伦茨9400 基础培训教材
伦茨中文使用手册
7
Next Back
Exercise 1: Detect the drive status
by means of LEDs and keypad 通过指示灯和面板检测驱动器
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
= System error 系统错误
通过Engineer 和 操作面板进行参数设定
Technology Applications (TA)
技术应用
Next
Diagnostics and configuration of the
Back
application with the function block
editor
2
Next Back
Modular set-up (≤ 11 kW)
Mounting base 安装底板
Power module 功率模块
Extension module 扩展模块
3
Next Back
Interfaces at the power module
Analog / digital IOs
指示灯
ready
LENZE9400伺服中文培训资料
Motor connection 电机连接端口
Film Next Back
7
Brake resistor connection
(single drive) 制动电阻端口（单轴驱动）
Single shield 单屏蔽端口
9400 Servo Drives
Interfaces at the power module
▪ Easy installation and high system
availability thanks to innovative design technology 全新的安装理念，更易于安 装、提供系统可用性
– Separation of mounting base and drive electronics 安装底座和驱动装置分离
USER
用户定义 Applicable in the application 在应用中使用
9400 Servo Drives
Complete: from simple to complex 完整性：从简单到复杂
▪ High-performance motor control 高性能电机控制
– Field-based servo control for synchronous and asynchronous machines 同步/异步电机现场伺服 控制
9400 Servo Drives
✓ ready
Next Back
12
LEDs
指示灯
CAN RUN
CAN 运行
OFF
= CAN inactive CAN没激活
= Pre-operational 预操作
= Operational 操作
伦茨 伺服PLC(9400)
伦茨9400ServoPLC2010-09-02 伦茨（上海）传动系统有限公司供稿●卓越的性能⏹高效利用驱动功率⏹有效降低总线系统负载⏹PLC与伺服控制器之间无需通讯，缩短了总线扫描时间，提高了响应速度，改善了控制特性⏹强大的联网能力⏹低成本，高效益●完整的系统构成⏹PLC编程与驱动控制同时进行⏹系统调试简便，快捷⏹预装功能集丰富，完善⏹便于构建更合理，灵活性更高的驱动控制系统⏹内部集成制动斩波器-可直接连接制动电阻⏹电机制动模块可选-内部集成制动器控制功能块●技术参数⏹程序存储量8M⏹E2PROM缓存128kB⏹内部RAM 曲线数据128KB⏹内展数字输入 8个（均可作为探针使用）⏹数字输入、输出可使用CAN扩展⏹数字输出4个⏹模以输入2路（11位+符号）输入形式：+/-10V，1路可切换为：+/- 20mA⏹模以输出2路（10位+符号），-10V 到+10V⏹数字频率输入0～500KHz⏹数字频率输出0～500KHz⏹编码器增量编码器或正/余弦编码器⏹接口PROFIBUS-DP,ProfiNet，INTERBUS,系统总线（CANOpen）, DeviceNet ，EthernetPowerlink，Digital Frequency●软件功能⏹L-Force Engineer◆示波器功能，最小采样周期为1ms◆维护日志，可记录所有故障信息◆功能块编程，即插即用方便高效⏹PLC_Desinger◆CodeSys 编程环境◆IEC 61131-3 LAD/IL/FBD/ST/SFC 标准编程语言。
伦茨9400中文使用手册[1]
![伦茨9400中文使用手册[1]](https://img.taocdn.com/s3/m/8c12d857581b6bd97e19ea52.png)
9400 Servo Drives
Target
First without engineer
Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
9400 Servo Drives
Target
First without engineer
Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
Keypad
面板
▪ 4 direction keys for navigation
4个方向键用于导航
▪ 2 context-sensitive function keys
2个功能键
▪ Run and stop keys (configurable) 运行和停止键（可配置）
▪ Status field
Analog / digital IOs
模拟/数字 I/O
CAN on board
内置CAN
24 V supply and state bus
24V和状态总线
2 module receptacles for extensions
2个扩展模块插槽
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4
LEDs
指示灯
Diagnostic interface
状态区
Notes:
CN_4 lenze9400基本功能_V20
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12
Quick stop may cause following errors 快停会引起跟随误差 Tip: When using quick stop in a network, only activate it for the master drive 如用于及联，仅激活主机
S-ramp time must not exceed deceleration time!
