西门子工业自动化技术丛书西门子小型伺服驱动系统应用指南

序

前言

第 1章　概论 ···································· 1

1.1　交流伺服驱动系统 ·······························1

1.2　西门子交流伺服驱动系统······················1

1.3　西门子小型伺服驱动系统······················3

第 2章　SINAMICS V90伺服驱动系统 ··· 6

2.1　SINAMICS V90伺服驱动系统的优点 ·······6

2.2　SINAMICS V90脉冲型伺服驱动器 ··········9

2.2.1 SINAMICS V90 PTI伺服驱动器硬件接································9

2.2.2 SINAMICS V90 PTI伺服驱动器的通用功能 ··································· 12

2.2.3 SINAMICS V90 PTI伺服驱动器外部脉冲位置控制 ····························· 13

2.2.4 SINAMICS V90 PTI伺服驱动器内部位置控制 ··································· 17

2.2.5 SINAMICS V90 PTI伺服驱动器速度控制 ······························· 20

2.2.6 SINAMICS V90 PTI伺服驱动器转矩控制 ································· 22

2.2.7 SINAMICS V90 PTI伺服驱动器混合控制 ····························· 22

2.2.8 SINAMICS V90 PTI伺服驱动器 RS485 通信控制 ·························· 23

2.3　SINAMICS V90总线型伺服驱动器 ········ 24

2.3.1 SINAMICS V90 PN伺服驱动器硬件接口 ···························· 24

2.3.2SINAMICS V90 PN伺服驱动器 PROFINET通信 ·························· 26

2.3.3SINAMICS V90 PN伺服驱动器速度控制 ·························· 31

2.3.4 SINAMICS V90 PN伺服驱动器基本定位器控制 ··································· 32

2.4　SINAMICS V90伺服驱动器非周期通信 ·· 37

2.5　SINAMICS V90伺服驱动器调试工具 ····· 40

2.5.1　V-ASSISTANT调试软件 ················ 41

2.5.2　TIA Portal调试软件 ······················ 50

2.6　SINAMICS V90伺服驱动器的安全功能 ·· 62

2.6.1　 SINAMICS V90伺服驱动器与 SIMATIC S7-1200F PLC安全功能的连接 ··················· 62

2.6.2　 SINAMICS V90伺服驱动器与 ET200S安全功能的连接 ················ 62

2.6.3　 SINAMICS V90伺服驱动器与 SIRIUS 3SK1安全继电器安全功能的连接 ········63

2.6.4　 SINAMICS V90伺服驱动器与急停开关安全功能的连接 ····················· 64

2.6.5　多伺服驱动器与急停开关安全功能的连接 ·················· 64

2.7　 SINAMICS V90 伺服驱动系统的制动 ····· 64

2.7.1　 SINAMICS V90伺服驱动系统的制动方法 ··········· 65

2.7.2　制动过程的计算 ·························· 66

2.7.3　制动电阻的选择原则 ····················· 68

2.7.4　制动单元的核算 ·························· 69

2.7.5　驱动器*大制动能力的估算 ············ 71

2.8　 SINAMICS V90伺服驱动系统的选型工具 ····················· 72第

3章　运动控制功能 ······················· 81

3.1　SIMATIC S7-1500 系列 PLC ················· 81

3.2　电子齿轮同步 ·································· 82

3.2.1　电子齿轮运动控制向导 ·················· 82

3.2.2　电子齿轮运动控制指令 ·················· 84

3.3　电子凸轮同步 ······················ 88

3.3.1　电子凸轮运动控制向导 ·················· 88

3.3.2　电子凸轮运动控制指令 ·················· 91

3.4　测量输入 ·························· 92

3.4.1　测量输入运动控制向导 ·················· 92

3.4.2　测量输入运动控制指令 ·················· 95

3.5　凸轮输出 ········································ 98

3.5.1　凸轮输出运动控制向导 ·················· 99

3.5.2　凸轮输出运动控制指令 ·················102

第 4章　 SINAMICS V90伺服驱动器的应用技巧 ·················· 104

4.1 SIMATIC S7-200 SMART脉冲输出指令控制 SINAMICS V90 PTI伺服驱动器 ······104

4.2 基于 HSP的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的通信控制 ············108

