are PWM signals, mounted on the external drive is only one part of the power supply and power amplifier only. The general-purpose servo is different, its various circuits (such as position, velocity, current) and computing all done in the drive. including motor parameters.
To make a few practical application of the distinction it: dedicated servo parameter adjustment is generally to debug the system in NC, while the general-purpose servo servo drives need to debug.
Some special-purpose type servo motor encoder feedback directly back to numerical control system (due to an external power supply and amplifier is just one only), while the general-purpose servo is necessary to take back part of the drive.
Dedicated servo motor encoder number of lines, many of the millions of lines may be poor but far from universal type, and generally that is 2500 and 17BIT (a million used there? Who can receive too come?)
In high-speed high-precision machine tool applications, have to use special-purpose servo and NC can not be, Taiwan and China-made CNC system plus general-purpose servo do not (at least not now). Of course, much cheaper. Something is not how high-end, The Well is that you apply to any occasion. However, in CNC industry, use of special-purpose servo is a trend.
This is why high-end CNC systems with dedicated servo (too many advantages. Does not say), Mitsubishi and General CNC servo two points are also easy to understand.
6. "Location", "Speed," "Torque"
"Position", "Speed," "Torque" is the servo system from the outside to the inside of the three closed-loop control mode.
Position control methods are to complete all of the three closed-loop servo control, the computer need only send a pulse train to the servo unit can be, the computer does not require the completion of the side of the PID control algorithm;
Using the speed control mode, the servo speed and torque to complete (current) two closed-loop control, the computer needs to send analog servo unit, the computer side of the need to complete PID position control algorithm, and then D / A output;
In general, we need to position control system can either use the servo position control mode, you can also use the speed control mode, only the handling of different host computer. In addition, it was considered less susceptible to interference position control mode.
Torque control method is a servo system only for closed-loop torque control, ie a current control, host computer algorithms are simple, just need to send to the servo unit a target torque value, is an analog quantity. Multi-torque control in a single occasion, such as printing system, a motor with the speed or position control methods used to determine the printing location, and the other motor for torque control method is used to form a constant tension.
7. Servo three kinds of control mode
If you are the motor speed and position are not required, as long as the output of a constant torque, of course, is to use torque mode.
If you have a certain position and velocity accuracy requirements, while the real-time torque is not very concerned with the torque model is not convenient, with better speed or position modes. If the upper controller has a better closed-loop control functions, with the speed control results will be better. If the request itself is not very high, or, basically no real time requirements of the position control of the upper controller does not have very high demands.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
8. Will the servo and inverter What is the difference
1, the two things in common:
AC servo technology itself is a draw and the application of frequency conversion technology, in the DC motor servo control based on the way through the conversion of the PWM DC Motor Control imitation to achieve, that is bound to variable frequency AC servo motor, this links: Frequency is the frequency of the 50,60 HZ AC into DC first rectifier, and then can control the gate of the various types of transistors (IGBT, IGCT, etc.) through the carrier frequency and PWM inverter for adjustable frequency adjustable waveform similar to the are cosine pulse of electricity, due to frequency is adjustable, so the speed of AC motor of the adjustable (n = 60f / p, n speed, f the frequency, p the number of pole pairs)
Second, talk about the converter:
A simple inverter can adjust the speed of AC motor, then you can open-loop can be closed-loop control mode and the inverter depending on the setting, which is in the traditional sense of the V / F control mode. Now many of the conversion have been adopted to establish the mathematical model, the AC motor's stator magnetic field UVW3 phase transformation that can control motor speed and torque of the two current components, and now most of the torque control can be carried out well-known brand of inverter are adoption of such control the torque, UVW output of each phase to be Jia Huoer effects of current detection device, the sampling constitutes a closed-loop feedback and current negative feedback loop PID regulator; ABB variable frequency also proposed and such a different way of direct torque control technique , specifically requested access to relevant information. This can not only control the motor speed control motor torque and speed control accuracy of better than v / f control, encoder feedback can also be added from time increases, plus when the control accuracy and response characteristics much better.
Speed control and torque control are the analog volume control. Position control is controlled by sending pulses. What is the specific control method used according to customer requirements, to meet to choose what kind of motor function.
If you are the motor speed and position are not required, as long as the output of a constant torque, of course, is to use torque mode.
If you have a certain position and velocity accuracy requirements, while the real-time torque is not very concerned with the torque model is not convenient, with better speed or position modes. If the upper controller has a better closed-loop control functions, with the speed control results will be better. If the request itself is not very high, or, basically no real time requirements of the position control of the upper controller does not have very high demands.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
2. Servo motion control card to connect the general steps to
Have recently seen many people make with the servo motor control card to connect the basic problems, which obviously should be by the control card's technical support staff to answer any questions. Here I give my clients to write the "control card servo motor speed control of the general steps", in order to avoid the ads as much as possible the card does not involve a specific model, and the control card brand model is different from the specific wiring and instructions are also different, and even some of the features do not necessarily support each control card, your reference bar.
1, initialization parameters
In the wiring before initialization parameters.
In the control card: the selected control; PID parameters will be cleared; to control the card by default when you enable signal power off; this state of preservation, ensure the control card again on the power-that is, for this state.
In the servo motor: Set control mode; setting enabled by an external control; encoder signal output of the gear ratio; set control signal and the ratio between the motor speed. In general, it is recommended to make servo work with a maximum design speed of the control voltage corresponding to 9V. For example, Matsushita is set to 1V voltage corresponding to the speed, factory value is 500, if you are only prepared to allow the motor to switch the following work in 1000, then this parameter is set to 111.
2, wiring
The control card power, the connection between the control card and the servo signal line. The following line is the need to take: the control card analog output lines so that it can signal line, servo encoder output signal line. Review wiring without error, the motor and control card (and PC) electricity. At this time motor should not move, and can easily rotate the outside, if not, check the enable signal setup and wiring. External rotation with the motor control card check whether the motor position can accurately detect the changes in, or check the encoder signal wiring and settings
3, test the direction of
For a closed-loop control system, if the feedback signal of the direction is not correct, the consequences will certainly be disastrous. By controlling the card to open servo enable signal. This is the servo should be a lower rate of rotation, which is the legendary "zero drift." General control card will have a zero-drift suppression commands or parameters. Use this command or parameters to see whether the motor speed and direction by this directive (parameter) control. If you can not control, check the wiring and control analog mode parameter settings. Confirmation is given a positive number, the electrical is being transferred, the encoder count increased; given negative, winding back around in circles, the encoder count decreased. If the motor with the load, travel is limited, do not adopt this approach. Test Do not give too much voltage, it is recommended below 1V. If the direction is inconsistent, you can modify the control card or motor parameters, to achieve consistency.
3. Ask: three-loop control principle
1, the first current loop: current loop input is the speed loop PID regulator that after the output, we called the "current loop to the definition of" bar, and then, this is a given current loop and the "feedback current loop" value to compare After the margin of doing in the current loop PID regulator output to the motor, "current loop output" is the motor phase current of each phase, "current loop feedback" is not the encoder feedback but the internal drive installed in each phase Hall elements (magnetic field induced into a current and voltage signals) back to the current loop.
2, speed loop: speed loop PID position loop input is adjusted to set the output as well as the location of the feed-forward value, we call "speed setting", the "speed setting" and "Speed-loop feedback" value to compare After doing the difference in the speed loop PID regulator (mainly the proportional gain and integral processing) after the output is the above mentioned "current loop given." Speed loop feedback from the encoder feedback and the value after "Speed Arithmetic Unit," to get.
3, position loop: Location is the outer ring of the input pulse (usually the case, a direct address to write data to drive the servo exceptions), the external pulse through the smoothing filter processing and electronic gear calculation as a "position of ring settings," setting and the feedback from the encoder pulse counter is calculated through the deviation of the value of the PID position loop after adjustment (proportional gain adjustment, non-integral-differential links) after the output and location of a given feed-forward signal on the combined value the rate mentioned above constitute a ring given. Position loop feedback also came from the encoder.
Encoder mounted on the tail servo motor, it had no connection and current loop, he sampled from the motor rotation rather than the motor current, and the current loop input, output, feedback without any contact. The current loop is formed within the drive, even without the motor, as long as the dummy load is installed on each phase (for example, a light bulb) will be able to form a feedback loop current work. . .
4. For general questions about servo
First of all, I personally think that the most important issue to do servo system is to have a clear concept. A complete set of servo system, should be completed "current loop", "speed ring" and "position loop" control, speed loop and current loop output directly as a given, the output of position loop speed loop as given. Servo drive according to conditions of use of three different settings mode, then the controller should do according to these three modes of the corresponding control. To put it simply, when the servo drive for position mode, its internal needs to adjust all the parameters of the three rings, the upper controller is just a simple given, the controller is open-loop control and, therefore, there is no quality control parameters need to be adjusted. When the servo drive is the speed mode, the controller general to issue-10v voltage as the speed for a given transmitted to the servo drives, while receiving position loop encoder feedback constitutes a closed-loop control, this time controller with adjustable parameters position-dependent control quality parameters, while the servo drive at this time as long as the adjustment speed loop and current loop-related parameter, the drive inside the position loop parameters does not make sense!
You use TRIO controller, which can pulse output, analog output can also be returned at the same time encoder. If you use pulse output, then you need to set the servo drive for position mode, to adjust the position loop, velocity loop and current loop The PID parameters, in addition you want to set the servo drive electronic gear ratio, at this time there is no PID controller parameters need to be adjusted.
If you use analog output increases to return control of the encoder, servo drives is set to speed mode, need to adjust the speed of servo loop parameters related to pid, controller side p_gain, i_gain, d_gain, vff_gain and other parameters needed to be adjusted in order to achieve a good quality control at this time of the position loop servo drive parameters and the electronic gear ratio parameter has no effect. Pid parameter adjustment from the inside out to follow the principle, first adjust current loop parameters, the speed loop parameters, the final position loop parameters, the general situation, you have to set a good servo used within the load ratio, using the recommended parameters can be used, fine-grained control the quality of mediation in the TRIO software, you can turn on the oscilloscope function, you adjust to any changes, can be seen through the oscilloscope, is very convenient!
Accordingly, only when you use the trio controller analog output plus the location of the encoder feedback closed-loop manner, only open-loop control of position loop controller, say, when the servo = 0, the controller is open-loop control, this when the motion commands do not work, only play a role DAC this directive, DAC is a direct analog output instructions, the direct output-10v to 10v voltage to control the servo speed. (In a manner somewhat like the controlled inverter) their descriptions to help you look carefully. When the servo = 1, the position loop closed-loop control, motion commands to be effective.
In the TRIO has a direct connection servo controller enables the output of the relay-type nodes. When the wdog = 1, the output is ON, so that servo enabled, when the wdog = 0, the disconnect servo enabled. WDOG and open loop does not matter. When the controller in operation process, the system failure, which will automatically wdog = 0!
5. Universal CNC servo and dedicated servo What is the difference
Simply put: NC dedicated servo is the servo and CNC systems are closed, NC dedicated servo you can not be applied in other host computer (such as hair pulse, analog command) occasions. And universal servo (talk UTV servo more professional) can only accept pulse or analog command upper machine, you are no way servo universal application of the NC with dedicated servo systems. an example. Siemens 802C (or S) is a general-purpose servo band, and However, 810,840 to fail you have to use it to their own dedicated servo can not. As for the CNC system made in China or Taiwan production of NC system, which control commands are generally issued by pulse or analog (pulse-fat is probably the most simplest of NC ), so they are (only) with a common servo.
Complex point say: NC-specific servo is a servo power after the class. Servo-driven, and numerical control system has many parts made of one of its signals are PWM signals, mounted on the external drive is only one part of the power supply and power amplifier only. The general-purpose servo is different, its various circuits (such as position, velocity, current) and computing all done in the drive. including motor parameters.
To make a few practical application of the distinction it: dedicated servo parameter adjustment is generally to debug the system in NC, while the general-purpose servo servo drives need to debug.
Some special-purpose type servo motor encoder feedback directly back to numerical control system (due to an external power supply and amplifier is just one only), while the general-purpose servo is necessary to take back part of the drive.
Dedicated servo motor encoder number of lines, many of the millions of lines may be poor but far from universal type, and generally that is 2500 and 17BIT (a million used there? Who can receive too come?)
In high-speed high-precision machine tool applications, have to use special-purpose servo and NC can not be, Taiwan and China-made CNC system plus general-purpose servo do not (at least not now). Of course, much cheaper. Something is not how high-end, The Well is that you apply to any occasion. However, in CNC industry, use of special-purpose servo is a trend.
This is why high-end CNC systems with dedicated servo (too many advantages. Does not say), Mitsubishi and General CNC servo two points are also easy to understand.
6. "Location", "Speed," "Torque"
"Position", "Speed," "Torque" is the servo system from the outside to the inside of the three closed-loop control mode.