Speed
ready
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Deceleration
S-ramp time
10
Decel. time
Servo Drives 9400
Actuator - speed
Basic drive functions used 基本功能
– via SDO (Engineer, HMI, control) 经SDO controller command C00002 = 45, activate quick stop
– with keypad: using the stop key 用面板：用STOP键 – by parameterised monitoring response 由参数监控相应 „Quick stop by trouble“
Servo Drives 9400
Actuator - speed Oscilloscope TA general Communication channels for multi-axis applications Actuator – torque DS402
Terminal assignment 端子定义
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伦茨9400中文使用手册
LEDs
指示灯
Diagnostic interface
诊断接口
Module receptacle for memory module
存储模块插槽
Resolver input
旋转变压器接口
Next Back
Multi encoder input
编码器接口
Module receptacle for safety technology
Modular set-up (≤ 11 kW)
Mounting base 安装底板 Power module 功率模块 Extension module 扩展模块
Accessories
Next Back
附件
3
9400 Servo Drives
Target
First without engineer Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
在应用中使用
5
9400 Servo Drives
Target
First without engineer Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
Menu bar
菜单栏
Tool bar
Multi axis applications Online alternatives
最新伦茨9400中文使用手册
2
Introduction to L-force 9400 and engineer L-force 9400 和 engineer 的介绍
▪ 9400 servo drive set-up with interfaces 9400伺服的接口设置
▪ Parameter setting with Engineer and keypad 通过Engineer 和 操作面板进行参数设定
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
伦茨9400中文使用手册
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
Keypad
面板
▪ 4 direction keys for navigation
4个方向键用于导航
▪ 2 context-sensitive function keys
2个功能键
▪ Run and stop keys (configurable) 运行和停止键（可配置）
▪ Status field
First without engineer
Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
Interfaces at the power module
LENZE伺服中文培训 ppt课件
– Rapid servicing and maintenance, since no tools are required维修和维护方便快捷， 无需额外工具
▪ Tailor-made 定制系统 – modular architecture 模块化结构
▪ Safety 安全功能 - simply integrated 易于集成
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4
9400 Servo Drives
Innovative – a completely new concept in installation 创新－全新的安装方式
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
= System error 系统错误
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5
– Compact, space-saving design 结构紧凑、 节省使用空间
Mounting base up to 11 kW 安装底座功率达11kW
9400 Servo Drives
Modular set-up (≤ 11 kW)
▪ Mounting base 安装底板
9400 Servo Drives
优选伦茨中文使用手册ppt(共59张PPT)
▪ 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
▪ Multi axis application with horizontal CAN communication 使用CAN总线通讯的多轴应用
✓ ready
Next Back
4
LEDs
指示灯
CAN RUN
CAN 运行
OFF
= CAN inactive
CAN没激活
= Pre-operational
预操作 = Operational
操作
DRIVE READY
驱动器投入
OFF = Pulse inhibit due to an error
数频或运动总线的同步
– Electronic gearbox DF or MotionBus
数频或运动总线的电子齿轮
– Table positioning 表格定位 – Positioning sequence control 定位顺序控制 ▪ are part of the runtime software 应用是实时软件的一部分 ▪ use basic drive functions 使用基本的驱动功能
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
伦茨9400中文使用手册
连接
10-pole special cable RJ69 10芯RJ69电缆
USER
用户定义 Applicable in the application 在应用中使用
5
✓ ready
Next Back
6
Keypad
面板
• 4 direction keys for navigation
4个方向键用于导航
• 2 context-sensitive function keys
24 V supply and state bus
24V和状态总线
Analog / digital IOs
模拟/数字 I/O
2 module receptacles for extensions
2个扩展模块插槽
LEDs
指示灯
Diagnostic interface
诊断接口
Resolver input
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
= System error 系统错误
旋转变压器接口
Multi encoder input
编码器接口
Module receptacle for memory module
存储模块插槽
Module receptacle for safety technology
伦茨9400系列手册
!"#$ !"#$%& ! IP23 !"#$%&'() !" !F !"#
!"#$%&'()* !"#$%&'&()* !"#$%&'()* !"#$%&'()*+, !"#$%& ! IP54 UR CE ! MDFQA MDFQA !"# ! MDFQA ! ! MCS !" IP65
KTY !" CSA
OPC DriveServer
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!"#$%&'()*+,-. !"#$%&'()*+,-./0 !"#$%&' !"#$%& !"#$%&'() !"#$%& !"#$%&'
MM220
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!"!#$% CAN ! Engineer !"#$%&'()
!"#$%&' !"# !"#$%&'()*+,-./01 !"#$ !"#$%& !"#$%&'()
伦茨9400中文使用手册
HighLine StateLine: 1 个扩展插槽
Hale Waihona Puke ready Next Back
LEDs
指示灯
CAN RUN
CAN 运行
OFF = CAN inactive CAN没激活
= Pre-operational 预操作 = Operational 操作
DRIVE READY
LEDs
指示灯
Diagnostic interface
诊断接口
Resolver input
旋转变压器接口
Multi encoder input
编码器接口
Module receptacle for memory module
存储模块插槽
Module receptacle for safety technology
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态 = System error 系统错误
USER
用户定义 Applicable in the application 在应用中使用
5
ready
Next Back
6
Keypad
面板
• 4 direction keys for navigation
3. Switch off the 400 V supply 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
Welcome!
