伦茨伺服回原点
合集下载
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
DI5 = “Homing“ operating mode DI6 DI7 = Start
7 Pos04_Positioning-Homing_en.pptx V04
08/01/2013
As easy as that.
6 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Exercise: Homing 练习：寻零
• • Change the motor control to “servo control“ 改变电机控制到”servo control” Activate a reference search mode which 激活一个参考搜索模式 a) runs in negative direction 运行在反方向 b) reference with 20 % torque 参考值为20%的转矩 c) waits at an end stop for 0.5 s 等待终点止动0.5s d) the home position is 50 mm in front of the mechanical end stop 原位置在机械终点止动前的50mm处 e) the target position after reference search is the zero point of the measurement system 参考搜索后的目标位置是测量系统的零点位置。 • Start the reference search via the handling box 通过操作箱启动参数搜索 RFR = Controller enable an simulate the mechanical end position by the hold of the driven pulley. 通过从动摩擦轮的保持来模拟机械的终点位置
• •
•
•
3 Pos04_Positioning-Homing_en.pptx V04
08/01/2013
Homing
Home position, home value offset, homing sequence profile 原位置，原偏移值，寻零顺序波形
•
v, n The drive continues correctly signed traversing by the home position offset (C1227/1) at search speed after the home position has been found. 在找到原位置后驱动继续以搜索速度通过原位置偏移（ C1227/1 ）正确地记录运行。
•
Example: 举例 The measuring system of a spindle drive and the position of the zero position is set within the possible physical travel range.
主轴驱动的测量系统和零位置的位置尽可能设置在物理运行范围内。
Home position offset Home signal is detected Home position is set t [s]
•
The home position C1227/2 is set after this movement. 在这个动作之后设置原位置C1227/2 If necessary, a sequence following profile can be entered in C1228 in order to arrange for a positioning movement to be carried out immediately after completion of homing. 如果需要的话，可以在C1228中输入顺序跟随波形来安排在完 成寻零后立即执行定位。 Note: If a second sequence (following or subsequent) profile has been defined in the sequence profile, it is not automatically started! 提示：如果一个第二顺序（跟随或者后来的）波形定义在顺序 波形中，它就不能自动启动！
•
2 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Homing
11 different Lenze modes of the reference run 参考运行中11种不同的模式
Criteria for selecting the correct homing mode: 选择正确寻零模式的标准： • • What signals are available?哪些信号是可用的？ Can a travel range limit be evaluated as a fixed stop? 运行范围极限可以被认为是固定停止么? What level of accuracy is required? 要求哪种级别的精度？ Is a reference to the home position at the position encoder index pulse adequate? 位置编码器索引脉冲中原位置的参考充足么？ Where may the machine part be located at the start of homing? 在启动寻零中机械部分会坐落在哪里？ Is the direction of movement (positive/negative) restricted? 运动方向（正/反）受限制么？
Typical application 典型应用
• Determining the machine position without additional sensor and low requirements regarding accuracy 在没有外加传感器且精度要求低的情况下 决定机械的位置。
5 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Use case 使用案例
Packaging machine 包装机
Requirement 要求
• The home position for a cardboard stacker is to be defined via the end stop of the pusher. 硬纸板堆垛机的原位置通过推进器的终点止动来定义。
Homing 寻零
•
Define the reference point (home position) 定义参考点（原位置）
The internal measuring system in the drive controller is adjusted to the reference point of an external measuring system in the machine.
1 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Homing 寻零
Various routes to get the home position 回到原位置的不同路线
• Set home position 设定原位置 As soon as homing is started the current position is set directly to the home position as configured. 寻零启动同时当前位置就直接设置到配置的原位置中了。 Reference run 参考运行 The drive travels to determine the home position actively. The nature of the motion and the reference signals to be evaluated are determined by the homing mode. 驱动运行决定了原位置。评估运动和参考信号的性质通过寻零模式决定。 The reference signals include 参考信号包括： • positive/negative travel range limit switch 正/反运行范围限位开关 • homing switch 寻零开关 • Touch Probe event
• Second referencing speed for modes 6…7 and 10…11 reduces the searching time and improves at the same time the accuracy 模度。 • Reference received (e. g. after mains switching, when a holding brake is available) 接收的参数 （如，在电源接通后，当抱闸可用）
08/01/2013
•
4 Pos04_Positioning-Homing_en.pptx V04
Homing
Parameter dialog in the »Engineer« 参数对话框
• The request and start by means of MCKInterface 通过MCKIterface的方法要求和启动 • The movement in a reference search is described by its own profile parameters 参考搜索中的动作通过自身的波形参数描述。
驱动控制器内部测量系统调节到机械外部测量系统的参考点。 Set home position 设置原位置 Position in the machine measuring system
机械测量系统中的位置
Position in the motor measuring system
电机测量系统中的位置
7 Pos04_Positioning-Homing_en.pptx V04
08/01/2013
As easy as that.
