力士乐Rexroth驱动器调试手册

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力士乐Rexroth英文版驱动器调试手册 Rexroth IndraDrive MPB- MPH- MPD - MPC-07
Release Notes Rexroth IndraDrive Electric Drives Bosch Rexroth AG xⅣ and controls Table of contents Table of contents Page System Overview …15 1.1 General Information 15 1.1.1 About this documentation 15 1.1.2 How to use this documentation 16 Structure of the Functional description 16 Markers and terms 17 Cross references 17 Reference documentations 17 Overview of drive firmware 19 Firmware variants 19 Organization of the Firmware 20 1.2 Terms, Basic Principles 1.2.1 Parameters 20 1.2.2 Data Storage and Parameter Handling…… 1.2.3 Password 21 1.24 Commands 22 1.2.5 Operation Modes 22 1.2.6 Warnings 1.2.7 Errors 23 1.3 24 1.3.1 Overview 24 Standard Design of the Indra Drive controllers ..24 1.3.2 Power sections 25 13.3 Control secti 26 Available Control Section Designs 26 orted control section Configurati 26 4 Supported Motors and Measuring Systems 28 1.4.1 SI ted motors 28 1.4.2 Supported Measuring Systems ..28 1.5 Overview of master communication 28 Overview of Functions/Functional Packages..... 1.6.1 Overview General Information ...:: 29 Scaling the Drive Functionality Brief Description of the Functional Packages 31 Firmware Types .32 1.6.2 Base Packages 面面面 面国国面面 33 General Information 33 Basic functions .:a...::::.:.:aaa: 33 Scope of Functions of Base Packages 34 1.6.3 Alternative Functional Packages 34 General Information… 34 Servo function 34 Synchronization 35 ll/XI Bosch Rexroth AG Electric Drives Rexroth Indra Drive Release Notes and Controls Table of contents Page Main spindle function 36 1.6.4 Additive Functional Packages .36 General Information 36 IndraMotion mld( Drive- ntegrated PLC)…,… 36 Integrated Safety Technology…… 37 1.7 Performance data 11 E11 38 1.7.1 Overview 38 Levels of control performance 38 Performance and Clock Rates 1.7.2 Control Section Design and performance 39 1.7.3 Selecting Performance via Parameter P-0-0556 40 1.7.4 PWM Frequency Reduction Depending on Load 4 1.7.5 PWM Frequency Reduction Depending on Speed 1.7.6 Rotor-Synchronous PWM 41 1.7.7 Restricted Performance With Certain Functional Packages 41 2 Important Directions for Use……….…..….…........…...43 2. Appropriate Use 2.1.1 Introduction 43 2.1.2 Areas of Use and Application 43 2.2 Inappropriate Use.. .a...a‘ 44 3 Safety Instructions for Electric Drives and Controls 45 3.1 Definitions of terms 3.2 General Information 国面面 46 3.2.1 Using the safety Instructions and passing Them on to others 46 32.2 Requirements for Safe Use.... 46 3.2.3 Hazards by Improper Use 47 3.24 Explanation of Safety Symbols and Hazard classification 48 Instructions with Regard to Specific Dangers 3.3.1 Protection Against Contact with Electrical Parts and Housings 48 3.3,2 Protective Extra-Low Voltage as Protection Against Electric Shock 3.3.3 Protection Against Dangerous Movements 50 3.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting 52 3.3.5 Protection against Contact with Hot parts 52 3.3.6 Protection During Handling and Mounting 3.3.7 Battery Safety 53 3.3.8 Protection Against Pressurized Systems 53 Master communication 55 Basic functions of Master Communication 4.1.1 Brief descripti 55 General Information 5 Features 55 Pertinent parameters 5 Release Notes Rexroth IndraDrive Electric Drives Bosch Rexroth AG and controls Table of contents age Pertinent commands 56 4.1.2 Setting the axis Address 57 Overview .57 Address Setting via Standard Control Panel 57 Address Setting via Parameter Access 58 4.1.3 Command Processing .... 