伦茨自动化资料 lenze 940伺服用户手册

L-force样本自动化系统驱动系统解决方案控制装置变频器电机减速机工程设计工具变频器:伺服9400HighLineL-force样本的内容Lenze，让许多事物变得简单。

关于Lenze我们的原则:用最合适的产品应对实际应用L-force产品系列1.1基于控制器的自动化自动化系统1.2基于驱动器的自动化2.1HighLine任务驱动系统解决方案2.2StateLine任务2.3BaseLine任务3.1控制器3200C柜式控制器控制装置3.2控制器c3003.3控制器p500面板控制器3.4控制器p3003.5I/O1000'3.6监控面板4.1变频器8400protec分布式变频器4.2变频器8400motec4.4柜式伺服9400HighLine4.5伺服8400TopLine4.6伺服驱动器i7004.7变频器8400HighLine4.8变频器8400StateLine4.10变频器8400BaseLine5.1同步伺服电机MCS伺服电机电机5.2MD☐KS同步伺服电机5.3异步伺服电机MQA5.4异步伺服电机MCA5.5三相交流电机MF三相交流电机5.6三相交流电机MH5.7三相交流电机MD5.8Lenze Smart电机m3005.9基础型MD/MH三相交流电机6.1g700-P行星轮减速机轴向减速机减速机6.2MPR/MPG行星轮减速机6.3g500-H斜齿轮减速机6.4GST斜齿轮减速机6.5g500-S小侧隙斜齿轮减速机6.6GFL小侧隙斜齿轮减速机6.7g500-B伞齿轮减速机直角减速机6.8GKR伞齿轮减速机6.9GKS螺旋伞齿轮减速机6.10GSS圆柱斜齿轮蜗轮蜗杆减速机6.11分配如上电机数据7.1Navigator工程设计工具7.2Drive Solution Designer7.3Drive Solution Catalogue7.4Engineer7.5PLC Designer7.6VisiWinNET®7.7EASY Starter精选组合附加组合Lenze，让许多事物变得简单。

WEINVIEW-伦茨9400私服CAN通讯说明测试HMI支持型号：EMT3120A测试伺服型号：伦茨9400伺服测试EB pro软件版本：EB pro 3.00.01一、接线方法：（需并入120欧电阻）触摸屏9针D型母座————————9400伺服7脚（CAN_L）——————————CAN_L8脚（CAN_H）——————————CAN_H二、EB pro软件设置说明：1、安装EB pro软件后，新建程序，选择触摸屏型号2、新增驱动，对参数进行设置①PLC类型、选择CANopen Slave②接口类型：选择默认CAN Bus③通讯协议：针对9400伺服选择CAN Bus 2.0a④节点ID：即伺服的节点站号（节点ID）⑤波特率：即匹配伺服的波特率⑥超时：设置触摸屏判断通讯超时的时间，正常设置1-3S⑦通讯延时：根据客户设备通道反应时间判定（一般SDO），9400伺服参数通道需要20-50ms反应时间，如果过短伺服会返回错误代码（实际设定设定时考虑物理传送和处理时间，可设置更短的延时）。

⑧传送NMT START命令：部分设备需要启动命令时勾选设置。

3、元件字典设置①TxPDO映射：TxPDO目前采用RxPDO代替，即TxPDO无需设置。

②RxPDO映射：过程通道进行PDO映射地方，RxPDO和TxPDO均在此映射。

③SDO功能码：参数通道功能码设置，比如参数通道COB-ID为601H，节点ID为01H，此时SDO功能码设置600H（COB-ID去掉节点ID）④导入EDS档案：由于EB pro软件中TxPDO映射采用RxPDO方式映射，标准EDS档案导入会存在问题，如果需要导入，需将EDS档案中的TxPDO映射部分映射到RxPDO中即可。