Position control methods are to complete all of the three closed-loop servo control, the computer need only send a pulse train to the servo unit can be, the computer does not require the completion of the side of the PID control algorithm;
Using the speed control mode, the servo speed and torque to complete (current) two closed-loop control, the computer needs to send analog servo unit, the computer side of the need to complete PID position control algorithm, and then D / A output;
In general, we need to position control system can either use the servo position control mode, you can also use the speed control mode, only the handling of different host computer. In addition, it was considered less susceptible to interference position control mode.
Torque control method is a servo system only for closed-loop torque control, ie a current control, host computer algorithms are simple, just need to send to the servo unit a target torque value, is an analog quantity. Multi-torque control in a single occasion, such as printing system, a motor with the speed or position control methods used to determine the printing location, and the other motor for torque control method is used to form a constant tension.
7. Servo three kinds of control mode
If you are the motor speed and position are not required, as long as the output of a constant torque, of course, is to use torque mode.
If you have a certain position and velocity accuracy requirements, while the real-time torque is not very concerned with the torque model is not convenient, with better speed or position modes. If the upper controller has a better closed-loop control functions, with the speed control results will be better. If the request itself is not very high, or, basically no real time requirements of the position control of the upper controller does not have very high demands.
On the servo drive's response rate, the smallest amount of torque mode operation, the drive for the fastest response to control signals; position mode operation the largest, the drive control signals in response to the slowest.
The dynamic performance of the movement has a relatively high demand, we need time to adjust the motor. So, if the controller itself, the computing speed is very slow (eg, PLC, or low-end motion controller), on the location of control of use. If the controller calculation speed is faster, you can use the speed mode, the position loop controller from the drive to reduce the workload of the drive to improve efficiency (such as most of the high-end motion controller); If you have a better control of the Upper device, it can control the torque, the speed loop away from the drive, which is generally only a high-end dedicated controller can be so dry, but this time completely without the use of servo motors.
8. Will the servo and inverter What is the difference
1, the two things in common:
AC servo technology itself is a draw and the application of frequency conversion technology, in the DC motor servo control based on the way through the conversion of the PWM DC Motor Control imitation to achieve, that is bound to variable frequency AC servo motor, this links: Frequency is the frequency of the 50,60 HZ AC into DC first rectifier, and then can control the gate of the various types of transistors (IGBT, IGCT, etc.) through the carrier frequency and PWM inverter for adjustable frequency adjustable waveform similar to the are cosine pulse of electricity, due to frequency is adjustable, so the speed of AC motor of the adjustable (n = 60f / p, n speed, f the frequency, p the number of pole pairs)
Second, talk about the converter:
A simple inverter can adjust the speed of AC motor, then you can open-loop can be closed-loop control mode and the inverter depending on the setting, which is in the traditional sense of the V / F control mode. Now many of the conversion have been adopted to establish the mathematical model, the AC motor's stator magnetic field UVW3 phase transformation that can control motor speed and torque of the two current components, and now most of the torque control can be carried out well-known brand of inverter are adoption of such control the torque, UVW output of each phase to be Jia Huoer effects of current detection device, the sampling constitutes a closed-loop feedback and current negative feedback loop PID regulator; ABB variable frequency also proposed and such a different way of direct torque control technique , specifically requested access to relevant information. This can not only control the motor speed control motor torque and speed control accuracy of better than v / f control, encoder feedback can also be added from time increases, plus when the control accuracy and response characteristics much better.
Monday, November 23, 2009
Siemens Numerical Control System Debugging Tools Sinumerik 840D
1. DOConCD
Siemens SINUMERIK CNC system, SIMODRIVE / SINAMICS drives, 1FT/1FK7/1PH7/1FN3/1FW6 such as motor complete CD-ROM data, including operation, installation, commissioning, and so all the contents, of course, there will be updated every year, but preferable to retain the old version better CD-ROM.
DOConCD: 6FC5298-0CD00-0BG0
2. STEP7 and programming cable
SINUMERIK810D/840D the PLC debugging software, running on the computer, through a programming cable to connect to the system. Of course, there are installed on the PCU50 on STEP7 version.
STEP7 software: 6ES7 810-4CC08-0YA5
Programming Cable: 6GK1 551-2AA00
For PCU50 the STEP7 software: 6FC5252-0AY00-0AG0
3. Toolbox
Including the PLC, the basic procedures and some examples of PLC (knife database management, HHU, etc.), as well as the system is compatible with the table.
The current version of the Toolbox: 6FC5252-0AX21-0AB0
4. Start-up tool for 611D
If the system configuration is MMC100/MMC100.2/PCU20 etc. PC hard drive unit without the need to use this software to debug and optimize the drivers (software installed on the computer).
See SinuCom
5. U Disk
PCU50 support the use of U disk, the file copy for debugging very convenient.
Siemens 512M U Disk: 6ES7648-0DC20-0AA0
6. Cable
PCU50 have ready-made network interface, debugging more convenient to use, such as copying files or modify the INI files, and so. Finally, after a good overall debugging, recommended the adoption of network cable to the hard disk as a whole to be a backup PCU50!
7. CF Card
Typically used in PCU20, as a processing program memory expansion.
Siemens 512M CF card: 6FC5313-4AG00-0AA1
8. Ghost
PCU50 on GHOST software for hard disk partition the entire disk with backups.
9. SinuCom
It is composed of several software, which SinuCom ARC software can open NC system backup files (that is, the file suffix named ARC).
CD-ROM: 6FC5250-0AY00-0AG0
10. PCIN
RS232 communication software, but slowly being U disk, network and other means of transmission replaced.
Siemens SINUMERIK CNC system, SIMODRIVE / SINAMICS drives, 1FT/1FK7/1PH7/1FN3/1FW6 such as motor complete CD-ROM data, including operation, installation, commissioning, and so all the contents, of course, there will be updated every year, but preferable to retain the old version better CD-ROM.
DOConCD: 6FC5298-0CD00-0BG0
2. STEP7 and programming cable
SINUMERIK810D/840D the PLC debugging software, running on the computer, through a programming cable to connect to the system. Of course, there are installed on the PCU50 on STEP7 version.
STEP7 software: 6ES7 810-4CC08-0YA5
Programming Cable: 6GK1 551-2AA00
For PCU50 the STEP7 software: 6FC5252-0AY00-0AG0
3. Toolbox
Including the PLC, the basic procedures and some examples of PLC (knife database management, HHU, etc.), as well as the system is compatible with the table.
The current version of the Toolbox: 6FC5252-0AX21-0AB0
4. Start-up tool for 611D
If the system configuration is MMC100/MMC100.2/PCU20 etc. PC hard drive unit without the need to use this software to debug and optimize the drivers (software installed on the computer).
See SinuCom
5. U Disk
PCU50 support the use of U disk, the file copy for debugging very convenient.
Siemens 512M U Disk: 6ES7648-0DC20-0AA0
6. Cable
PCU50 have ready-made network interface, debugging more convenient to use, such as copying files or modify the INI files, and so. Finally, after a good overall debugging, recommended the adoption of network cable to the hard disk as a whole to be a backup PCU50!
7. CF Card
Typically used in PCU20, as a processing program memory expansion.
Siemens 512M CF card: 6FC5313-4AG00-0AA1
8. Ghost
PCU50 on GHOST software for hard disk partition the entire disk with backups.
9. SinuCom
It is composed of several software, which SinuCom ARC software can open NC system backup files (that is, the file suffix named ARC).
CD-ROM: 6FC5250-0AY00-0AG0
10. PCIN
RS232 communication software, but slowly being U disk, network and other means of transmission replaced.
Knowledge of Siemens 840D
SIEMENS PLC system Siemens SIMATIC MAGAGER used for PLC programming to carry out state control machine tool components, it mainly consists of power supply module, CPU module, input and output module, its interface with, RS232 interface, PROFIBUS Interface , MPI cable interfaces. Through the X122, MPI jack, so that the computer with the NCU connected PLC.
Hardware Configuration
Hardware configuration: tell the PLC hardware structure of the process of
Baud Rate: MPI 187.5kbps
OPI 1.5Mbps
Process: to build the project - → Jianzhan - → Configuration Hardware
? Auto Configuration: The Cable Construction PLC and 840D connected to an automatic configuration automatic identification (upload station) will be transmitted PLC computer:
PLC-→ UPLOAD-→ select MPI Address = 2, if the Address = 3, will include the PLC and the NCU
If the backup PLC, then the process is:
New Project-→ plc-→ upload station, so the hardware will be backed up.
End station building, there even folders: hardware and cpu.CPU folder under the S7 program.
S7 program there are three directories:
(1) symbols such as I40.1 symbol table for the first 40 bytes of the first one
(2) BLOCKS function block
? Manual Configuration:
Process: Open the S7-→ New File - → INSERT-→ STATION-→ SIMATIC 300 - → double-HARDWARE-→ appear Box - → INSERT-→ HARDWARE COMPONENT-→ PROFILE-→ STANDARD-→ S300-→ RACK300
Select the appropriate position (to be set bits in the table), then the corresponding module on the right side double-click on modules will be chosen, selected and then download the
Programming
PLC programming course, the can use the following three forms:
Ladder Logic (LAD):
Statement List (STL):
Function Block Diagram (FBD):
Statement List programming instructions commonly used:
And instruction: A normally open AN NC
Or to order: O Normally open ON NC
Output instructions: =
Call instruction: CALL FCXX
FP: rising edge detection instruction
FN: falling edge detection instruction
After the FP must register with the middle of
CLR operation results, Clear
SET set a
S Set 1
R Clear
Block
? STEP7 There are several commonly used BLOCK Main: OB tissue mass, FC function blocks, FB function blocks, DB data blocks, etc.
OB: function blocks, equivalent to the main program, often are OB1 and OB100;
FC, FB: Function Block, which is equivalent subroutine
Subroutine in the compilation finished, you must call the subroutine in the main program in the PLC after power-OB100 is the first execution, is executed only once; OB1 is the PLC CPU cycles implementation process. After the first implementation of the power-OB100, and then the implementation of OB1 (repeated implementation; OB100 call FB1 (Siemens compiled good)
FB1 is the system bus connection PCU with OPI and MCP, the control panel Definition:
(1) control panel starting address of the input address
(2) the number of control panel
(3) The control panel's output addresses starting address
Control Panel MPI Address: MCPIBUSADR = 6
? OB1 block
FC2: Basic NCK and PLC communications NCK ← → PLC
FC2 must be OB1 the beginning of FC2 ---- "gp_hp"
FC10: dealing with alarm information FC10 ---- "AL-MSG"
PLC generated alarm, passed NCK, NC to take measures, while MMC displays alarm text called FC10, there are two parameters must be set
TouserIF = TRUE (equivalent to 1) and FALSE (equivalent to 0)
Quit: = I3.7 (warning text). Alarm Reset button (RESET) addresses I3.7
FC19: Machine control panel main program FC19 ---- "MCP-IFM"
BAGNO (mode group number) = B # 16 # 1 (B - B hex 16-16 hex)
CHANNO (channel number) = B # 16 # 1
SPINDLEIFNO: = B # 16 # 4 (spindle number)
FEEDHOLD = M100.0 (feed suspended)
SPINDLEHOLD = M100.1 (spindle stop)
? DB block
1. DB module types are:
DBB - Data Module Type
DBW - block word (16 bit)
DBD - block double word (32 bit)
2. Data Type:
DOUBLE: real or integer number, input range ± 4.19 × 10-307 ----± 1.67 × 10308
DWORD: integer number, ranging from -2.147 × 109 ---- 2.147 × 109
BOOLEAN: 0 be a
BYTE: integer, range digital -128 ---- 127
STRING: a maximum of 16-bit string
3. Common data block feature
DB2: alarm interface signals. The signal from the PLC to the NCK, in the PLC set the corresponding bit in the MMC will be able to generate a corresponding alarm number (seven at the beginning of the alarm is set by machine field assumption)
DB10: Show NCU state, used to exchange NCK fast I / O interface to the state, there are a number of the state of the signal NCK
DB11: mode group signal interface
DB19: Operation panel signal interface
DB21-DB30: channel signal interface
DB31-DB61: shaft / spindle interface signals
4. Debugging a common data block mainly by:
DBX6.0: feed to be able to prohibit
DBX6.1: read to be able to prohibit
DBX7.0: Start to be able to prohibit PLC → NC
DBX7.7: Channel reset
DBX194.0 --- DBX206.3 NC → PLC
DBX1.5: entry into force of a measurement system
DBX1.6: force measurement system 2
DBX2.1: Control enabled
DBX21.7: Pulse enable (if not, compared to the free end)
DBX4.3: Axis Stop PLC → NC
DBX12.0: the hard-axis negative limit
DBX12.1: the hard-axis positive limit
DBX12.7: back to zero deceleration
DBX61.7: current loop effective
DBX61.6: speed loop effective
DBX61.5: Position Loop Effective
DBX61.4: axial static
DBX83.5: spindle speed setting within the framework of
SIEMENS PLC system Siemens SIMATIC MAGAGER used for PLC programming to carry out state control machine tool components, it mainly consists of power supply module, CPU module, input and output module, its interface with, RS232 excuse, PROFIBUS excuse , MPI cable interfaces. Through the X122, MPI jack, so that the computer with the NCU connected PLC.