面面画,面 59 Overview 59 Command execution 59 Command Change Bit 60 Device Control and state machines Overview 66 Device-Internal state Machine 62 State Machine of master communication .64 Communication phases of master communication ..67 Control words and status words of master communication 69 Timing Diagrams for Device Control 71 Commands and Diagnostic Messages for Mode Change and Phase Switch 74 4.2 Control Options/Additional Functions 77 4.2.1 Configurable Signal Control Word 77 Brief Description 77 4.2.2 Configurable Signal Status Word....... 78 Brief Description 78 4.3 Multiplex Channel 78 4.3.1 Brief description 78 Operating Modes of Master Communication 79 4.4.1 Introduction and overview 79 Overview of Operating Modes and Possibilities of Command Triggering 79 Normal operation (via Internal or external control Unit) 81 Local Setting-Up Mode/Emergency Mode("Easy Startup Mode 82 4.4.2 Normal Mode(remote or Local) 82 Remote mode with external control unit and active master Communication MLD Mode With Permanent Control (Stand-Alone Motion Control 83 4.4.3 Setting-Up Mode(Easy Startup Mode) Brief Description of easy startup Mode Functional Description of Easy Startup Mode 84 Notes on Commissioning for Easy Startup Mode 86 4.4.4 Local mode 91 Overview 91 MLD Mode With Temporary Control(Intelligent Servo AXis) 91 Emergency Mode(when Master Communication has Failed) 4.5 Profile Types(With Field Bus Interfaces) 1着丽 92 4.5.1 Supported Profile Types 92 Overview 92 Basic Principles and Terms 93 4.5.2 10 Mode( Positioning and Preset Velocity) 94 Brief Description 94 IViXIV Bosch Rexroth AG Electric Drives Rexroth Indra Drive Release Notes and Controls Table of contents Page State Machine in 1/o Mode 4.5.3 Freely Configurable Mode(IndraDrive Profile Type) 98 Brief Description 98 4.6 SERCOS Interface( SERCOS|)………… 4.6.1 Brief Description 99 4.7 PROFIBUS-DP 11a面面盖 1“ 101 4.7.1 Brief Description 101 4.8 CANopen Interface 104 4.8.1 Brief Description 104 4.9 DeviceNet Interface 105 4.9.1 Brief Description 105 4.10 Parallel Interface 国国面国面E ..107 4.10.1 Brief Description 107 Analog Interface 108 4.11.1 Brief Description 108 4.11.2 Functional Description 111 Control Analog Command Value Input 112 Emulation of position value ,113 4.11.3 Notes on Commissioning/Parameterization 113 Encoder emulation Analog Inputs 113 Main Spindle Drive With Analog Interface and Parallel Interface........ 113 4.11.4 Diagnostic and Status Messages 115 Information on general Drive Status 115 Status of Digital Inputs/Outputs and Analog Inputs 115 4.12 MultiEthernet ,,,,.,,, 115 4.12.1 Brief Description Basic Function 115 General Information E面国面国面 面BB国面B 115 Notes on Commissioning 116 4.12.2 EtherCat③ 117 Brief Descript 117 Notes on Commissioning… 120 4.12.3 PROFINETOR .120 Brief Description 120 4.12.4 EtherNet/PTM Interface 124 Brief Description 124 4.12.5 SERCOSⅢ 126 Brief Description 5 Motor, Mechanical Axis System, Measuring Systems.…………………131 5.1 General Information on Operation of Motors With IndraDrive....................131 5.1.1 Basics on the motors to be controlled .131 Brief Description. 131 5.1.2 Motor T emperature Monitoring... 132 Brief Description… ..132 Release Notes Rexroth IndraDrive Electric Drives Bosch Rexroth AG VIXIV and controls Table of contents age 5.2 Rexroth motors 133 5.2.1 Basics on rexroth motors 133 5.2.2 Rexroth Housing motors 134 Rexroth Housing Motors With Encoder Data Memory 134 Rexroth Housing Motors Without Encoder Data Memory 135 52.3 Rexroth Kit Motors 135 General Information 135 Rexroth Kit Motors, Synchronous 135 Rexroth Kit Motors, Asynchronous 136 Third-Party Motors at IndraDrive Controllers 1 137 5.3.1 General Information on Third-Party Motors 137 5.3.2 General Information on Controlling Third-Party Motors 137 Pertinent Parameters and Diagnostic Messages...... 