序
前言
第 1章　概論 ···································· 1
1.1　交流伺服驅(qū)動系統(tǒng) ·······························1
1.2　西門子交流伺服驅(qū)動系統(tǒng)······················1
1.3　西門子小型伺服驅(qū)動系統(tǒng)······················3
第 2章　SINAMICS V90伺服驅(qū)動系統(tǒng) ··· 6
2.1　SINAMICS V90伺服驅(qū)動系統(tǒng)的優(yōu)點 ·······6
2.2　SINAMICS V90脈沖型伺服驅(qū)動器 ··········9
2.2.1 SINAMICS V90 PTI伺服驅(qū)動器硬件接································9
2.2.2 SINAMICS V90 PTI伺服驅(qū)動器的通用功能 ··································· 12
2.2.3 SINAMICS V90 PTI伺服驅(qū)動器外部脈沖位置控制 ····························· 13
2.2.4 SINAMICS V90 PTI伺服驅(qū)動器內(nèi)部位置控制 ··································· 17
2.2.5 SINAMICS V90 PTI伺服驅(qū)動器速度控制 ······························· 20
2.2.6 SINAMICS V90 PTI伺服驅(qū)動器轉(zhuǎn)矩控制 ································· 22
2.2.7 SINAMICS V90 PTI伺服驅(qū)動器混合控制 ····························· 22
2.2.8 SINAMICS V90 PTI伺服驅(qū)動器 RS485 通信控制 ·························· 23
2.3　SINAMICS V90總線型伺服驅(qū)動器 ········ 24
2.3.1 SINAMICS V90 PN伺服驅(qū)動器硬件接口 ···························· 24
2.3.2SINAMICS V90 PN伺服驅(qū)動器 PROFINET通信 ·························· 26
2.3.3SINAMICS V90 PN伺服驅(qū)動器速度控制 ·························· 31
2.3.4 SINAMICS V90 PN伺服驅(qū)動器基本定位器控制 ··································· 32
2.4　SINAMICS V90伺服驅(qū)動器非周期通信 ·· 37
2.5　SINAMICS V90伺服驅(qū)動器調(diào)試工具 ····· 40
2.5.1　V-ASSISTANT調(diào)試軟件 ················ 41
2.5.2　TIA Portal調(diào)試軟件 ······················ 50
2.6　SINAMICS V90伺服驅(qū)動器的安全功能 ·· 62
2.6.1　 SINAMICS V90伺服驅(qū)動器與 SIMATIC S7-1200F PLC安全功能的連接 ··················· 62
2.6.2　 SINAMICS V90伺服驅(qū)動器與 ET200S安全功能的連接 ················ 62
2.6.3　 SINAMICS V90伺服驅(qū)動器與 SIRIUS 3SK1安全繼電器安全功能的連接 ········63
2.6.4　 SINAMICS V90伺服驅(qū)動器與急停開關(guān)安全功能的連接 ····················· 64
2.6.5　多伺服驅(qū)動器與急停開關(guān)安全功能的連接 ·················· 64
2.7　 SINAMICS V90 伺服驅(qū)動系統(tǒng)的制動 ····· 64
2.7.1　 SINAMICS V90伺服驅(qū)動系統(tǒng)的制動方法 ··········· 65
2.7.2　制動過程的計算 ·························· 66
2.7.3　制動電阻的選擇原則 ····················· 68
2.7.4　制動單元的核算 ·························· 69
2.7.5　驅(qū)動器最大制動能力的估算 ············ 71
2.8　 SINAMICS V90伺服驅(qū)動系統(tǒng)的選型工具 ····················· 72第
3章　運動控制功能 ······················· 81
3.1　SIMATIC S7-1500 系列 PLC ················· 81
3.2　電子齒輪同步 ·································· 82
3.2.1　電子齒輪運動控制向?qū)?·················· 82
3.2.2　電子齒輪運動控制指令 ·················· 84
3.3　電子凸輪同步 ······················ 88
3.3.1　電子凸輪運動控制向?qū)?·················· 88
3.3.2　電子凸輪運動控制指令 ·················· 91
3.4　測量輸入 ·························· 92
3.4.1　測量輸入運動控制向?qū)?·················· 92
3.4.2　測量輸入運動控制指令 ·················· 95
3.5　凸輪輸出 ········································ 98
3.5.1　凸輪輸出運動控制向?qū)?·················· 99
3.5.2　凸輪輸出運動控制指令 ·················102
第 4章　 SINAMICS V90伺服驅(qū)動器的應(yīng)用技巧 ·················· 104
4.1 SIMATIC S7-200 SMART脈沖輸出指令控制 SINAMICS V90 PTI伺服驅(qū)動器 ······104
4.2 基于 HSP的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ············108