Hardware Configuration
Hardware configuration: tell the PLC hardware structure of the process of
Baud Rate: MPI 187.5kbps
OPI 1.5Mbps
Process: to build the project - → Jianzhan - → Configuration Hardware
* Auto-configuration: The construction of PLC and 840D cable connected to an automatic configuration of automatic identification (upload station) will be transmitted PLC computer:
PLC-→ UPLOAD-→ select MPI Address = 2, if the Address = 3, will include the PLC and the NCU
If the backup PLC, then the process is:
New Project-→ plc-→ upload station, so the hardware will be backed up.
End station building, there even folders: hardware and cpu.CPU folder under the S7 program.
S7 program there are three directories:
(1) symbols such as I40.1 symbol table for the first 40 bytes of the first one
BLOCKS function block
* Manual configuration:
Process: Open the S7-→ New File - → INSERT-→ STATION-→ SIMATIC 300 - → double-HARDWARE-→ appear Box - → INSERT-→ HARDWARE COMPONENT-→ PROFILE-→ STANDARD-→ S300-→ RACK300
Select the appropriate position (to be set bits in the table), then the corresponding module on the right side double-click on modules will be chosen, selected and then download the
Programming
PLC programming course, the can use the following three forms:
Ladder Logic (LAD):
Statement List (STL):
Function Block Diagram (FBD):
Statement List programming instructions commonly used:
And instruction: A normally open AN NC
Or to order: O Normally open ON NC
Output instructions: =
Call instruction: CALL FCXX
FP: rising edge detection instruction
FN: falling edge detection instruction
After the FP must register with the middle of
CLR operation results, Clear
SET set a
S Set 1
R Clear
Block
BLOCK main · STEP7 There are several commonly used: OB tissue mass, FC function blocks, FB function blocks, DB data blocks, etc.
OB: function blocks, equivalent to the main program, often are OB1 and OB100;
FC, FB: Function Block, which is equivalent subroutine
Subroutine in the compilation finished, you must call the subroutine in the main program
OB100 is a PLC after power-first execution, is executed only once; OB1 is the PLC CPU cycles implementation process. After the first implementation of the power-OB100, and then the implementation of OB1 (repeated implementation; OB100 call FB1 (Siemens compiled good)
FB1 is the system bus connection PCU with OPI and MCP, the control panel Definition:
(1) control panel starting address of the input address
(2) the number of control panel
(3) The control panel's output addresses starting address
Control Panel MPI Address: MCPIBUSADR = 6
· OB1 block
FC2: Basic NCK and PLC communications NCK ← → PLC
FC2 must be OB1 the beginning of FC2 ---- "gp_hp"
FC10: dealing with alarm information FC10 ---- "AL-MSG"
PLC generated alarm, passed NCK, NC to take measures, while MMC displays alarm text
Call FC10, there are two parameters must be set
TouserIF = TRUE (equivalent to 1) and FALSE (equivalent to 0)
Quit: = I3.7 (warning text). Alarm Reset button (RESET) addresses I3.7
FC19: Machine control panel main program FC19 ---- "MCP-IFM"
BAGNO (mode group number) = B # 16 # 1 (B - B hex 16-16 hex)
CHANNO (channel number) = B # 16 # 1
SPINDLEIFNO: = B # 16 # 4 (spindle number)
FEEDHOLD = M100.0 (feed suspended)
SPINDLEHOLD = M100.1 (spindle stop)
· DB block
1. DB module types are:
DBB - Data Module Type
DBW - block word (16 bit)
DBD - block double word (32 bit)
2. Data Type:
DOUBLE: real or integer number, input range ± 4.19 × 10-307 ----± 1.67 × 10308
DWORD: integer number, ranging from -2.147 × 109 ---- 2.147 × 109
BOOLEAN: 0 be a
BYTE: integer, range digital -128 ---- 127
STRING: a maximum of 16-bit string
3. Common data block feature
DB2: alarm interface signals. The signal from the PLC to the NCK, in the PLC set the corresponding bit in the MMC will be able to generate a corresponding alarm number (seven at the beginning of the alarm is set by machine field assumption)
DB10: Show NCU state, used to exchange NCK fast I / O interface to the state, there are a number of the state of the signal NCK
DB11: mode group signal interface
DB19: Operation panel signal interface
DB21-DB30: channel signal interface
DB31-DB61: shaft / spindle interface signals
4. Debugging a common data block mainly by:
DBX6.0: feed to be able to prohibit
DBX6.1: read to be able to prohibit
DBX7.0: Start to be able to prohibit PLC → NC
DBX7.7: Channel reset
DBX194.0 --- DBX206.3 NC → PLC
DBX1.5: entry into force of a measurement system
DBX1.6: force measurement system 2
DBX2.1: Control enabled
DBX21.7: Pulse enable (if not, compared to the free end)
DBX4.3: Axis Stop PLC → NC
DBX12.0: the hard-axis negative limit
DBX12.1: the hard-axis positive limit
DBX12.7: back to zero deceleration
DBX61.7: current loop effective
DBX61.6: speed loop effective
DBX61.5: Position Loop Effective
DBX61.4: axial static
DBX83.5: spindle speed setting within the framework of
Common Maintenance Failure Analysis
1. Machine operating mode and channel of choice:
As the NCK function continuously strengthened, a NCK can complete multiple systems to complete the original work, which can have multiple channels, a channel rather with an independent NC, 840D can have up to 10 channels, each channel has its own zero over the set, tool compensation and R parameters, but the program area is shared, each channel has its own working methods, if the work of several channels have been the same, then this constitutes a method group. the 840D on the , mode is way switch to select, access is key to W1 ... n to choose.
2. Tools and zero-bias
Because different tools have different geometric shapes and geometry, while the program is subject to the workpiece size and therefore require compensation tool, each with its own knife, there is a corresponding geometric shape of the tool types, such as drills, milling cutters. Each of the knife can have more than a knife fill size to D, to mark the
Like with the tool, processing of different parts require different zero, so there is zero bias, in the 840D using G54 to G57 to select, if necessary, the number of zero-bias can also be used to expand the machine parameters.
3.840D system maintenance
* Maintenance of liquid crystal displays
LCD display life of 30,000 hours. While the backlight tube life is time 10000 - 20,000 hours.
Replacement backlight tube methods: a. Open the protective cover b. monitor the installation of loose screws, disconnect the power supply and display backlight control signal cable, remove the display c. replace the backlight tube d. above steps to install the opposite
* Replacement of the battery
A total of 840 system, two batteries, one in MMC above, the main information to save CMOS, and its lifetime is at least ten years, it is generally no need to replace. NCU BOX also a battery inside, and fans together, it's life generally three years or so, to save the NCK inside the programs and data, because of the protection of capacitor charging, you can replace the battery after the NCK full power, but time can not be more than 15 minutes
This is the same as two battery models. Model: 6FC5247-0AA18-0AA0
(Note: the replacement battery it is best to make a few NCK and the PLC, data backup, Siemens 840C battery in the CSB board, must be the case of electricity in the system to replace!)
4.840D system data backup
840D system data are many, including NCK data, PLC data and MMC data, which NCK and PLC data is by the battery to maintain, and it directly affects the loss of the normal operation of NC, while the data is stored in the MMC MMC hard disk (MMC103), or Flash EPROM inside (MMC100.2), which under normal circumstances, the loss of NC data only affect the display and input.
System data backup methods are the following three
(1) backup to MMC's hard disk (only MMC103 adaptation), it is recommended best MMC, NCK and the PLC's data separately for backup, the file name is best to use the system default file name plus the date.
(2) backup to a floppy disk or through the RS232 port on the backup to an external computer.
(3) back to the NCK above the PCMCIA card, the card is an NC system, installed programs 8M of Flash EPROM card. It is about 5M or so of space can be used to store backup data. This feature is only in the MMC software version 5.0 and above to be used. Such data without a hard drive backup methods particularly suitable for the MMC100.2.
5. MMC103 file structure
· MMC103's hardware is actually a band MPI (OPI) interface PC. Software is running on the WINDOWS operating system on a man-machine interface software. As the MMC version of the software not the same as its operation, the operating system are not the same, there are early WIN32, the mid-WIN95 and now WINNT, to run in WIN95 environment MMC Ver5.3 example shows the file structure MMC.
· MMC103 hard disk is divided into two partitions, C: drive and D: drive, where D is mainly used to store the hard disk drive and partition number of backup files, including several versions of the system brought about by MMC system backup, but also used to install software to use as a temporary storage area. C drive is mainly stored WINDOWS operation of the system files, MMC's system files, machine tool manufacturers developed a number of add-on software and user programs and data.
· C drive under the directory structure:
C drive has the following directories under the main
MMC2: Siemens, is mainly used to store system files, Siemens there are also some standard configuration files in this directory, the directory the file is best not to modify the. Windows storage running Windows system files and other documents under Windows environment,
Add_on: Siemens add-on products, such as remote diagnostics. OEM used to store tools on their own development
Products.
USER: storing the user's own profile, not the same as all the standard configuration files are stored in this directory, such as alarm settings for the service.
DH: used to store data associated with the NCK, NCK its file structure and file structure, have a piece subdirectories, the workpiece main program directory, a subdirectory subroutine, the standard fixed-cycle subdirectory, the user such as a fixed cycle of subdirectories. User alarm texts are generally the existence of the directory the following subdirectories inside MB.
These are the MMC103's file structure, in general, the user's own files are stored in the back of four directories inside, so MMC data backup is mainly a backup four directories and files.
Note: MMC earlier version of the user's own configuration files and system configuration files are stored in the system files directory.
· MMC103 alarm server configuration
MMC103 configuration are mostly. INI file for the suffix to achieve, such as knives library display, all kinds of operating mode password level required to operate, as well as alarm settings for the server, the following set up to alert the server to home shows the configuration file changes.
MMC is responsible for the display of alarm text, alarm text stored in MMC2 and DH the following subdirectories inside the MB, the file name format Alxx_xx.com, of which the first two XX said alarm contents of the text, followed by two XX said that the language of the text alert . For example ALP_UK.COM said yes PLC alarm text, language is English. And the relevant alarm display settings are stored in MBDDE.INI file.
Note: The user directory the following configuration files covering MMC2 directory configuration files. WINDOWS system configuration files of all the sum can not exceed 60KB.
6.611 series of drives and motors works
* 611 series AC variable speed drive is a device that by controlling the power supply, the frequency of AC motor to achieve speed control purposes. The main part is from a DC to AC into the rectifier and the DC into an AC variable frequency inverter component. Due to the different interface signals,
The characteristics of servo motor
Because of the motion control, CNC machine tools demanding, and requires a good dynamic characteristics, a large speed range and accurate position control precision, and therefore it requires a special servo motor drive systems generally use the Siemens synchronous servo motor, spindle is Precision induction motor, its principles and general principles of the same squirrel-cage motors, synchronous servo motor and induction motors The biggest difference is not the same as the structure of the rotor. synchronous motors have a staggered distribution of the rotor pole, and therefore require a corresponding test rotor position detection component, replacement of components when these tests also need to re-adjust, the following is commonly used in three kinds of motor Siemens distinction:
· 1FT5 and 1FT6/1FK6 difference between motor
Both the motor is basically the same principle, but not the same as the structure and detection devices, 1FT5 AC servo motor used in the system, while 1FT6 motors are used in the digital servo system.
Stator winding structure is different, 1FT6 motor stator winding structure allows the motor current is much closer to being the cosine waveforms
1FT5 motor tachometer generator is used to detect the speed of the motor with the sharing circle on the Hall element to detect the relative position of the rotor, and 1FT6 motor is used to detect a position encoder motor speed, the motor encoder in addition the conventional A, B, and R phase are cosine signals, there are two C phase and D phase is cosine signals to detect the rotor position.
1FK6 1FT6 motors, like principles, only a little difference in the mechanical structure, 1FK6 more 1FT6 economy.
l Note: The replacement of the motor encoder should pay attention to the encoder zero position, replace the encoder to ensure that when you replace the front and rear rotor is not moving when the encoder wheel on a shell on the signs on signs and the relative position of the same, if the This relative position has changed only through the oscilloscope to adjust. the location of the encoder does not affect the motor is running, such as not running smoothly, the current is too large, and even affect the motor life.
7. Servo motor and spindle motor of the difference between
Rotor structure is different, the spindle motor rotor and squirrel cage rotor motor, like the absence of magnetic poles, which does not require the corresponding rotor position detection signal, 1PH7 spindle motor encoder model ERN1381, 1FT6/1FK6 the motor encoder type To ERN1387, the main difference is that ERN1381 no additional C-phase and D believe that number, and therefore do not need to re-adjust the replacement of the encoder, ERN1387 can be used in 1PH motors, but in turn ERN1381 can not be used in the feed motor.
Spindle motor power of a great general, and thus the motor structure of cooling demand is higher.