137 Hardware Data 138 5.3.3 Determining the Parameter Values of Third-Party Motors .138 General Information on how to determine the parameter values 138 54 Motor Holding Brake 140 5.4.1 Operating Behavior of the Motor Holding Brake 140 Brief Description 140 54.2 Function Check of Motor Holding Brake, Drive-Controlled 141 Brief Descripti 141 Measuring Systems 142 5.5.1 Basics on Measuring Systems, Resolution 142 Brief description 142 55.2 Monitoring the measuring systems 144 Brief Description 144 5.53 Absolute Measuring Systems 145 Brief Description 145 5.54 Relative Measuring Systems 1国国 146 Brief Description 146 55.5 Establishing the Position Data Reference 147 General Information on Establishing the Position Data Reference 147 Establishing Position Data Reference for Absolute Measuring Systems(Set Absolute Measuring) 149 Establishing Position Data Reference for Relative Measuring Systems(Homing 150 Shifting the Position Data Reference for Absolute and Relative Measuring Systems(Shift Coordinate System Procedure) 158 Detecting the Marker Position 158 5.6 Mechanical Axis System and Arrangement of Measuring Systems......... 159 5.6.1 Brief Description 159 Scaling of Physical Data 162 5.7.1 Brief Description 162 6Drⅳ ve Control. …….165 Overview of drive Control 165 6.1.1 Basic Principles and Terms 165 Vl/XIV Bosch Rexroth AG Electric Drives Rexroth Indra Drive Release Notes and Controls Table of contents Page 6.12 Principles of Drive Contro1.….… 166 Overview of Open-Loop AXis Control 166 Overview of Closed-Loop Axis Control 166 6.1.3 Control Loop Structure 167 General Information 167 Control Loop Structure With Setting Parameters 168 Control Loop Structure With Display Parameters 169 6.1.4 Features of the Control Loops 170 Performance(Controller Cycle Times 170 Current Loop 170 Velocity Loop………… 170 Position Loop ..171 6.2 Motor control 171 6.2.1 General information on motor control ..171 Overview of motor control methods 171 Notes on selection of motor control method 173 6.2.2 Motor Control Frequency 176 Brief Description 176 62.3 Voltage-Controlled Open-Loop Operation(U/f Control 177 Brief Description 177 6.24 Field-Oriented Current Control(FOC Control ..178 Brief Description ..a 178 General function of field-Oriented Current control Field-Oriented Current Control of a Synchronous Machine 182 Field-Oriented Current Control of an Asynchronous machine 183 6.2.5 Sensorless Motor Operation Flux-Controlled(FXC Control Brief Description 185 6.2.6 Automatic Setting of Motor Control 187 Brief Description 4国面道面B1主国面 187 Overview of motor and motor Control Parameters 189 Determining the Parameter Values by Means of Type Plate Data 4191 Identifying and Optimizing the Motor Parameter Values 193 Calculating the Motor Control Parameters From the Motor Parameters 194 6.3 open- Loop Axis Control(Open- Loop Operation)…… 195 6.3.1 Brief Description 195 6.4 Closed-Loop Axis Control( Closed-Loop Operation .196 6.4.1 General Information on Closed-Loop Axis control 196 Control Loop Structure 196 Features of the Control Loops 196 Possibilities of Access to Included Control Loops 197 Command value Processing Depending on Operating Mode 198 6.4.2 Automatic Setting of Closed-Loop Axis Control 198 Brief Description 198 64.3 Velocity Loop( Including the Respective Filters) 200 Brief description 200 6.4.4 Position Loop( With Respective Feedforward Functions and Actual Value Adjustment) 202 Release Notes Rexroth IndraDrive Electric Drives Bosch Rexroth AG Vll/XIV and controls Table of contents age Brief Description 202 Commutation Setting 203 6.5.1 Basics on Commutation Setting 203 Brief Description........ 