备注：系统会默认4个TxPDO和4个RxPDO，可根据使用情况随意增减。

4、参数通道（SDO）设置：举例对9400伺服11号参数和位置长度读写。

如果对11号参数读写，用“数值输入元件”设置如下：节点ID和功能码已在以上步骤中设置好。

伦茨9400伺服使用手册Welcome Practical introduction: 实用简介 L-force 9400 Servo DrivesL-force Engineer19 January 2007 Trainer: Torsten He Markus Toeberg Markus Warnecke StefanWitte 9400 Servo Drives Target Introduction to L-force 9400 and engineer First withoutengineer L-force 9400 和 engineer 的介绍 Engineer with single drive basics of TA 9400 servo drive set-up with interfaces Structured project further TA 9400伺服的接口设置 FB editor Parameter setting with Engineer and keypad Multi axis applications Onlinealternatives 通过Engineer 和操作面板进行参数设定 Technology Applications TA 技术应用 Diagnostics and configuration of the application with the function block editor使用功能块编辑器的应用配置和诊断 Next Back Multi axis application with horizontal CAN communication 2 使用CAN总线通讯的多轴应用 9400 Servo DrivesModular set-up ? 11 kW Target First without engineer Engineer with single drive basicsof TA Mounting base Structured project 安装底板 further TA FB editor Power module Multi axis applications 功率模块 Online alternatives Extension module 扩展模块Accessories Next Back 附件 3 9400 Servo Drives Interfaces at the power module Target First without engineer Engineer with single drive basics of TA CAN on board 内置CAN Structured project further TA 24 V supply and FB editor state bus 24V和状态总线 Multi axis applications Online alternatives Analog / digital IOs 2 module receptacles模拟/数字 I/O for extensions 2个扩展模块插槽 LEDs 指示灯 Diagnostic interfaceModule receptacle for 诊断接口 memory module 存储模块插槽 Resolver input 旋转变压器接口 Module receptacle for Next Multi encoder input safety technology Back 编码器接口安全模块插槽 HighLine StateLine: 1 个扩展插槽 4 9400 Servo DrivesLEDs Target First without engineer 指示灯 Engineer with single drive basics of TA CAN RUN CAN ERROR CAN 运行 Structured project CAN 错误further TA OFFCAN inactive CAN没激活 FB editor Bus warning Pre-operational 总线报警预操作 Multi axis applications Bus off Operational 总线关闭操作 Online alternativesDRIVE READY DRIVE ERROR 驱动器投入驱动器错误 OFF Pulse inhibit OFF OK due to an error 由于错误而禁止 Error status Controller inhibited 错误状态控制器禁止 System error Controller enabled 系统错误控制器使能 USER ready 24V 用户定义 Next Applicable in the application Back 在应用中使用 5 9400 ServoDrives Keypad Target First without engineer 面板 Engineer with single drive basics of TA 4 direction keys for navigation Structured project 4个方向键用于导航 further TA 2context-sensitive function keys FB editor 2个功能键 Multi axis applications Run and stop keys configurable Online alternatives 运行和停止键(可配置) Status field 状态区 Notes: 注: Diagnostic amp parameter setting only ready 仅用于诊断和参数设定Next Application is stored in the memory module Back 应用存储在存储模块中 6 9400Servo Drives Your training set-up… Target First without engineer 你的培训设置…Engineer with single drive basics of TA 2x 9400 HighLine Single Drive type 1(2个9400HighLine Structured project 单驱动型1) further TA – Extension module Ethernet (扩展模块-以太网) FB editor – Memory module MM330 (存储模块-MM330)Multiaxis applications – Safety module SM0 (安全模块-SM0) Online alternatives –Firmware version 01.51.01 (固件版本01.51.01) 2x Motor MCS06C41 with resolverand tooth wheel(2个伺服电机带旋变和齿型轮) – left Z 72 and 32 (左Z72，32)– right Z 60 and 20 (右Z60，20) Belt 皮带– left L 600 mm Z 120(左L600mm;Z120) Next – right L 535 mm Z 107 (右L535mm;Z107) Back Active application:“Actuator –speed“ (激活应用 Actuator 7 – speed) 9400 ServoDrives Exercise 1:Detect the drive status Target First without engineer by means of LEDs and keypad 通过指示灯和面板检测驱动器状态 Engineer with single drive basics of TA 1. Switch on the supply voltages 24 V and 400 V Structured project 电源上电further TA FB editor 2.Make the left drive rotate:运转左侧驱动器 Multi axis applicationsRFR Controllerenable Reglerfreigabe控制器使能 Online