Not the same scope of work, servo motor operates at the lowest speed and rated speed constant torque between the areas, while the spindle motor operates at rated speed and maximum speed constant power between the areas, because to achieve a great speed range of spindle the motor rated speed is generally very low
Common repair techniques
ERN1387 Encoder Replacement Method
1. Unloading open motor rear cover, rear cover encoder
2. Release encoder mounting screws
3. Rotating rotor shaft, so that the encoder rotor encoder on the signs and marks on the shell overlap
4. Remove encoder, attention to handling the time out to make use of a special screw top to avoid damage to the encoder
5. Rotation of new encoders, so that the two signs coincide encoder
6. According to the above reverse order to install the encoder
Note: In the process of installing the encoder, to ensure that the rotor different, otherwise they will lose the relative position of the rotor, if the loss of the relative position of the old motor will need to use the oscilloscope to adjust the installation position of the encoder, the new motor can be based on a sign of rotor shaft to adjust the encoder to determine the installation location, which can be mechanical adjustments, you can also adjust the drive parameters MD1016 to set an offset value, but the method can only be used in the 840D, through this method to adjust the motor change to other machine tool use may be due to the different driving parameters can not work properly.
* Zero adjustment
Adjustment steps are as follows: startup - → machine data - → Axis MD - → parameter adjustments: 34100 (axis coordinate value in the reference power) Amendment, if the change finished, now and in the original difference of 10mm, will be adjusted parameters 34100 to 10.
Can also 34090 (reference point offset) to modify: It is now zero difference with the original zero, the number.
* A simple power module detection method:
As the power module is the main parts of high-power tubes, with the following methods can be broadly detect power tube is good or bad:
Multimeter hit resistance profile, with a multimeter is the table T received a power module DC voltage input terminals P600, the land received a three-phase power tube power output U2, V2, W2, the time should be infinite resistance, exchange multimeter two tables T, the resistance should be rare. the multimeter pen received the M600 on a table, repeat the above process, the results should be, and above just the opposite.
Motor temperature alarm processing
Motor which is equipped with thermal resistance of the signal through the signal cable back to the driver control panel inside, when the temperature reaches alarm value, the system to produce alarm, end feedback can be detected when the corresponding resistance value, the alarm if you need to shield , the 611D can be in the driving parameters MD1608 (the control panel of the 611A is a parameter MD64) to set a value of less than 100, you can mask the alarm, the method can only be used in diagnosis.
611A spindle encoder alarm control unit shield
Driver control panel connected encoder can be monitored, if there is an exception, then generate a corresponding alarm, 611A spindle control panel can be the parameter MD P-90 bit 2 set a screen of the alarm.
611D-driven V / F control
Sometimes, in order diagnostic, drivers need to be open-loop frequency control, this method can only be used for diagnostic purposes, and the speed can not be set too high. MD1014 is a set driving parameters shall be open-loop frequency control
Driven optimization
CNC driven by the current loop, velocity loop and position loop composed of the optimization in general from the inside and outer layers of optimization, but because of current loop parameters of the motor and power module model is established with the factory default parameter, the general does not require optimization, it is optimization optimize the speed of the first ring, and then you can optimize the position loop.
Speed loop optimization, generally related to the speed loop gain and speed loop time constant, the speed loop time constant and gain the greater the lower the speed loop and more stable, but the accuracy and dynamic characteristics of the worse, in general, the speed loop time constant is located in 10ms, while the speed loop and speed loop gain adjustment in making the order is about to respond to a 20-40 overshoot.
Position loop optimization involves the position loop gain and acceleration, before adjustment can reduce the acceleration value, and further increase the value of position loop gain to ensure the system is stable, and then increase the acceleration at an appropriate value, and to adapt the mechanical properties of machine tools, pay attention to the same group of interpolation axis position loop gain to be consistent, otherwise it will affect the machining accuracy.
Axis shield deal
Sometimes the need for a single axis shield, concrete steps are as follows:
Parameters in the corresponding axis, the set MD13030 and MD13024 0
In the drive configuration menu, find the corresponding module, set to "no active" can be, when the shaft on the virtual axis, the corresponding module and the motor can be removed, if you want to restore to the above parameters The value can be back to the original.
Axis load processing: Sometimes because of the need for machine tools should be dismantled or loading of the shaft, such as rotary indexing head, this time to plug the encoder and motor power outlet, Ran do not want the operator to change the above parameters, this time to PARKING temporary set to the shaft axis, the specific method is also reset the axis DB3X.DBX1.5 and 1.6 can.
.. If your tool change is through subroutine calls. You can change the position of spindle orientation. SPOS =** (is that you transfer a good position. Either plus or minus. Either entered directly. According to the current value of SPOS to decide, SPOS There are some of these: SPOS = "AC" () SPOS = "ACP" () and other programming reference manual.
2. If it is executed by T * M6. You can view the parameters 10715 / 10716 subroutine parameter to see what Nago. And then change the subroutine also in SPOS =** (value). If you find inside a subroutine, The SPOS = 0. you can change the 34090 [1] or 34080 [1] to complete you want to change the angle.
Access to 1,071,510,716 parameters. You can STARTUP inside MACHINE DATA Lane GENERAL MD. Which can be found. Take a look at what is subroutine. On the inside subroutines or procedures set inside the user program. But it is best not to change. By changing the 34080 [1] or 34090 [1] to be completed.
After the completion of spindle orientation in general. You can manually transferred to the spindle tool changing position of the quasi-stop. And in DIAGNOSIS inside view inside SERVICE DISPLY spindle CURRENT MEASURING SYSTEM 2 look. Spindle position. And then be modified.
There. Change Machine factory according to the specific methods, the general set of values there are upper and lower limits. If - 0.5 degrees according to circumstances.
SM up to 8 modules
A maximum of four
Power supply module (PS) for the PLC and the NC to provide power supply 24V and 5V.
Interface Module (IM) is used for the interconnection between class.
Signal modules (SM) using the machine PLC input / output modules, there are two kinds of input type and output type.
二. Hardware Interface
840D System Interface
840D system, MMC, HHU, MCP through an MPI cable hanging in the NCU above, MPI is the Siemens PLC, a multi-point communication protocol, and therefore the agreement is open, but OPI is the 840D system for NC part of the components of a special The communication protocol is MPI, a special case, does not have open, than the traditional MPI communications faster, MPI communication speed is 187.5K baud rate, while the OPI is 1.5M.
In addition to an OPI port NCU above, there is a MPI, a Profibus interface, Profibus interface can access all of the equipment with a Profibus communications capabilities. Profibus communications cable and MPI cable, are both a dual-core shielded cable.
X101 control panel interface (OPI)
X102 PROFIBUS Interface
X112 aside Interface (NCU and NCU communication)
X111 SIMATIC Interface (IM361)
X122 PC MPI Interface (MPI)
X121 I / O interface (cable distribution box)
H1/H2 error and status lights
H3 7 segment display
S1/S2 Reset / NMI button
S3 NCK Start Switch
S4 PLC Switch Start
X130A SIMODRIVE 611D Interface
X130B digital module I / O expansion interface (only NCU573)
X172 Device Bus Interface
X173 PCMCIA slot (X173)
In MPI, OPI, and Profibus communications cable must be received at both ends of the terminal resistance, resistance is the 220 in Europe, all the good or bad if you want to test cable can be seen in NCU-side open socket cover, the amount of A, B between the two lines resistance, under normal circumstances should be 110 Europe.
二. 611 Series driver and interface composition of
1.611 series of drives into analog 611A, the number 611D and the common type 611U. Are the modular structure, mainly in the following modules:
? Power Module Power Supply Module is to provide the drive and numerical control system power, including the maintenance of normal work of the system weak and supply of 600V power module using DC voltage. According to DC voltage control mode, which in turn are divided into open-loop control, closed-loop control of UE modules and I / R module, UE module does not supply the feedback system, its normal for the DC voltage of about 570V, and when braking energy is large, voltage can be as high as more than 640 volts. I / R module voltage has remained at around 600V
? Control module control module to achieve the speed of the servo axes ring and closed-loop control of current loop
? Power module to the servo motor to provide variable frequency and voltage AC power supply
? Monitoring module is mainly weak supply capacity of the power module to add.
? Filter module for filtering the power role.
? Reactance voltage play a steady role.
2.611 Power Module Interface Signals
611 module interface signals are the following groups:
(1) Power Interface
U1 V1 W1 main control loop three-phase power input port
X181 Power Supply input port, use is often associated with the main power supply shorted, and some systems the power to make machines work properly after the driver is also available for some time, the terminal voltage of 600V and P500 M500 terminals shorted, such as 600V voltage not immediately discharge is completed, but also the maintenance of normal work-driven control panel for some time. P600M600 is a 600V DC voltage output terminal.
(2) Control Interface
64 control the enable input, the signal to all connected modules at the same time effective, the signal is removed, all the speed of the shaft for a given voltage is zero, axis with the greatest acceleration parking. After a certain time delay, cancel pulse enable 63-pulse enable input, the signal to all connected modules at the same time effective, the signal after the abolition of all the shaft power cancellation axis movement in the form of free parking.
48 main circuit relay, the signal off, the main control circuit power supply disconnect the main relay.
112 debug or standard mode, the signal tends to be used in transmission-line debugging in general, on the receiving system, 24V.
X121 module ready signal and the module overheating signal. No. ready signal and the module DIP switch settings on, when the S1.2 = ON, the module fails, ready to signal cancellation, and S1.2 = OFF, the module has failures and to make energy (63,64) signal cancellation, will be ready to cancel the signal, so when the replacement of the module to check the top of the module DIP switch settings, otherwise the module may not work correctly. All modules connected to motor overload and overheat alarm output will be triggered by overheating.
NS1/NS2 the main relay closure enabled, only the signal is high, the main power relay is possible too. Relay the signal used to decide in closed-chain conditions.
AS1/AS2 the main relay state, the main relay the signal to reflect the closed state, the main relay is closed when high.
9/19/R 9 is a 24V output voltage, 19 is a 24V ground, R alarm reset signal for the module.
(3) Other auxiliary interface
X351 device bus, for connecting the module behind the power to use.
X141-voltage detection terminal, used for diagnostic and other purposes.
7: P24, +24 V 45: P15, +15 V 44: N15,-15V
10: N24,-24V 15: M, 0V
Power supply module has six lights above, respectively, directed modules fault and working condition. Under normal circumstances, said green light enable signal loss (63 and 64), yellow light signals that the module is ready, when 600V DC voltage has reached the allowable value of the system work properly.
Power supply module to enable normal work conditions:
48,112,63,64 then high, NS1 and NS2 shorted, appears as a yellow light, other lights are not bright. DC bus voltage should be 600V or so.
3.611 drive control module interface signals
(1) 611D drive control module interface signals
611D CNC control module and the system is mainly through a data bus connected to the basic there is not much of interface signals.
X431: axis pulse enable, the signal is low, the shaft power to withdraw, generally the signal directly with the shorted 24V
X432: BERO terminal, the interface used for BERO switch signal input port.
X34, X35 analog output ports, including two analog port (X1, X2) as a diagnostic test module, which can be used to track the amount of some figures, such as speed, voltage and current, etc. and put it into a 0 to 5V analog voltage output, the specific output signal through the numerical control system selection, Ir analog output port is fixed and the output motor current in phase R analog value.
X411: Motor encoder interface, input the motor encoder signals, as well as the motor thermistor, in which the motor thermistor value is through the socket 13 and 25 pin input, the thermal resistance at room temperature under 580 Europe , 155 degrees, more than 1200 in Europe, then control panel off the power and generate electrical power machines overheating alarm. (1PH7 motor temperature detection signal connected to the same 1FT6/1FK6 motor)
X411: direct measurement of system input port, enter the direct position measurement signal, generally positive cosine voltage signals
* 611D control panel of the speed loop and current loop inside the parameters set in the NCK, so no need to replace the control panel to reset the parameters.
. 840D System Operation
SINUMERIK840D/810D or SINUMERIK FM-NC is the machine's CNC control systems, CNC control system through the control panel perform the following basic functions:
• Develop and modify the part program
* Implementation of the part program
* Manual control
* Read in / read out the part program and data
* Edit the program data
* Cancel alarm display and alarm
* Edit the machine data
In an MMC or MMC, or between a few or several NC 1 NC to establish communication links between the (M: N, m-MMC devices and n-NCK/PLC devices)
User interface include:
* Display components, such as monitoring devices, LED, etc.;
* Operating components, such as keys, switches, hand-lun. q
840D system with CNC machine tools with automatic, manual, programming, back to a reference point, manual data entry and other functions.
Manual: Manual is mainly used to adjust the machine tool, manual and step manual with continuous manual, and sometimes need to go to a certain length, you can choose the variable INC mode, enter the length of run can be.
Automatic: 840D procedure is generally where the implementation of NCK of RAM, so MMC103 or PCU50, it was necessary should first program loaded into the NCK years, but for a particularly long process, you can choose the hard disk where the implementation of specific operational method To: Select processing, the program outline, use the cursor to select the implementation of the program, select from the hard drive the implementation of both. in automatic mode, if the MMC with SINDNC software, you can also run programs from a network hard drive.