203 Overview of Methods for Determining the Commutation Offset 206 65.2 Commutation Setting for Rexroth Motors MLF .208 Brief Descriptio 208 6.5.3 Saturation Method 209 Brief description 209 6.54 Sine-Wave Method 210 Brief Description 210 6 Limitations 210 6.6.1 Overview of limitations 210 6.6.2 Current and Torque/Force Limitation 211 Brief Description 211 Torque/Force Limitation 213 Current limitation 215 66.3 Velocity Limitation 221 Brief Description 221 6.6.4 Position Limitation/Travel range limit switches 221 Brief Description 221 7 Power Supply 222 6.7.1 Possibilities of Power Supply for IndraDrive 222 Brief Description 4面面 Possible device combinations and mains connection 224 7 Operation Modes 227 7.1 General Information on the Operation Modes 227 Supported Operation Modes 227 7.1.2 Operation Mode Handling ..227 Selecting the Operation Mode 227 Changing the operation mode 230 Command value Acceptance and Acknowledgment 230 7.2 rqu Control 7.2.1 Brief description ∴231 7.2.2 Command Value Adjustment in Torque/Force Control 233 Principle of Command value Adjustment Notes on Commissioning for Command value Limitation 233 7.2.3 Current Loop 1,,,画 234 Operat Iting principle of the current loo g 234 Notes on Commissioning for the Current Loop ,234 7.3 Velocity Control 234 7.3.1 Brief Descripti 7.3.2 Command Value Adjustment in Velocity Control 237 Overview 237 Command value Generation via Memory of Fixed Command values 238 VIll/XIV Bosch Rexroth AG Electric Drives Rexroth Indra Drive Release Notes and Controls Table of contents Page Command value generation via motor potentiometer 23 Inverting the velocity Command value 239 Masking the Command value 239 Ramp-Function Generator 240 Jerk limitation 241 Command value limitation 1日主1量面 242 Fine Interpolation 242 7.3.3 Velocity Control Loop ..242 elocity Loop 242 Current Loop in velocity Control Loop.…… 242 Possibilities of Filtering…… B面面 243 7.4 Position Control With Cyclic Command Value Input 243 7.4.1 Brief Description 243 7.4.2 Command value adjustment in Position Control ..245 7.4.3 Position Loop 247 7.5 Drive-Internal Interpolation 248 7.5.1 Brief Description 248 7.5.2 Command Value Adjustment With Drive-Internal Interpolation 250 7.5.3 Position Loop With Drive- Internal Interpolation 画面画 250 7.6 Drive-Controlled Positioning 250 7.6.1 Brief Description 250 7.6.2 Command value Adjustment With Drive- Controlled Positioning 252 Overview 252 osition Target Interprete 253 Positioning generator. 257 7.6.3 Position Loop With Drive-Controlled Positioning 257 7.6.4 Jog Mode With Drive-Controlled Positioning("Jogging) 7.7 Positioning block Mode 258 7.7.1 Brief Description 258 7.72 Command Value Adjustment With Positioning Block Mode 260 7.73 Single-Block Processing...... 260 Description of Basic Function 260 Absolute Positioning 265 Relative Positioning Without Residual Path Storage 266 Relative Positioning With Residual Path Storage 269 Infinite Travel in Positive/Negative Direction 274 7.7.4 Sequential Block Processing 276 Basic functⅰon 276 Position-Dependent Block Advance 276 Switch-Signal-Dependent Block Advance 281 7.8 Synchronization Modes 面国国 287 7.8.1 Basic Functions of the Synchronization Modes 287 Overview 287 Master Axis adjustment 291 Command value Processing for Slave Axis Depending on Operation Mode 294 Dynamic Synchronization of the slave Axis 295

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