Practical introduction: 实用简介
伦茨9400中文使用手册
Notes:
注：
Diagnostic & parameter setting only
ready
Next Back
9400 Servo Drives
Target
First without engineer
Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
Interfaces at the power module
ready
Next Back
5
LEDs
指示灯
CAN RUN
CAN 运行
OFF
= CAN inactive CAN没激活
= Pre-operational 预操作
= Operational 操作
DRIVE READY
驱动器投入
OFF
= Pulse inhibit due to an error 由于错误而禁止
9400 Servo Drives
Target
First without engineer Engineer with single drive, basics of TA Structured project, further TA FB editor Multi axis applications Online alternatives
伦茨9400伺服使用手册
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.。
伦茨9400-基础培训教材
9400 Servo Drives
Keypad
面板
▪ 4 direction keys for navigation
4个方向键用于导航
▪ 2 context-sensitive function keys
2个功能键
▪ Run and stop keys (configurable) 运行和停止键（可配置）
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
= System error 系统错误
▪ Power module 功率模块
▪ Extension module 扩展模块
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6
▪ Accessories 附件
9400 Servo Drives
Innovative – a completely new concept in
installation
创新－全新的安装方式
▪ Performance-enhancing functions 加强性能 – Motor model supported by electronic nameplate 电机电子铭牌 – Band stop filters 带阻滤波器 – Inverter fault compensation 变频器误差补偿 – Pre-control values for speed and torque 速度/ 转矩预控制值
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L-force 9400 Servo Drives
Basic Training : 基本培训
2009年7月20日
培训人：王天将，周建明，曹海笑
9400 Servo Drives
Introduction to L-force 9400 and engineer L-force 9400 和 engineer 的介绍
System overview系统总览
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3
9400 Servo Drives
9400 servo drive system at a glance 9400伺服驱动系统概览
▪ Innovative 创新 – a completely new concept in installation全新的安装方式
USER
用户定义 Applicable in the application 在应用中使用
9400 Servo Drives
Complete: from simple to complex 完整性：从简单到复杂
▪ High-performance motor control 高性能电机控制
– Field-based servo control for synchronous and asynchronous machines 同步/异步电机现场伺服 控制
▪ Power module 功率模块
▪ Extension module 扩展模块
Next Back
6
▪ Accessories 附件
9400 Servo Drives
Innovative – a completely new concept in
installation
创新－全新的安装方式
– A pluggable memory module contains all the data relevant for the application可插 式存储模块中记录下系统的所有数据信息
– Rapid servicing and maintenance, since no tools are required维修和维护方便快捷， 无需额外工具
DC fuse 直流熔断器端口
Mains connection 电源连接端
Configuration of isolated-
neutral systems 中性点绝缘配置端口
Integrated DC busbar 内置直流母线端口
Integrable motor brake
module 内置电机制动模块
Motor connection 电机连接端口
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Brake resistor connection
(single drive) 制动电阻端口（单轴驱动）
Single shield 单屏蔽端口
9400 Servo Drives
Interfaces at the power module
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Analog / digital IOs
模拟/数字 I/O
LEDs
指示灯
Diagnostic interface
诊断接口
Resolver input
旋转变压器接口
Multi encoder input
编码器接口
CAN on board
内置CAN
24 V supply and state bus
24V和状态总线
2 module receptacles for extensions
2个扩展模块插槽
Module receptacle for memory module
存储模块插槽
Module receptacle for safety technology
安全模块插槽
HighLine StateLine: 1 个扩展插槽
9400 Servo Drives
✓ ready
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LEDs
指示灯
CAN RUN
CAN 运行
OFF
= CAN inactive CAN没激活
= Pre-operational 预操作
= Operational 操作
DRIVE READY
驱动器投入
OFF
= Pulse inhibit due to an error 由于错误而禁止
= Controller inhibited 控制器禁止
= Controller enabled 控制器使能
24 V
CAN ERROR
CAN 错误
= Bus warning 总线报警
= Bus off 总线关闭
DRIVE ERROR
驱动器错误 OFF = OK
= Error status 错误状态
= System error 系统错误
▪ Tailor-made 定制系统 – modular architecture 模块化结构
▪ Safety 安全功能 - simply integrated 易于集成
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9400 Servo Drives
Innovative – a completely new concept in installation 创新－全新的安装方式
▪ 9400 servo drive basic introduction 9400伺服基本介绍
▪ L-force Engineer software introduction Engineer 软件介绍
▪ Technology Applications (TA) 技术应用
Neervo Drives
▪ Easy installation and high system
availability thanks to innovative design technology 全新的安装理念，更易于安 装、提供系统可用性
– Separation of mounting base and drive electronics 安装底座和驱动装置分离
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– Compact, space-saving design 结构紧凑、 节省使用空间
Mounting base up to 11 kW 安装底座功率达11kW
9400 Servo Drives
Modular set-up (≤ 11 kW)
▪ Mounting base 安装底板