MDA: MDA with the almost automatic, except that it paragraph by paragraph, the procedures can be input, not necessarily a complete program that exists NCK inside a fixed buffer MDA, the MDA buffer can be stored in the program directory program, district can also be transferred from a procedural program to MDA buffer.
REPOS: re-positioning capabilities, and sometimes in the program run automatically when you need to stop and test the tool away parts, and then followed by the implementation of procedures, require re-positioning capabilities, methods of operation mode in the automatic suspension of program execution, go to the manual, remove the corresponding the shaft, to re-execute the program, go to the re-positioning mode, press the corresponding axial movement button to return to the program a breakpoint, press start button process to continue. Note that in this process can not press the reset button.
Program to simulate: 840D to support the program before running a formal graphical simulation program in order to reduce the failure rate, but because of the different MMC systems, simulation of the method is not, as in MMC103, the program to simulate entirely on the implementation of the MMC, so the simulation does not NCK will have an impact, but in MMC100.2 on the program to simulate the NCK inside the implementation, and procedures for the practical implementation of the case, so be sure to simulate the selection process before the tests, but also to improve simulation speed, you can also choose to run empty.
二. System connection and commissioning
(A) the hardware connection
SINUMERIK810D/840D the system's hardware to connect in two ways:]
First, according to their interface requirements, first CNC and drive unit, MMC, PLC of three parts are connected to the right:
Source Module X161 kinds of 9,112,48 connection; drive the bus and device bus; the far right terminal resistor module (CNC and drive unit).
(2) MMC and the MCP polarity of the 24V power supply should be careful (MMC).
(3) PLC Module attention to the power line connection; bearing in mind the SM connection.
Second, the hardware of the three parts are interconnected, the connection should pay attention to:
PI, and OPI bus wiring must be correct.
CU or NCU and S7 of the IM module connection.
2. Check
In the correct completion of all mechanical and electrical installation work can be carried out electricity and commissioning work; while the first thing to do is to start the preparatory work, it can ensure that the control system and its components to start normally, and to meet the EMC test conditions
Full system connection is completed the necessary examination needs to be done, as follows:
* Shield: (1) to ensure that the cables used in line with Siemens to provide the wiring diagram of the requirements;
(2) to ensure that the signal-point field shielding at both ends connected with the rack or chassis.
For external devices (such as printers, programmers, etc.), the standard single-ended shielded cable can also be used. But once the control system for normal operation, it should not answer any of these external devices is appropriate; if we must access at both ends of the connecting cable should be shielded.
· EMC (Electromagnetic Compatibility) test conditions:
The signal line and power lines as far as possible separated from a bit further;
Departure from the NC or the PLC to the NC or the PLC may live cables should be used to provide cable SIEMENS;
Signal lines should not be too close to the external strong electromagnetic fields (such as point machines and transformers);
HC / HV pulse circuit cables must be completely separated from all other cable laying;
If the signal line can not be separated from other cables, it should take the shield threading pipe (metal);
The following distance should be as small as possible:
- The signal line and signal line
- Signal line side pre-supplementary equipotential
- And other potential clients and PE (come together)
* Protection ESD (Electromaqnetic Sensitive Device) components test conditions:
Dealing with a static module, should ensure that its normal grounding;
Such as avoiding electronic modules can not take office, then please do not touch the module components, pins or other conductive parts;
Touch the components must ensure that the human body through the electrostatic discharge device (wrist strap, or shoes) and the earth connection;
Module should be designed to conductive surface on the north (put-static packaging materials such as conductive rubber, etc.);
Modules should not be close to the VDU, monitor or TV (Away from the screen, and 10cm);
Modules Do not rechargeable electrical insulation material contact (such as plastics and fabrics);
A prerequisite for measuring
- Measuring equipment grounding
- Insulation instrument measuring the first pre-let electrical
Coordinates
1. Workpiece Coordinate System
Workpiece zero is the original origin of workpiece coordinate system
Cartesian coordinates: The coordinates of the point reached to determine the coordinates of the point
Polar coordinates: The radius and angle to measure the workpiece or part of the workpiece
2. Absolute coordinates: All positional parameters associated with the current effective starting point that will be accessible location tool
Incremental Coordinates: If the size is not the key to the origin, but relative to the other points on the workpiece, it is necessary to use an incremental coordinates. The incremental coordinates to determine the size and dimensions of these conversions can be avoided. Incremental coordinates refer to the previous power position data for the tool movement is used to describe the tool moving distance
3. Plane: The two axes to determine a plane, the first three axis perpendicular to that plane and determine the direction of the tool cross-section. Programming, to determine the processing surface in order to facilitate control system can accurately calculate the tool offset value.
Identify the direction of plane cross-section
G17 X / Y Z
G18 Z / X Y
G19 Y / Z X
4. Zero position
In the NC machine tool can determine the origin and reference point for the different position of these reference points:
* For the machine tool positioning
• The size of the workpiece program
They are:
M = Machine 12:00
A = chuck 12:00, age spots coincide with the workpiece (value for lathes)
W = Workpiece 12:00 12:00 = Program
B = starting point, you can give each program to determine the starting point, the starting point is the first tool a starting place for processing
R = reference point, with the cam and measurement systems to determine the location, you must first know the distance to the machine zero, so as to accurately set the axis position:
Establish coordinate system R
1. Of machine tools with machine zero M coordinates X B
2. Base coordinate system (also can make the workpiece coordinate system W)
3. The workpiece with the workpiece coordinate system W 12:00
4. Band is currently one know how to zero Wa of the workpiece
The current workpiece coordinate system M A W Z
The establishment of axes
When programming is usually used in the following axes:
Machine shaft: You can set the data in the machine tool axis identifier, identifier: X1, Y1, Z1, A1, B1, C1, U1, V1, AX1, AX2, etc.;
Channel axis: all in a mobile channel axis identifier: X, Y, Z, A, B, C, U, V
Geometric axis: major axis, generally have X, Y, Z;
A specific axis: no need to determine the geometric relationship between a particular axis, such as the turret position of U, Tailstock V;
The path axis: determine the path and tool movement, the path is programmed feed rate and effective, in the NC program using FGROUP to determine the path axis;
Synchronization axis: mean from the programming point of origin to destination mobile synchronization axis;
Positioning axis: Typical positioning shaft from the parts carrying, unloading the loader, knives library / turret, etc. identifier: POS, POSA, POSP, etc.
Directive axis (axis synchronized movement): the instruction is generated by the synchronized movement directive axis, they can be positioned to start and stop can be completely synchronized with the workpiece program. Axis is an independent interpolation instruction, each instruction has its own shaft axis interpolation and feed rate
Connecting shaft: NCU box refers to the connection with another real axis, their position will be subject to the control of the NCU, the connection shaft can be dynamically assigned to different channels of NCU
PLC-axis: The specific features of the PLC with the PLC axes to move, their movements with all the other all of the axes are not synchronized, moving the movement arises from the path and synchronized campaigns are nothing to do;
* Geometric axes, synchronization and positioning axes are the axes can be programmed.
* According to the movement commands are programmed with a feed rate of F, so that shaft produces movement.
* Synchronizing shaft axis synchronized movement with the path and use the same move all the time path of axes.
* Positioning axis movement and all other axes asynchronous, these mobile campaigns has nothing to do with the path and synchronized movement.
* PLC by the PLC control shaft, and produce all the other axes are not synchronized with the movement of mobile movement has nothing to do with the path and synchronized campaigns
Programming Language
* Programming address and the meaning of
Address the meaning of
Program numbered addresses N
10 program segment number
G Preparatory Function
X, Y, Z position data interpolation parameters
F Feed
S spindle speed
T Tool number
D Tool offset number
M Miscellaneous Functions
H Accessibility
* Data Type
Type of meaning range of values
INT unsigned integer ± (231-1)
REAL real numbers (with decimal points) ± (10-300 ... 100 300)
BOOL code is determined by a ASSCII characters 0 ... 255
STRING string, in [...] in the string sequence of values 0 ... 255
Up to 200 characters
AXIS Axis name (axis address) channel on the name of an arbitrary axis
FRAME translation, rotation, scale and image of the geometrical parameters
* Directive:
1. G command
· G90: origin of reference coordinate system retaining wall, in the workpiece coordinate system in the preparation of tools to run point program.
G91: near the point of reference date, the preparation of tools to run from the program.
GO: fast-moving so fast tool positioning, movement around the workpiece near the tool change point, or
G1: Tool along with the shaft, slash or any other space orientation parallel to the line of mobile home.
G2: the arc in a clockwise direction on a track to run
G3: anti-clockwise on the circular track to run
G4: pause time effect (F ... in seconds; S ... used to determine the number of spindle rotation time)
G17: No tool radius compensation
G18: Cutter Radius Compensation to the contours of the left side
G19: Cutter Radius Compensation to the contours of the right side of
G40: lift the tool radius compensation
G41: active tool radius compensation, tool machining direction along the contour to run to the right side of
G42: active tool radius compensation, tool machining direction along the contour to run to the left of
G53: Non-modal access, including the programmed bias
G54 ... G57: Call No. 1 to No. 4 can be set to zero bias
G94: linear feed rate in mm / min, inches / min
G95: rotating feed rate mm / turn, inch / turn
2. M command
M0: Programming Stop
M1: choose to stop
M2: main program entry procedure at the beginning of the end of
M30: end of the process
M17: Subroutine end
M3: active spindle clockwise rotation
M4: Active spindle counterclockwise rotation
M5: Active Spindle Stop
M6: ATC instructions
3. Other
F: Feed Rate
S: active spindle speed (unit: rev / min)
T: Call Tool
D: Tool offset number (range: 1 ... 32000)
If it is grating back to zero, please refer to the following the following methods:
If your foot is the grating with a distance of coded reference point of grating ruler, then mark (usually behind the Heidenhain grating ruler marked with C have this function), return a reference point do not need to switch back to zero, the parameter set as follows:
1,34200 = 3 using the type of optical grating
2,34300 [1] = 20mm linear grating-foot grid spacing mark a reference point (LS486C to 20mm)
3,34060 [1] = 40 return to reference point distance = 2 times the largest mobile linear grating-foot grid spacing of the reference point mark
4,34000 = 0 do not use feed cam shaft to return a reference point, that is, without a reference point return deceleration switch signal (DB31.DBX12.7)
5,34090 = XXX to return a reference point offset value
6,34310 [1] = 0.020 signal optical grating pitch (LS486C to 0.020mm)
Hardware Configuration
Hardware configuration: tell the PLC hardware structure of the process of
Baud Rate: MPI 187.5kbps
OPI 1.5Mbps
Process: to build the project - → Jianzhan - → Configuration Hardware
? Auto Configuration: The Cable Construction PLC and 840D connected to an automatic configuration automatic identification (upload station) will be transmitted PLC computer:
PLC-→ UPLOAD-→ select MPI Address = 2, if the Address = 3, will include the PLC and the NCU
If the backup PLC, then the process is:
New Project-→ plc-→ upload station, so the hardware will be backed up.
End station building, there even folders: hardware and cpu.CPU folder under the S7 program.
S7 program there are three directories:
(1) symbols such as I40.1 symbol table for the first 40 bytes of the first one
(2) BLOCKS function block
? Manual Configuration:
Process: Open the S7-→ New File - → INSERT-→ STATION-→ SIMATIC 300 - → double-HARDWARE-→ appear Box - → INSERT-→ HARDWARE COMPONENT-→ PROFILE-→ STANDARD-→ S300-→ RACK300
Select the appropriate position (to be set bits in the table), then the corresponding module on the right side double-click on modules will be chosen, selected and then download the
Programming
PLC programming course, the can use the following three forms:
Ladder Logic (LAD):
Statement List (STL):
Function Block Diagram (FBD):
Statement List programming instructions commonly used:
And instruction: A normally open AN NC
Or to order: O Normally open ON NC
Output instructions: =
Call instruction: CALL FCXX
FP: rising edge detection instruction
FN: falling edge detection instruction
After the FP must register with the middle of
CLR operation results, Clear
SET set a
S Set 1
R Clear
Block
? STEP7 There are several commonly used BLOCK Main: OB tissue mass, FC function blocks, FB function blocks, DB data blocks, etc.