4.2.1 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的硬件组态 ······108

4.2.2　基于报文类型 1的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的通信控制 ·············· 112

4.2.3　基于报文类型 3的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的通信控制 ············· 114

4.2.4　基于报文类型 102的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的通信控制 ········· 119

4.3　 SIMATIC PLC与 SINAMICS V90 PN伺服驱动器的周期性通信 ···············123

4.3.1　DPRD_DAT指令 ···················123

4.3.2　DPWR_DAT指令 ····················124

4.3.3 基于报文类型 111的 SIMATIC PLC与 SINAMICS V90 PN伺服驱动器的通信控制··············124

4.3.4 基于基本定位器工艺对象的 SINAMICS V90 PN伺服驱动器的通信控制 ······133

4.3.5　基于报文类型 1的 SIMATIC S7-200 SMART PLC与 SINAMICS V90 PN伺服驱动器的通信控制 ··········137

4.4 SIMATIC PLC与 SINAMICS V90 PN伺服驱动器的非周期通信 ·························142

4.4.1 基于 WRREC和 RDREC指令的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器间的非周期通信 ··142

4.4.2 基于 SinaPara的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的非周期通信 ···············149

4.4.3 基于 SinaParaS的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的非周期通信 ··············154

4.4.4 基于 SINA_PARA_S的 SIMATIC S7-200 SMART PLC与 SINAMICS V90 PN伺服驱动器的非周期通信 ············159

4.5 SINAMICS V90 PN伺服驱动器的回参考点 ···················168

4.5.1　设置直接回参考点的方式 ··············169

4.5.2　参考点挡块和编码器零脉冲方式 ·····169

4.5.3　参考点挡块和编码器零脉冲硬限位反转方式 ··············171

4.5.4　编码器零脉冲方式·······················173

4.5.5　编码器零脉冲硬限位反转方式 ········175

4.5.6　参考点挡块引入伺服驱动器的参考点挡块和编码器零脉冲方式 ···········176

4.5.7　参考点挡块引入伺服驱动器的参考点挡块和编码器零脉冲硬限位反转方 ···················177

4.5.8　硬限位开关作为参考点挡块和编码器零脉冲方式 ········179

4.5.9　仅寻参考点挡块的方式 ·················182

4.5.10　仅寻参考点挡块的硬限位反转方式 ··183

4.5.11　回参考点的应用技巧 ··················185

4.6　巧用附加报文类型 750 ······················186

4.6.1　基于报文类型 1的 SIMATIC SMART 200 PLC与 SINAMICS V90 PN伺服驱动器的附加报文应用 ·······187

4.6.2　基于报文类型 3的 SIMATIC S7-1500 PLC与 SINAMICS V90 PN伺服驱动器的附加报文应用········192

4.6.3　基于报文类型 105的 SIMATIC S7-1500 PLC与 SINAMICS V90 PN伺服驱动器的直接转矩控制 ············201

4.6.4　基于报文类型 102的 SIMATIC S7-1200 PLC与 SINAMICS V90 PN伺服驱动器的直接转矩控制 ···········206

4.6.5　基于报文类型 111的 SIMATIC PLC与 SINAMICS V90 PN伺服驱动器的参考点坐标应用 ············214

4.7　固定点停止 ····································215

4.7.1　基于 SINAMICS V90 PN伺服驱动器基本定位器模式下的固定点停止 ·····215

4.7.2　基于 SINAMICS V90 PN伺服驱动器速度模式下的固定点停止 ··············218

第 5章　运动控制系统的应用技巧 ······ 222

5.1　运动控制系统的项目组态···················222

5.2　往复定位运动 ·································231

5.3　带测量输入和凸轮输出的基本定位运动 ···237

5.4　相对电子齿轮同步运动 ······················243

5.5　绝对电子齿轮同步运动 ······················246

5.6　带测量输入的绝对电子齿轮同步运动 ····250

5.7　凸轮同步运动 ·································254

5.8　带凸轮输出的凸轮同步运动················260

参考文献 ······································· 263