alternatives DI1 Deactivation of quick stop 快停取消 DI2 Start 启动 AI1 Speed setpoint 速度设定 3. Switch off the 400 Vsupply voltage 切断400V电源 4. Find out the drive status by means of the LEDs and the keypad 通过指示灯和面板观察状态 5. Make the logbook being displayed at the keypad Next 对面板显示进行记录 Back 8 9400 Servo Drives Start assistant 启动助手Target First without engineer Engineer with single drive basics of TA Structured projectfurther TA FB editor Multi axis applications Online alternatives Next Back 9 9400 Servo Drives User interface 用户界面 Target First without engineer Engineer with single drive basics of TA Work space Structured project 工作区 further TA Menu bar 菜单栏FB editor Tool bar Multi axis applications 工具栏 Onlinealternatives View bar 浏览栏Project tree 工程树 ready Next Back Messages and monitor panel 信息和监视盘 109400 Servo Drives Target First without engineer Going online 在线连接 Engineer withsingle drive basics of TA Diagnostic adapter 诊断适配器 Structured project further TACAN FB editor Ethernet TCP/IP 以太网 Multi axis applications Online alternatives Point-to-point- connection 点对点连接 ready Next 10-pole special cable Back RJ69 10芯RJ69电缆 11 9400 Servo Drives How to go online 如何连接 Target First withoutengineer Engineer with single drive basics of TA 1. Select the channel of communication 选择通讯通道 Structured project further TA FBeditor Multi axis applications 2. Start the search for devices 搜索驱动器 Online alternatives 3. Confirm the detected device 确认检测到的设备 4. Connect 连接 ready Next Back 12 9400 Servo Drives Colour represents online 在线的颜色表示 Target First without engineer Engineer with single drive basics of TA Value in the Structured project work space:工作区的颜色 further TAyellow modifiable FB editor Multi axis applications 黄可修改 Online alternativesgrey yellow read only 土黄只读 red communication error 红通讯错误NextBack 13 9400 Servo Drives Exercise 2: Detect the drive status Target First without engineer by means of the engineer 通过engineer检测驱动器状态 Engineer with singledrive basics of TA 1. Start the L-force Engineer. 启动 Structured project further TA 2.Create a new project by going online via diagnostic adapters and uploading the data fromthe right drive FB editor controller. Name the project “P ractical intro“. 创建一个新工Multi axis applications 程，并通过诊断电缆从右侧的驱动器上载数据，命名为”Practical Online alternatives intro” 3. Open the project tree. Click on the drive controller. Evaluate the drive status by means of the tab “Diagnostics”. 打开工程树，点击控制器，通过“Diagnostics”栏监控驱动器状态 4. Adapt the monitor window: Showthe “Device utilisation Ixt” as a log with a suitable resolution.观察设备利用率“Deviceutilisation Ixt”是否合适 Next 5. Save your project. 保存工程 Back 14 9400 ServoDrives Solution: Detect the drive status检测驱动器状态 Target First without engineerEngineer with single drive basics of TA Structured project further TA FB editor Multi axis applications Online alternatives Next Back 15 9400 Servo Drives Applications Target 应用 First without engineer Engineer with single drive basics of TA Application configured function of one device Structured project further TA 应用单个驱动器配置的功能 FB editor Multi axis applications How can applications be created如何建立应用, Online alternatives Two possible solutions:两个可能的方法: 1. Modify or extenda prefabricated technology application supplied by Lenze 修改和扩展伦茨预先提供的技术应用 2. Create the application completely by yourself insert “No Application” or just don’t insert any application. The empty application can be edited then within the function block editor 完全由用户自己创建(插入“No Application” 或不插入任何ready Next 应用，可以用功能块编辑器在空应用上编辑) Back 16 9400 Servo DrivesApplications supplied by Lenze…伦茨提供的应 Target First without engineer 用Engineer with single drive basics of TA are called technology applications e. g.我们称作“TA”，如: Structured project further TA – Actua.。