OB: function blocks, equivalent to the main program, often are OB1 and OB100;
FC, FB: Function Block, which is equivalent subroutine
Subroutine in the compilation finished, you must call the subroutine in the main program in the PLC after power-OB100 is the first execution, is executed only once; OB1 is the PLC CPU cycles implementation process. After the first implementation of the power-OB100, and then the implementation of OB1 (repeated implementation; OB100 call FB1 (Siemens compiled good)
FB1 is the system bus connection PCU with OPI and MCP, the control panel Definition:
(1) control panel starting address of the input address
(2) the number of control panel
(3) The control panel's output addresses starting address
Control Panel MPI Address: MCPIBUSADR = 6
? OB1 block
FC2: Basic NCK and PLC communications NCK ← → PLC
FC2 must be OB1 the beginning of FC2 ---- "gp_hp"
FC10: dealing with alarm information FC10 ---- "AL-MSG"
PLC generated alarm, passed NCK, NC to take measures, while MMC displays alarm text called FC10, there are two parameters must be set
TouserIF = TRUE (equivalent to 1) and FALSE (equivalent to 0)
Quit: = I3.7 (warning text). Alarm Reset button (RESET) addresses I3.7
FC19: Machine control panel main program FC19 ---- "MCP-IFM"
BAGNO (mode group number) = B # 16 # 1 (B - B hex 16-16 hex)
CHANNO (channel number) = B # 16 # 1
SPINDLEIFNO: = B # 16 # 4 (spindle number)
FEEDHOLD = M100.0 (feed suspended)
SPINDLEHOLD = M100.1 (spindle stop)
? DB block
1. DB module types are:
DBB - Data Module Type
DBW - block word (16 bit)
DBD - block double word (32 bit)
2. Data Type:
DOUBLE: real or integer number, input range ± 4.19 × 10-307 ----± 1.67 × 10308
DWORD: integer number, ranging from -2.147 × 109 ---- 2.147 × 109
BOOLEAN: 0 be a
BYTE: integer, range digital -128 ---- 127
STRING: a maximum of 16-bit string
3. Common data block feature
DB2: alarm interface signals. The signal from the PLC to the NCK, in the PLC set the corresponding bit in the MMC will be able to generate a corresponding alarm number (seven at the beginning of the alarm is set by machine field assumption)
DB10: Show NCU state, used to exchange NCK fast I / O interface to the state, there are a number of the state of the signal NCK
DB11: mode group signal interface
DB19: Operation panel signal interface
DB21-DB30: channel signal interface
DB31-DB61: shaft / spindle interface signals
4. Debugging a common data block mainly by:
DBX6.0: feed to be able to prohibit
DBX6.1: read to be able to prohibit
DBX7.0: Start to be able to prohibit PLC → NC
DBX7.7: Channel reset
DBX194.0 --- DBX206.3 NC → PLC
DBX1.5: entry into force of a measurement system
DBX1.6: force measurement system 2
DBX2.1: Control enabled
DBX21.7: Pulse enable (if not, compared to the free end)
DBX4.3: Axis Stop PLC → NC
DBX12.0: the hard-axis negative limit
DBX12.1: the hard-axis positive limit
DBX12.7: back to zero deceleration
DBX61.7: current loop effective
DBX61.6: speed loop effective
DBX61.5: Position Loop Effective
DBX61.4: axial static
DBX83.5: spindle speed setting within the framework of
SIEMENS PLC system Siemens SIMATIC MAGAGER used for PLC programming to carry out state control machine tool components, it mainly consists of power supply module, CPU module, input and output module, its interface with, RS232 excuse, PROFIBUS excuse , MPI cable interfaces. Through the X122, MPI jack, so that the computer with the NCU connected PLC.
Hardware Configuration
Hardware configuration: tell the PLC hardware structure of the process of
Baud Rate: MPI 187.5kbps
OPI 1.5Mbps
Process: to build the project - → Jianzhan - → Configuration Hardware
* Auto-configuration: The construction of PLC and 840D cable connected to an automatic configuration of automatic identification (upload station) will be transmitted PLC computer:
PLC-→ UPLOAD-→ select MPI Address = 2, if the Address = 3, will include the PLC and the NCU
If the backup PLC, then the process is:
New Project-→ plc-→ upload station, so the hardware will be backed up.
End station building, there even folders: hardware and cpu.CPU folder under the S7 program.
S7 program there are three directories:
(1) symbols such as I40.1 symbol table for the first 40 bytes of the first one
BLOCKS function block
* Manual configuration:
Process: Open the S7-→ New File - → INSERT-→ STATION-→ SIMATIC 300 - → double-HARDWARE-→ appear Box - → INSERT-→ HARDWARE COMPONENT-→ PROFILE-→ STANDARD-→ S300-→ RACK300
Select the appropriate position (to be set bits in the table), then the corresponding module on the right side double-click on modules will be chosen, selected and then download the
Programming
PLC programming course, the can use the following three forms:
Ladder Logic (LAD):
Statement List (STL):
Function Block Diagram (FBD):
Statement List programming instructions commonly used:
And instruction: A normally open AN NC
Or to order: O Normally open ON NC
Output instructions: =
Call instruction: CALL FCXX
FP: rising edge detection instruction
FN: falling edge detection instruction
After the FP must register with the middle of
CLR operation results, Clear
SET set a
S Set 1
R Clear
Block
BLOCK main · STEP7 There are several commonly used: OB tissue mass, FC function blocks, FB function blocks, DB data blocks, etc.
OB: function blocks, equivalent to the main program, often are OB1 and OB100;
FC, FB: Function Block, which is equivalent subroutine
Subroutine in the compilation finished, you must call the subroutine in the main program
OB100 is a PLC after power-first execution, is executed only once; OB1 is the PLC CPU cycles implementation process. After the first implementation of the power-OB100, and then the implementation of OB1 (repeated implementation; OB100 call FB1 (Siemens compiled good)
FB1 is the system bus connection PCU with OPI and MCP, the control panel Definition:
(1) control panel starting address of the input address
(2) the number of control panel
(3) The control panel's output addresses starting address
Control Panel MPI Address: MCPIBUSADR = 6
· OB1 block
FC2: Basic NCK and PLC communications NCK ← → PLC
FC2 must be OB1 the beginning of FC2 ---- "gp_hp"
FC10: dealing with alarm information FC10 ---- "AL-MSG"
PLC generated alarm, passed NCK, NC to take measures, while MMC displays alarm text
Call FC10, there are two parameters must be set
TouserIF = TRUE (equivalent to 1) and FALSE (equivalent to 0)
Quit: = I3.7 (warning text). Alarm Reset button (RESET) addresses I3.7
FC19: Machine control panel main program FC19 ---- "MCP-IFM"
BAGNO (mode group number) = B # 16 # 1 (B - B hex 16-16 hex)
CHANNO (channel number) = B # 16 # 1
SPINDLEIFNO: = B # 16 # 4 (spindle number)
FEEDHOLD = M100.0 (feed suspended)
SPINDLEHOLD = M100.1 (spindle stop)
· DB block
1. DB module types are:
DBB - Data Module Type
DBW - block word (16 bit)
DBD - block double word (32 bit)
2. Data Type:
DOUBLE: real or integer number, input range ± 4.19 × 10-307 ----± 1.67 × 10308
DWORD: integer number, ranging from -2.147 × 109 ---- 2.147 × 109
BOOLEAN: 0 be a
BYTE: integer, range digital -128 ---- 127
STRING: a maximum of 16-bit string
3. Common data block feature
DB2: alarm interface signals. The signal from the PLC to the NCK, in the PLC set the corresponding bit in the MMC will be able to generate a corresponding alarm number (seven at the beginning of the alarm is set by machine field assumption)
DB10: Show NCU state, used to exchange NCK fast I / O interface to the state, there are a number of the state of the signal NCK
DB11: mode group signal interface
DB19: Operation panel signal interface
DB21-DB30: channel signal interface
DB31-DB61: shaft / spindle interface signals
4. Debugging a common data block mainly by:
DBX6.0: feed to be able to prohibit
DBX6.1: read to be able to prohibit
DBX7.0: Start to be able to prohibit PLC → NC
DBX7.7: Channel reset
DBX194.0 --- DBX206.3 NC → PLC
DBX1.5: entry into force of a measurement system
DBX1.6: force measurement system 2
DBX2.1: Control enabled
DBX21.7: Pulse enable (if not, compared to the free end)
DBX4.3: Axis Stop PLC → NC
DBX12.0: the hard-axis negative limit
DBX12.1: the hard-axis positive limit
DBX12.7: back to zero deceleration
DBX61.7: current loop effective
DBX61.6: speed loop effective
DBX61.5: Position Loop Effective
DBX61.4: axial static
DBX83.5: spindle speed setting within the framework of
Common Maintenance Failure Analysis
1. Machine operating mode and channel of choice:
As the NCK function continuously strengthened, a NCK can complete multiple systems to complete the original work, which can have multiple channels, a channel rather with an independent NC, 840D can have up to 10 channels, each channel has its own zero over the set, tool compensation and R parameters, but the program area is shared, each channel has its own working methods, if the work of several channels have been the same, then this constitutes a method group. the 840D on the , mode is way switch to select, access is key to W1 ... n to choose.
2. Tools and zero-bias
Because different tools have different geometric shapes and geometry, while the program is subject to the workpiece size and therefore require compensation tool, each with its own knife, there is a corresponding geometric shape of the tool types, such as drills, milling cutters. Each of the knife can have more than a knife fill size to D, to mark the
Like with the tool, processing of different parts require different zero, so there is zero bias, in the 840D using G54 to G57 to select, if necessary, the number of zero-bias can also be used to expand the machine parameters.
3.840D system maintenance
* Maintenance of liquid crystal displays
LCD display life of 30,000 hours. While the backlight tube life is time 10000 - 20,000 hours.
Replacement backlight tube methods: a. Open the protective cover b. monitor the installation of loose screws, disconnect the power supply and display backlight control signal cable, remove the display c. replace the backlight tube d. above steps to install the opposite
* Replacement of the battery
A total of 840 system, two batteries, one in MMC above, the main information to save CMOS, and its lifetime is at least ten years, it is generally no need to replace. NCU BOX also a battery inside, and fans together, it's life generally three years or so, to save the NCK inside the programs and data, because of the protection of capacitor charging, you can replace the battery after the NCK full power, but time can not be more than 15 minutes
This is the same as two battery models. Model: 6FC5247-0AA18-0AA0
(Note: the replacement battery it is best to make a few NCK and the PLC, data backup, Siemens 840C battery in the CSB board, must be the case of electricity in the system to replace!)
4.840D system data backup
840D system data are many, including NCK data, PLC data and MMC data, which NCK and PLC data is by the battery to maintain, and it directly affects the loss of the normal operation of NC, while the data is stored in the MMC MMC hard disk (MMC103), or Flash EPROM inside (MMC100.2), which under normal circumstances, the loss of NC data only affect the display and input.
System data backup methods are the following three
(1) backup to MMC's hard disk (only MMC103 adaptation), it is recommended best MMC, NCK and the PLC's data separately for backup, the file name is best to use the system default file name plus the date.
(2) backup to a floppy disk or through the RS232 port on the backup to an external computer.
(3) back to the NCK above the PCMCIA card, the card is an NC system, installed programs 8M of Flash EPROM card. It is about 5M or so of space can be used to store backup data. This feature is only in the MMC software version 5.0 and above to be used. Such data without a hard drive backup methods particularly suitable for the MMC100.2.
5. MMC103 file structure
· MMC103's hardware is actually a band MPI (OPI) interface PC. Software is running on the WINDOWS operating system on a man-machine interface software. As the MMC version of the software not the same as its operation, the operating system are not the same, there are early WIN32, the mid-WIN95 and now WINNT, to run in WIN95 environment MMC Ver5.3 example shows the file structure MMC.
· MMC103 hard disk is divided into two partitions, C: drive and D: drive, where D is mainly used to store the hard disk drive and partition number of backup files, including several versions of the system brought about by MMC system backup, but also used to install software to use as a temporary storage area. C drive is mainly stored WINDOWS operation of the system files, MMC's system files, machine tool manufacturers developed a number of add-on software and user programs and data.
· C drive under the directory structure:
C drive has the following directories under the main
MMC2: Siemens, is mainly used to store system files, Siemens there are also some standard configuration files in this directory, the directory the file is best not to modify the. Windows storage running Windows system files and other documents under Windows environment,
Add_on: Siemens add-on products, such as remote diagnostics. OEM used to store tools on their own development
Products.
USER: storing the user's own profile, not the same as all the standard configuration files are stored in this directory, such as alarm settings for the service.
DH: used to store data associated with the NCK, NCK its file structure and file structure, have a piece subdirectories, the workpiece main program directory, a subdirectory subroutine, the standard fixed-cycle subdirectory, the user such as a fixed cycle of subdirectories. User alarm texts are generally the existence of the directory the following subdirectories inside MB.
These are the MMC103's file structure, in general, the user's own files are stored in the back of four directories inside, so MMC data backup is mainly a backup four directories and files.
Note: MMC earlier version of the user's own configuration files and system configuration files are stored in the system files directory.
· MMC103 alarm server configuration
MMC103 configuration are mostly. INI file for the suffix to achieve, such as knives library display, all kinds of operating mode password level required to operate, as well as alarm settings for the server, the following set up to alert the server to home shows the configuration file changes.
MMC is responsible for the display of alarm text, alarm text stored in MMC2 and DH the following subdirectories inside the MB, the file name format Alxx_xx.com, of which the first two XX said alarm contents of the text, followed by two XX said that the language of the text alert . For example ALP_UK.COM said yes PLC alarm text, language is English. And the relevant alarm display settings are stored in MBDDE.INI file.
Note: The user directory the following configuration files covering MMC2 directory configuration files. WINDOWS system configuration files of all the sum can not exceed 60KB.