6 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Exercise: Homing 练习：寻零
• • Change the motor control to “servo control“ 改变电机控制到”servo control” Activate a reference search mode which 激活一个参考搜索模式 a) runs in negative direction 运行在反方向 b) reference with 20 % torque 参考值为20%的转矩 c) waits at an end stop for 0.5 s 等待终点止动0.5s d) the home position is 50 mm in front of the mechanical end stop 原位置在机械终点止动前的50mm处 e) the target position after reference search is the zero point of the measurement system 参考搜索后的目标位置是测量系统的零点位置。 • Start the reference search via the handling box 通过操作箱启动参数搜索 RFR = Controller enable an simulate the mechanical end position by the hold of the driven pulley. 通过从动摩擦轮的保持来模拟机械的终点位置
• •
•
•
3 Pos04_Positioning-Homing_en.pptx V04
08/01/2013
Homing
Home position, home value offset, homing sequence profile 原位置，原偏移值，寻零顺序波形
•
v, n The drive continues correctly signed traversing by the home position offset (C1227/1) at search speed after the home position has been found. 在找到原位置后驱动继续以搜索速度通过原位置偏移（ C1227/1 ）正确地记录运行。
•
Example: 举例 The measuring system of a spindle drive and the position of the zero position is set within the possible physical travel range.
主轴驱动的测量系统和零位置的位置尽可能设置在物理运行范围内。
Home position offset Home signal is detected Home position is set t [s]
•
The home position C1227/2 is set after this movement. 在这个动作之后设置原位置C1227/2 If necessary, a sequence following profile can be entered in C1228 in order to arrange for a positioning movement to be carried out immediately after completion of homing. 如果需要的话，可以在C1228中输入顺序跟随波形来安排在完 成寻零后立即执行定位。 Note: If a second sequence (following or subsequent) profile has been defined in the sequence profile, it is not automatically started! 提示：如果一个第二顺序（跟随或者后来的）波形定义在顺序 波形中，它就不能自动启动！
•
2 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Homing
11 different Lenze modes of the reference run 参考运行中11种不同的模式
Criteria for selecting the correct homing mode: 选择正确寻零模式的标准： • • What signals are available?哪些信号是可用的？ Can a travel range limit be evaluated as a fixed stop? 运行范围极限可以被认为是固定停止么? What level of accuracy is required? 要求哪种级别的精度？ Is a reference to the home position at the position encoder index pulse adequate? 位置编码器索引脉冲中原位置的参考充足么？ Where may the machine part be located at the start of homing? 在启动寻零中机械部分会坐落在哪里？ Is the direction of movement (positive/negative) restricted? 运动方向（正/反）受限制么？
Typical application 典型应用
• Determining the machine position without additional sensor and low requirements regarding accuracy 在没有外加传感器且精度要求低的情况下 决定机械的位置。
5 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Use case 使用案例
Packaging machine 包装机
Requirement 要求
• The home position for a cardboard stacker is to be defined via the end stop of the pusher. 硬纸板堆垛机的原位置通过推进器的终点止动来定义。
Homing 寻零
•
Define the reference point (home position) 定义参考点（原位置）
The internal measuring system in the drive controller is adjusted to the reference point of an external measuring system in the machine.
1 Pos04_Positioning-Homing_en.pptx V04 08/01/2013
Homing 寻零
Various routes to get the home position 回到原位置的不同路线
• Set home position 设定原位置 As soon as homing is started the current position is set directly to the home position as configured. 寻零启动同时当前位置就直接设置到配置的原位置中了。 Reference run 参考运行 The drive travels to determine the home position actively. The nature of the motion and the reference signals to be evaluated are determined by the homing mode. 驱动运行决定了原位置。评估运动和参考信号的性质通过寻零模式决定。 The reference signals include 参考信号包括： • positive/negative travel range limit switch 正/反运行范围限位开关 • homing switch 寻零开关 • Touch Probe event
• Second referencing speed for modes 6…7 and 10…11 reduces the searching time and improves at the same time the accuracy 模度。 • Reference received (e. g. after mains switching, when a holding brake is available) 接收的参数 （如，在电源接通后，当抱闸可用）
08/01/2013
•
4 Pos04_Positioning-Homing_en.pptx V04
Homing
Parameter dialog in the »Engineer« 参数对话框
• The request and start by means of MCKInterface 通过MCKIterface的方法要求和启动 • The movement in a reference search is described by its own profile parameters 参考搜索中的动作通过自身的波形参数描述。
驱动控制器内部测量系统调节到机械外部测量系统的参考点。 Set home position 设置原位置 Position in the machine measuring system
机械测量系统中的位置
Position in the motor measuring system
电机测量系统中的位置