4.2.1 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的硬件組態(tài) ······108
4.2.2　基于報文類型 1的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ·············· 112
4.2.3　基于報文類型 3的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ············· 114
4.2.4　基于報文類型 102的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ········· 119
4.3　 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動器的周期性通信 ···············123
4.3.1　DPRD_DAT指令 ···················123
4.3.2　DPWR_DAT指令 ····················124
4.3.3 基于報文類型 111的 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制··············124
4.3.4 基于基本定位器工藝對象的 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ······133
4.3.5　基于報文類型 1的 SIMATIC S7-200 SMART PLC與 SINAMICS V90 PN伺服驅(qū)動器的通信控制 ··········137
4.4 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動器的非周期通信 ·························142
4.4.1 基于 WRREC和 RDREC指令的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器間的非周期通信 ··142
4.4.2 基于 SinaPara的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的非周期通信 ···············149
4.4.3 基于 SinaParaS的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的非周期通信 ··············154
4.4.4 基于 SINA_PARA_S的 SIMATIC S7-200 SMART PLC與 SINAMICS V90 PN伺服驅(qū)動器的非周期通信 ············159
4.5 SINAMICS V90 PN伺服驅(qū)動器的回參考點 ···················168
4.5.1　設(shè)置直接回參考點的方式 ··············169
4.5.2　參考點擋塊和編碼器零脈沖方式 ·····169
4.5.3　參考點擋塊和編碼器零脈沖硬限位反轉(zhuǎn)方式 ··············171
4.5.4　編碼器零脈沖方式·······················173
4.5.5　編碼器零脈沖硬限位反轉(zhuǎn)方式 ········175
4.5.6　參考點擋塊引入伺服驅(qū)動器的參考點擋塊和編碼器零脈沖方式 ···········176
4.5.7　參考點擋塊引入伺服驅(qū)動器的參考點擋塊和編碼器零脈沖硬限位反轉(zhuǎn)方 ···················177
4.5.8　硬限位開關(guān)作為參考點擋塊和編碼器零脈沖方式 ········179
4.5.9　僅尋參考點擋塊的方式 ·················182
4.5.10　僅尋參考點擋塊的硬限位反轉(zhuǎn)方式 ··183
4.5.11　回參考點的應(yīng)用技巧 ··················185
4.6　巧用附加報文類型 750 ······················186
4.6.1　基于報文類型 1的 SIMATIC SMART 200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的附加報文應(yīng)用 ·······187
4.6.2　基于報文類型 3的 SIMATIC S7-1500 PLC與 SINAMICS V90 PN伺服驅(qū)動器的附加報文應(yīng)用········192
4.6.3　基于報文類型 105的 SIMATIC S7-1500 PLC與 SINAMICS V90 PN伺服驅(qū)動器的直接轉(zhuǎn)矩控制 ············201
4.6.4　基于報文類型 102的 SIMATIC S7-1200 PLC與 SINAMICS V90 PN伺服驅(qū)動器的直接轉(zhuǎn)矩控制 ···········206
4.6.5　基于報文類型 111的 SIMATIC PLC與 SINAMICS V90 PN伺服驅(qū)動器的參考點坐標應(yīng)用 ············214
4.7　固定點停止 ····································215
4.7.1　基于 SINAMICS V90 PN伺服驅(qū)動器基本定位器模式下的固定點停止 ·····215
4.7.2　基于 SINAMICS V90 PN伺服驅(qū)動器速度模式下的固定點停止 ··············218
第 5章　運動控制系統(tǒng)的應(yīng)用技巧 ······ 222
5.1　運動控制系統(tǒng)的項目組態(tài)···················222
5.2　往復(fù)定位運動 ·································231
5.3　帶測量輸入和凸輪輸出的基本定位運動 ···237
5.4　相對電子齒輪同步運動 ······················243
5.5　絕對電子齒輪同步運動 ······················246
5.6　帶測量輸入的絕對電子齒輪同步運動 ····250
5.7　凸輪同步運動 ·································254
5.8　帶凸輪輸出的凸輪同步運動················260
參考文獻 ······································· 263