6.611 series of drives and motors works
* 611 series AC variable speed drive is a device that by controlling the power supply, the frequency of AC motor to achieve speed control purposes. The main part is from a DC to AC into the rectifier and the DC into an AC variable frequency inverter component. Due to the different interface signals,
The characteristics of servo motor
Because of the motion control, CNC machine tools demanding, and requires a good dynamic characteristics, a large speed range and accurate position control precision, and therefore it requires a special servo motor drive systems generally use the Siemens synchronous servo motor, spindle is Precision induction motor, its principles and general principles of the same squirrel-cage motors, synchronous servo motor and induction motors The biggest difference is not the same as the structure of the rotor. synchronous motors have a staggered distribution of the rotor pole, and therefore require a corresponding test rotor position detection component, replacement of components when these tests also need to re-adjust, the following is commonly used in three kinds of motor Siemens distinction:
· 1FT5 and 1FT6/1FK6 difference between motor
Both the motor is basically the same principle, but not the same as the structure and detection devices, 1FT5 AC servo motor used in the system, while 1FT6 motors are used in the digital servo system.
Stator winding structure is different, 1FT6 motor stator winding structure allows the motor current is much closer to being the cosine waveforms
1FT5 motor tachometer generator is used to detect the speed of the motor with the sharing circle on the Hall element to detect the relative position of the rotor, and 1FT6 motor is used to detect a position encoder motor speed, the motor encoder in addition the conventional A, B, and R phase are cosine signals, there are two C phase and D phase is cosine signals to detect the rotor position.
1FK6 1FT6 motors, like principles, only a little difference in the mechanical structure, 1FK6 more 1FT6 economy.
l Note: The replacement of the motor encoder should pay attention to the encoder zero position, replace the encoder to ensure that when you replace the front and rear rotor is not moving when the encoder wheel on a shell on the signs on signs and the relative position of the same, if the This relative position has changed only through the oscilloscope to adjust. the location of the encoder does not affect the motor is running, such as not running smoothly, the current is too large, and even affect the motor life.
7. Servo motor and spindle motor of the difference between
Rotor structure is different, the spindle motor rotor and squirrel cage rotor motor, like the absence of magnetic poles, which does not require the corresponding rotor position detection signal, 1PH7 spindle motor encoder model ERN1381, 1FT6/1FK6 the motor encoder type To ERN1387, the main difference is that ERN1381 no additional C-phase and D believe that number, and therefore do not need to re-adjust the replacement of the encoder, ERN1387 can be used in 1PH motors, but in turn ERN1381 can not be used in the feed motor.
Spindle motor power of a great general, and thus the motor structure of cooling demand is higher.
Not the same scope of work, servo motor operates at the lowest speed and rated speed constant torque between the areas, while the spindle motor operates at rated speed and maximum speed constant power between the areas, because to achieve a great speed range of spindle the motor rated speed is generally very low
Common repair techniques
ERN1387 Encoder Replacement Method
1. Unloading open motor rear cover, rear cover encoder
2. Release encoder mounting screws
3. Rotating rotor shaft, so that the encoder rotor encoder on the signs and marks on the shell overlap
4. Remove encoder, attention to handling the time out to make use of a special screw top to avoid damage to the encoder
5. Rotation of new encoders, so that the two signs coincide encoder
6. According to the above reverse order to install the encoder
Note: In the process of installing the encoder, to ensure that the rotor different, otherwise they will lose the relative position of the rotor, if the loss of the relative position of the old motor will need to use the oscilloscope to adjust the installation position of the encoder, the new motor can be based on a sign of rotor shaft to adjust the encoder to determine the installation location, which can be mechanical adjustments, you can also adjust the drive parameters MD1016 to set an offset value, but the method can only be used in the 840D, through this method to adjust the motor change to other machine tool use may be due to the different driving parameters can not work properly.
* Zero adjustment
Adjustment steps are as follows: startup - → machine data - → Axis MD - → parameter adjustments: 34100 (axis coordinate value in the reference power) Amendment, if the change finished, now and in the original difference of 10mm, will be adjusted parameters 34100 to 10.
Can also 34090 (reference point offset) to modify: It is now zero difference with the original zero, the number.
* A simple power module detection method:
As the power module is the main parts of high-power tubes, with the following methods can be broadly detect power tube is good or bad:
Multimeter hit resistance profile, with a multimeter is the table T received a power module DC voltage input terminals P600, the land received a three-phase power tube power output U2, V2, W2, the time should be infinite resistance, exchange multimeter two tables T, the resistance should be rare. the multimeter pen received the M600 on a table, repeat the above process, the results should be, and above just the opposite.
Motor temperature alarm processing
Motor which is equipped with thermal resistance of the signal through the signal cable back to the driver control panel inside, when the temperature reaches alarm value, the system to produce alarm, end feedback can be detected when the corresponding resistance value, the alarm if you need to shield , the 611D can be in the driving parameters MD1608 (the control panel of the 611A is a parameter MD64) to set a value of less than 100, you can mask the alarm, the method can only be used in diagnosis.
611A spindle encoder alarm control unit shield
Driver control panel connected encoder can be monitored, if there is an exception, then generate a corresponding alarm, 611A spindle control panel can be the parameter MD P-90 bit 2 set a screen of the alarm.
611D-driven V / F control
Sometimes, in order diagnostic, drivers need to be open-loop frequency control, this method can only be used for diagnostic purposes, and the speed can not be set too high. MD1014 is a set driving parameters shall be open-loop frequency control
Driven optimization
CNC driven by the current loop, velocity loop and position loop composed of the optimization in general from the inside and outer layers of optimization, but because of current loop parameters of the motor and power module model is established with the factory default parameter, the general does not require optimization, it is optimization optimize the speed of the first ring, and then you can optimize the position loop.
Speed loop optimization, generally related to the speed loop gain and speed loop time constant, the speed loop time constant and gain the greater the lower the speed loop and more stable, but the accuracy and dynamic characteristics of the worse, in general, the speed loop time constant is located in 10ms, while the speed loop and speed loop gain adjustment in making the order is about to respond to a 20-40 overshoot.
Position loop optimization involves the position loop gain and acceleration, before adjustment can reduce the acceleration value, and further increase the value of position loop gain to ensure the system is stable, and then increase the acceleration at an appropriate value, and to adapt the mechanical properties of machine tools, pay attention to the same group of interpolation axis position loop gain to be consistent, otherwise it will affect the machining accuracy.
Axis shield deal
Sometimes the need for a single axis shield, concrete steps are as follows:
Parameters in the corresponding axis, the set MD13030 and MD13024 0
In the drive configuration menu, find the corresponding module, set to "no active" can be, when the shaft on the virtual axis, the corresponding module and the motor can be removed, if you want to restore to the above parameters The value can be back to the original.
Axis load processing: Sometimes because of the need for machine tools should be dismantled or loading of the shaft, such as rotary indexing head, this time to plug the encoder and motor power outlet, Ran do not want the operator to change the above parameters, this time to PARKING temporary set to the shaft axis, the specific method is also reset the axis DB3X.DBX1.5 and 1.6 can.
.. If your tool change is through subroutine calls. You can change the position of spindle orientation. SPOS =** (is that you transfer a good position. Either plus or minus. Either entered directly. According to the current value of SPOS to decide, SPOS There are some of these: SPOS = "AC" () SPOS = "ACP" () and other programming reference manual.
2. If it is executed by T * M6. You can view the parameters 10715 / 10716 subroutine parameter to see what Nago. And then change the subroutine also in SPOS =** (value). If you find inside a subroutine, The SPOS = 0. you can change the 34090 [1] or 34080 [1] to complete you want to change the angle.
Access to 1,071,510,716 parameters. You can STARTUP inside MACHINE DATA Lane GENERAL MD. Which can be found. Take a look at what is subroutine. On the inside subroutines or procedures set inside the user program. But it is best not to change. By changing the 34080 [1] or 34090 [1] to be completed.
After the completion of spindle orientation in general. You can manually transferred to the spindle tool changing position of the quasi-stop. And in DIAGNOSIS inside view inside SERVICE DISPLY spindle CURRENT MEASURING SYSTEM 2 look. Spindle position. And then be modified.
There. Change Machine factory according to the specific methods, the general set of values there are upper and lower limits. If - 0.5 degrees according to circumstances.
SM up to 8 modules
A maximum of four
Power supply module (PS) for the PLC and the NC to provide power supply 24V and 5V.
Interface Module (IM) is used for the interconnection between class.
Signal modules (SM) using the machine PLC input / output modules, there are two kinds of input type and output type.
二. Hardware Interface
840D System Interface
840D system, MMC, HHU, MCP through an MPI cable hanging in the NCU above, MPI is the Siemens PLC, a multi-point communication protocol, and therefore the agreement is open, but OPI is the 840D system for NC part of the components of a special The communication protocol is MPI, a special case, does not have open, than the traditional MPI communications faster, MPI communication speed is 187.5K baud rate, while the OPI is 1.5M.
In addition to an OPI port NCU above, there is a MPI, a Profibus interface, Profibus interface can access all of the equipment with a Profibus communications capabilities. Profibus communications cable and MPI cable, are both a dual-core shielded cable.
X101 control panel interface (OPI)
X102 PROFIBUS Interface
X112 aside Interface (NCU and NCU communication)
X111 SIMATIC Interface (IM361)
X122 PC MPI Interface (MPI)
X121 I / O interface (cable distribution box)
H1/H2 error and status lights
H3 7 segment display
S1/S2 Reset / NMI button
S3 NCK Start Switch
S4 PLC Switch Start
X130A SIMODRIVE 611D Interface
X130B digital module I / O expansion interface (only NCU573)
X172 Device Bus Interface
X173 PCMCIA slot (X173)
In MPI, OPI, and Profibus communications cable must be received at both ends of the terminal resistance, resistance is the 220 in Europe, all the good or bad if you want to test cable can be seen in NCU-side open socket cover, the amount of A, B between the two lines resistance, under normal circumstances should be 110 Europe.
二. 611 Series driver and interface composition of
1.611 series of drives into analog 611A, the number 611D and the common type 611U. Are the modular structure, mainly in the following modules:
? Power Module Power Supply Module is to provide the drive and numerical control system power, including the maintenance of normal work of the system weak and supply of 600V power module using DC voltage. According to DC voltage control mode, which in turn are divided into open-loop control, closed-loop control of UE modules and I / R module, UE module does not supply the feedback system, its normal for the DC voltage of about 570V, and when braking energy is large, voltage can be as high as more than 640 volts. I / R module voltage has remained at around 600V
? Control module control module to achieve the speed of the servo axes ring and closed-loop control of current loop
? Power module to the servo motor to provide variable frequency and voltage AC power supply
? Monitoring module is mainly weak supply capacity of the power module to add.
? Filter module for filtering the power role.
? Reactance voltage play a steady role.
2.611 Power Module Interface Signals
611 module interface signals are the following groups:
(1) Power Interface
U1 V1 W1 main control loop three-phase power input port
X181 Power Supply input port, use is often associated with the main power supply shorted, and some systems the power to make machines work properly after the driver is also available for some time, the terminal voltage of 600V and P500 M500 terminals shorted, such as 600V voltage not immediately discharge is completed, but also the maintenance of normal work-driven control panel for some time. P600M600 is a 600V DC voltage output terminal.
(2) Control Interface
64 control the enable input, the signal to all connected modules at the same time effective, the signal is removed, all the speed of the shaft for a given voltage is zero, axis with the greatest acceleration parking. After a certain time delay, cancel pulse enable 63-pulse enable input, the signal to all connected modules at the same time effective, the signal after the abolition of all the shaft power cancellation axis movement in the form of free parking.
48 main circuit relay, the signal off, the main control circuit power supply disconnect the main relay.
112 debug or standard mode, the signal tends to be used in transmission-line debugging in general, on the receiving system, 24V.
X121 module ready signal and the module overheating signal. No. ready signal and the module DIP switch settings on, when the S1.2 = ON, the module fails, ready to signal cancellation, and S1.2 = OFF, the module has failures and to make energy (63,64) signal cancellation, will be ready to cancel the signal, so when the replacement of the module to check the top of the module DIP switch settings, otherwise the module may not work correctly. All modules connected to motor overload and overheat alarm output will be triggered by overheating.
NS1/NS2 the main relay closure enabled, only the signal is high, the main power relay is possible too. Relay the signal used to decide in closed-chain conditions.
AS1/AS2 the main relay state, the main relay the signal to reflect the closed state, the main relay is closed when high.
9/19/R 9 is a 24V output voltage, 19 is a 24V ground, R alarm reset signal for the module.
(3) Other auxiliary interface
X351 device bus, for connecting the module behind the power to use.
X141-voltage detection terminal, used for diagnostic and other purposes.
7: P24, +24 V 45: P15, +15 V 44: N15,-15V
10: N24,-24V 15: M, 0V
Power supply module has six lights above, respectively, directed modules fault and working condition. Under normal circumstances, said green light enable signal loss (63 and 64), yellow light signals that the module is ready, when 600V DC voltage has reached the allowable value of the system work properly.
