CPX3_Configuration_I11_T30_E_課件

1、ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Technology Function I11 T30ConfigurationElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Contents:rPlug and connector assignment I11 T30rConfiguration via C3MgrrController structurerOptimizationrError reactionElectromechanicalParker EME

2、Nov. 2008/TSTCompax3 I11 T30Plug and Connection Assignment V2X1 Mains powerX2 Ballast resistor +R ; -R Depend on Controller type you can use different ballast resistor X3 Motor + BrakeX4 24V DC Input range: 21 - 27V DC Enable Input For implementation of a safety function in accordance with DIN EN 95

3、4-1 Category 3ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Plug and Connection Assignment V2X10 Interface: RS232 X10/1=0V; 115k baud RS485 X10/1=5V; 2- or 4-wire X12 Inputs/outputsX13 Feedback: F10 Resolver, F11 SinCos, or F12 Linear encoder for direct drive X11 Analog/encoder Meaning of

4、Front LEDs:ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr:1. Device Selection - via Wizard or - Online Identification2. I11 T30 ConfigurationElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 Configuration I11 T30 Configuration s

5、teps: - Motor selection - ballast selection - Drivetype - Frame of reference - Jerk and Ramps - Control- / limit settings - Encoder simulation - Recipe List - RS 485 settings (POP)I11 T30 Configuration steps via C3Mgr:ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationElectromec

6、hanicalParker EME Nov. 2008/TSTCompax3 I11 T30ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Motor selection: PARKER EUROPE-Motors - SMH/SMHA - MH/MHA PARKER US-Motors - NeoMetric - M / J / BE / SM Additional Motors - HJ/HJ+Brak

7、e - HDY/HDY+Brake Customers motors via MotorManagerElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 define motor reference point: - new reference speed - new reference currentAttention: - Make sure that the thermal limit of the mo

8、tor is not exceeded - Make sure that the voltage limit of the motor is not exceededElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Ballast Resistor selection: Select the connected ballast resistor or enter the characteristic valu

9、es of your ballast resistor directly.ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 General Drive Type: External moment of inertia: - min. external moment of inertia. - max. external moment of inertia. Unit: kgmm2Electromechanic

10、alParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 General Drive Type: Defining the reference system Units: - mm, - Increments or - angle degreesElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps vi

11、a C3Mgr: I11 T30 General Drive Type: Defining the reference system - Travel distance per one motor revolution in the selected unit. Via Input of numerator and denominator Example.: 144/7 = 20,57142. = no Drift - change of rotation directionElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 C

12、onfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 General Drive Type: Defining the reference system. - Reset mode: Input values Counter-/ and Denominator = After the reset path the postion values are reset to 0 - Reset mode is turned off for Counter = 0 and denominator = 0ElectromechanicalP

13、arker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Maschine zero mode: - selection between 13 Maschine zero-modes, 11 Specify by CANopen CiADS 402 Device Profil. With SinCos Multiturn it is not necessary to move to maschine zero point, only: - First

14、setup, -change of Motor-/controller -Mechanical change.ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Multiturn Emulation: - With this function we can reproduce an SinCos- Multiturn encoder Supported encoder: - Resolver or - Sin

15、Cos Singelturn - MultiTurn Valid Window: Range: 1.180 The status information can be read in the IEC-program. C3_Multiturnemulation_StatusElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Jerk/Ramps: Deceleration ramp for - error (e

16、rror reaction 2) or - De-energise the motor with IEC- Functionblock: MC_Power module Unit:measure reference/s2ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Limits: - Max. Torque Limit Standard value: 200% 100%=nominal Torque Un

17、it: % - Max. Operating Speed Standard value:100% 100%=nominal speed Unit: %ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30Position reached message:Position reached:- actual position is in the position window 1“ and after the wind

18、ows time ms is set 2“ The status can be read via IEC Object C3.PostioningAccuracy“TRUEElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30- If the tracking error is even greater than the tracking error limit mm,Incr. or degree 1“ at the end of the tracking error time ms 2“.C3 ConfigurationI11 T3

19、0 Configuration steps via C3Mgr: I11 T30Tracking error message: this error message can be switch off via the IEC function- block C3_ERRORMASKE“ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Encoder simulation: resolution: Unit:

20、1, 2, 4,. 16384 inc/revolutionAttention: Limit for the encoder output frequency, fmax: 620kHzElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 Recipe table: 32 Rows with 9 Columns - 64 REAL-variables - 96 INT-variables - 128 DINT-v

21、ariablesElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 RS485 Settings: - Master: POP / General - Multicast-adress - Device-adress - Baudrate for POP 11/12 set: 9,6kBaud - Cabel type Two-/Four wire - Parity - Stopbits - Date bits

22、ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30C3 ConfigurationI11 T30 Configuration steps via C3Mgr: I11 T30 ConfigurationSummery:- Configuration name- Note- DownloadC3 must be onlinevia RS232ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Controller structur:Advanced settingsPI -

23、Current controllerActuatingsignal201: Stiffness202: Damping203: Moment of inertiaPosition controller / PID - Speed controllerSpeedcontrollerD-termForward currentcontrolActual values207: Bandwidth ofcurrent controller208: Damping of current controllerForward speed controlForward accelerationcontrolAc

24、celeration (a)Current205: Filter: actual accelerationvalue204: Velocity filter PositionAccelerationVelocityForward jerkcontrolJerk (r)tsvtatrtSetpoint generatorTarget positionSpeedAccelerationDecelerationAcceleration jerkDeceleration jerkSpeed (v)Target poisiton (s)ElectromechanicalParker EME Nov. 2

25、008/TSTCompax3 I11 T30Optimization:Standard-OptimizationAdvanced-Optimization-VP Valid parameter- WF write Flash- QT error quitElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30OptimizationrStiffness of the speed controller:The stiffness is proportional to the control speed. - Increasing stiff

26、ness. = Control action becomes faster. The control circuit oscillates above a critical value.- Decreasing stiffness. = Control action becomes slower. This increases the tracking error. Nominal value: 100%.t1: target value2: actual value3: stiffnessElectromechanicalParker EME Nov. 2008/TSTCompax3 I11

27、 T30OptimizationrDamping of the speed controller:Damping influence the level of overshoot and oscillation delay.- increasing damping: The overshoot decreases- decreasing damping: The setpoint overshoot of the actuel value increase, and the actual value oscillates for a longer time above and below th

28、e setpoint.Nominal value: 100%.t1: target value2: actual value3: dampingElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30OptimizationPositioning with forward control:tt1: Target speed value3: Motor current2: Actual speed value4: Tracking errorwithout forward controlwith forward speed controlt

29、t1234ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Optimizationtt2134+ acceleration forward control+ current forward controltt21341: Target speed value3: Motor current2: Actual speed value4: Tracking errorPositioning with forward control:ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11

30、 T30Error reactionAll errors lead into the error status.There are two different reaction:Reaction 2: Shut down with de-energise rampe then- apply brake and then- de-energise the power stage.Example: Short circuit at digital output or temperature of power stage too high,.Reaction 5: De-energise immed

31、iately (without ramp),- apply brake direct.Example: Overcurrent of power output stage, voltage inintermediate circuit too high, . Via BDM or C3mgr you can read the topical error message.ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Error reactionElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Thank you !ElectromechanicalParker EME Nov. 2008/TSTCompax3 I11 T30Plug and connector assignment:PinX11ReferenceHigh Density Sub D1+24V max. 50mA2Ain1 - : analoge input (14-bit)3D/A-Monitor Kanal 1 (10V, 8-Bit resolution)4D/A