Power supply module to enable normal work conditions:
48,112,63,64 then high, NS1 and NS2 shorted, appears as a yellow light, other lights are not bright. DC bus voltage should be 600V or so.
3.611 drive control module interface signals
(1) 611D drive control module interface signals
611D CNC control module and the system is mainly through a data bus connected to the basic there is not much of interface signals.
X431: axis pulse enable, the signal is low, the shaft power to withdraw, generally the signal directly with the shorted 24V
X432: BERO terminal, the interface used for BERO switch signal input port.
X34, X35 analog output ports, including two analog port (X1, X2) as a diagnostic test module, which can be used to track the amount of some figures, such as speed, voltage and current, etc. and put it into a 0 to 5V analog voltage output, the specific output signal through the numerical control system selection, Ir analog output port is fixed and the output motor current in phase R analog value.
X411: Motor encoder interface, input the motor encoder signals, as well as the motor thermistor, in which the motor thermistor value is through the socket 13 and 25 pin input, the thermal resistance at room temperature under 580 Europe , 155 degrees, more than 1200 in Europe, then control panel off the power and generate electrical power machines overheating alarm. (1PH7 motor temperature detection signal connected to the same 1FT6/1FK6 motor)
X411: direct measurement of system input port, enter the direct position measurement signal, generally positive cosine voltage signals
* 611D control panel of the speed loop and current loop inside the parameters set in the NCK, so no need to replace the control panel to reset the parameters.
. 840D System Operation
SINUMERIK840D/810D or SINUMERIK FM-NC is the machine's CNC control systems, CNC control system through the control panel perform the following basic functions:
• Develop and modify the part program
* Implementation of the part program
* Manual control
* Read in / read out the part program and data
* Edit the program data
* Cancel alarm display and alarm
* Edit the machine data
In an MMC or MMC, or between a few or several NC 1 NC to establish communication links between the (M: N, m-MMC devices and n-NCK/PLC devices)
User interface include:
* Display components, such as monitoring devices, LED, etc.;
* Operating components, such as keys, switches, hand-lun. q
840D system with CNC machine tools with automatic, manual, programming, back to a reference point, manual data entry and other functions.
Manual: Manual is mainly used to adjust the machine tool, manual and step manual with continuous manual, and sometimes need to go to a certain length, you can choose the variable INC mode, enter the length of run can be.
Automatic: 840D procedure is generally where the implementation of NCK of RAM, so MMC103 or PCU50, it was necessary should first program loaded into the NCK years, but for a particularly long process, you can choose the hard disk where the implementation of specific operational method To: Select processing, the program outline, use the cursor to select the implementation of the program, select from the hard drive the implementation of both. in automatic mode, if the MMC with SINDNC software, you can also run programs from a network hard drive.
MDA: MDA with the almost automatic, except that it paragraph by paragraph, the procedures can be input, not necessarily a complete program that exists NCK inside a fixed buffer MDA, the MDA buffer can be stored in the program directory program, district can also be transferred from a procedural program to MDA buffer.
REPOS: re-positioning capabilities, and sometimes in the program run automatically when you need to stop and test the tool away parts, and then followed by the implementation of procedures, require re-positioning capabilities, methods of operation mode in the automatic suspension of program execution, go to the manual, remove the corresponding the shaft, to re-execute the program, go to the re-positioning mode, press the corresponding axial movement button to return to the program a breakpoint, press start button process to continue. Note that in this process can not press the reset button.
Program to simulate: 840D to support the program before running a formal graphical simulation program in order to reduce the failure rate, but because of the different MMC systems, simulation of the method is not, as in MMC103, the program to simulate entirely on the implementation of the MMC, so the simulation does not NCK will have an impact, but in MMC100.2 on the program to simulate the NCK inside the implementation, and procedures for the practical implementation of the case, so be sure to simulate the selection process before the tests, but also to improve simulation speed, you can also choose to run empty.
二. System connection and commissioning
(A) the hardware connection
SINUMERIK810D/840D the system's hardware to connect in two ways:]
First, according to their interface requirements, first CNC and drive unit, MMC, PLC of three parts are connected to the right:
Source Module X161 kinds of 9,112,48 connection; drive the bus and device bus; the far right terminal resistor module (CNC and drive unit).
(2) MMC and the MCP polarity of the 24V power supply should be careful (MMC).
(3) PLC Module attention to the power line connection; bearing in mind the SM connection.
Second, the hardware of the three parts are interconnected, the connection should pay attention to:
PI, and OPI bus wiring must be correct.
CU or NCU and S7 of the IM module connection.
2. Check
In the correct completion of all mechanical and electrical installation work can be carried out electricity and commissioning work; while the first thing to do is to start the preparatory work, it can ensure that the control system and its components to start normally, and to meet the EMC test conditions
Full system connection is completed the necessary examination needs to be done, as follows:
* Shield: (1) to ensure that the cables used in line with Siemens to provide the wiring diagram of the requirements;
(2) to ensure that the signal-point field shielding at both ends connected with the rack or chassis.
For external devices (such as printers, programmers, etc.), the standard single-ended shielded cable can also be used. But once the control system for normal operation, it should not answer any of these external devices is appropriate; if we must access at both ends of the connecting cable should be shielded.
· EMC (Electromagnetic Compatibility) test conditions:
The signal line and power lines as far as possible separated from a bit further;
Departure from the NC or the PLC to the NC or the PLC may live cables should be used to provide cable SIEMENS;
Signal lines should not be too close to the external strong electromagnetic fields (such as point machines and transformers);
HC / HV pulse circuit cables must be completely separated from all other cable laying;
If the signal line can not be separated from other cables, it should take the shield threading pipe (metal);
The following distance should be as small as possible:
- The signal line and signal line
- Signal line side pre-supplementary equipotential
- And other potential clients and PE (come together)
* Protection ESD (Electromaqnetic Sensitive Device) components test conditions:
Dealing with a static module, should ensure that its normal grounding;
Such as avoiding electronic modules can not take office, then please do not touch the module components, pins or other conductive parts;
Touch the components must ensure that the human body through the electrostatic discharge device (wrist strap, or shoes) and the earth connection;
Module should be designed to conductive surface on the north (put-static packaging materials such as conductive rubber, etc.);
Modules should not be close to the VDU, monitor or TV (Away from the screen, and 10cm);
Modules Do not rechargeable electrical insulation material contact (such as plastics and fabrics);
A prerequisite for measuring
- Measuring equipment grounding
- Insulation instrument measuring the first pre-let electrical
Coordinates
1. Workpiece Coordinate System
Workpiece zero is the original origin of workpiece coordinate system
Cartesian coordinates: The coordinates of the point reached to determine the coordinates of the point
Polar coordinates: The radius and angle to measure the workpiece or part of the workpiece
2. Absolute coordinates: All positional parameters associated with the current effective starting point that will be accessible location tool
Incremental Coordinates: If the size is not the key to the origin, but relative to the other points on the workpiece, it is necessary to use an incremental coordinates. The incremental coordinates to determine the size and dimensions of these conversions can be avoided. Incremental coordinates refer to the previous power position data for the tool movement is used to describe the tool moving distance
3. Plane: The two axes to determine a plane, the first three axis perpendicular to that plane and determine the direction of the tool cross-section. Programming, to determine the processing surface in order to facilitate control system can accurately calculate the tool offset value.
Identify the direction of plane cross-section
G17 X / Y Z
G18 Z / X Y
G19 Y / Z X
4. Zero position
In the NC machine tool can determine the origin and reference point for the different position of these reference points:
* For the machine tool positioning
• The size of the workpiece program
They are:
M = Machine 12:00
A = chuck 12:00, age spots coincide with the workpiece (value for lathes)
W = Workpiece 12:00 12:00 = Program
B = starting point, you can give each program to determine the starting point, the starting point is the first tool a starting place for processing
R = reference point, with the cam and measurement systems to determine the location, you must first know the distance to the machine zero, so as to accurately set the axis position:
Establish coordinate system R
1. Of machine tools with machine zero M coordinates X B
2. Base coordinate system (also can make the workpiece coordinate system W)
3. The workpiece with the workpiece coordinate system W 12:00
4. Band is currently one know how to zero Wa of the workpiece
The current workpiece coordinate system M A W Z
The establishment of axes
When programming is usually used in the following axes:
Machine shaft: You can set the data in the machine tool axis identifier, identifier: X1, Y1, Z1, A1, B1, C1, U1, V1, AX1, AX2, etc.;
Channel axis: all in a mobile channel axis identifier: X, Y, Z, A, B, C, U, V
Geometric axis: major axis, generally have X, Y, Z;
A specific axis: no need to determine the geometric relationship between a particular axis, such as the turret position of U, Tailstock V;
The path axis: determine the path and tool movement, the path is programmed feed rate and effective, in the NC program using FGROUP to determine the path axis;
Synchronization axis: mean from the programming point of origin to destination mobile synchronization axis;
Positioning axis: Typical positioning shaft from the parts carrying, unloading the loader, knives library / turret, etc. identifier: POS, POSA, POSP, etc.
Directive axis (axis synchronized movement): the instruction is generated by the synchronized movement directive axis, they can be positioned to start and stop can be completely synchronized with the workpiece program. Axis is an independent interpolation instruction, each instruction has its own shaft axis interpolation and feed rate
Connecting shaft: NCU box refers to the connection with another real axis, their position will be subject to the control of the NCU, the connection shaft can be dynamically assigned to different channels of NCU
PLC-axis: The specific features of the PLC with the PLC axes to move, their movements with all the other all of the axes are not synchronized, moving the movement arises from the path and synchronized campaigns are nothing to do;
* Geometric axes, synchronization and positioning axes are the axes can be programmed.
* According to the movement commands are programmed with a feed rate of F, so that shaft produces movement.
* Synchronizing shaft axis synchronized movement with the path and use the same move all the time path of axes.
* Positioning axis movement and all other axes asynchronous, these mobile campaigns has nothing to do with the path and synchronized movement.
* PLC by the PLC control shaft, and produce all the other axes are not synchronized with the movement of mobile movement has nothing to do with the path and synchronized campaigns
Programming Language
* Programming address and the meaning of
Address the meaning of
Program numbered addresses N
10 program segment number
G Preparatory Function
X, Y, Z position data interpolation parameters
F Feed
S spindle speed
T Tool number
D Tool offset number
M Miscellaneous Functions
H Accessibility
* Data Type
Type of meaning range of values
INT unsigned integer ± (231-1)
REAL real numbers (with decimal points) ± (10-300 ... 100 300)
BOOL code is determined by a ASSCII characters 0 ... 255
STRING string, in [...] in the string sequence of values 0 ... 255
Up to 200 characters
AXIS Axis name (axis address) channel on the name of an arbitrary axis
FRAME translation, rotation, scale and image of the geometrical parameters
* Directive:
1. G command
· G90: origin of reference coordinate system retaining wall, in the workpiece coordinate system in the preparation of tools to run point program.
G91: near the point of reference date, the preparation of tools to run from the program.
GO: fast-moving so fast tool positioning, movement around the workpiece near the tool change point, or
G1: Tool along with the shaft, slash or any other space orientation parallel to the line of mobile home.
G2: the arc in a clockwise direction on a track to run
G3: anti-clockwise on the circular track to run
G4: pause time effect (F ... in seconds; S ... used to determine the number of spindle rotation time)
G17: No tool radius compensation
G18: Cutter Radius Compensation to the contours of the left side
G19: Cutter Radius Compensation to the contours of the right side of
G40: lift the tool radius compensation
G41: active tool radius compensation, tool machining direction along the contour to run to the right side of
G42: active tool radius compensation, tool machining direction along the contour to run to the left of
G53: Non-modal access, including the programmed bias
G54 ... G57: Call No. 1 to No. 4 can be set to zero bias
G94: linear feed rate in mm / min, inches / min
G95: rotating feed rate mm / turn, inch / turn
2. M command
M0: Programming Stop
M1: choose to stop
M2: main program entry procedure at the beginning of the end of
M30: end of the process
M17: Subroutine end
M3: active spindle clockwise rotation
M4: Active spindle counterclockwise rotation
M5: Active Spindle Stop
M6: ATC instructions
3. Other
F: Feed Rate
S: active spindle speed (unit: rev / min)
T: Call Tool
D: Tool offset number (range: 1 ... 32000)
If it is grating back to zero, please refer to the following the following methods:
If your foot is the grating with a distance of coded reference point of grating ruler, then mark (usually behind the Heidenhain grating ruler marked with C have this function), return a reference point do not need to switch back to zero, the parameter set as follows:
1,34200 = 3 using the type of optical grating
2,34300 [1] = 20mm linear grating-foot grid spacing mark a reference point (LS486C to 20mm)
3,34060 [1] = 40 return to reference point distance = 2 times the largest mobile linear grating-foot grid spacing of the reference point mark
4,34000 = 0 do not use feed cam shaft to return a reference point, that is, without a reference point return deceleration switch signal (DB31.DBX12.7)
5,34090 = XXX to return a reference point offset value
6,34310 [1] = 0.020 signal optical grating pitch (LS486C to 0.020mm)
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