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伺服程序下载步骤首先完成主电路和控制部份接线,完成上电测试,上电变频器七段数码管显示在1使用相同的伺服机电且有备份程序情况下,可选择传输备份程序.打开软件1MT-manage..联机,见图片选择浮现机电型号后,可终止2PCinterface:COM7USB,Update,Update.点击浮现下面图面3shell.3HFT I-MOfTTOCT S7IOTTHRTTE PFileStartup Parametersfit splayExtras ttindowHelp口日饕期基鬻MMain MenuPariJTietermenusIBCL.Display values勰
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14.IP0S点击下栽捏打开软件,与控制器连接上打.开”机器人夹具最终IPC\「[F IEEdit SearchProjert RjuiiDismay_p liaisyindow tlelp「鼬鸵亘13T,PSTOfl i1D OrQ止匕Project・、.点击运行程I序明志•造国噩控秦毛趁.字w所圭的控制信号主旨总我二
1.Frcfibus由忌线下发四个控询字.髡一十控翻手定义为赏二个字定,岂况安髭皿、高亨
2.SnBcdgj WJ高昊兰一条三个字无女暴实现空表走动.精砖控刻其运此泣重.运fl行间云皓子定必n5tDIOODI01Contra llnhibitDI02Fault ResetDID3I JOfunctionNo fimctADnDID4lin switchcw orno functiGn1TH.pwitArAh urvwnr r.-Fiimtii rrIEADDR11:1选择浮现下面画面
4.copy unitdata,在上面…选择我们的备份程序,在下面…选择.然后点击按钮.程序传输完成from toinverter start5后,启动程序或者点击闪电图标start三.没有备份程序,可进行初始化操作+下载程序初始化操作如下:IPOS点击.浮现下面画面注意控制器和马达的型号和参数
1.start-upStart—upParameter set1|Parameter Set2IBasic Inverter[MDAGIBOOOS™Type:Signature:Operating mode1|SERVO KcIPOSSetpoint source;I FIELDBUSControlsource:FIELDBUSThe inverteris currentlyoperated withthe followingsettings:IPOS Outputcurrent;Encoder[075kWRated power:|ExyH2AH,y0|APPLICATIONVariant品u-ce actualpos.|MOTOR ENC.15Options[DFFFieldbus:M jinsSupplyEx怕nwiin;[NONEMainsvoltage:Start up Set1点击浮现下面[面
2.Start-upSet1,ElSt art-up typeSelectthe cornrridridJ Execute complete start-up1for theinitial start-up of the motoror ifthere havebeen majorchanges replacemertof motor,encodeL etc.].Select*Execute partialstart-up*if youwou1d liketo merelymake certainadjustments mainsor motorvoltage,etc..SelectionExecute completestart-u[:tExecute partialstart-upOptimize speed controllerV上一步
⑧下一步取销H1选择.点击步”按钮浮现下面画面“下
3.Executecompletestart-uplot orEncoder DataTheencoder coniainshe followingdala:Motor type1Motor ratedvoltcge V][400Motor ratedfrequency[Hz]150Motor rated speed[1/min]3000Encoder typeE*H/AxyH,y0Encoder incrernmls[1024Erake WITHZfanfwlTHCiUTM ax.input spesdgear unit[1/min]1°Do NOTuse encoderdata〈上一步
⑧I下一步此)>1取销I4注意马达型号和其他参数点击“下一步”浮现下面画面Mo tortype1Mo torr ate d voltage[V]IV上一步僵)Mo torr atedspeed>[rpm]3000下一步阻)1I取销Mains ratedvoltage[V]选择“下一步”浮现下面画面
5.835Response TF,Servo Possibleapplications530Sensor typer-ju SENSORSpeedcontrol I,「Use DCbraking「Use flyingrestart circuitalion conrol⑴R5F usitionirigwith iPOSjf*Use torqueozintrolI取销sensor SIGNALNORESPONSE选择点击“下一步〃浮现下面面
6.Positioning withIPOS,ElT estrigLoadinert,ia[10-4kg|4|determine automaticalDr IVEIV/1THOUT BACIjr]Brake WITH何史Shortest,required r;5Q[ip Ext.co ntrol tirne ref.JO[ms][i-|o.S3inutrir[10e-40Ni.mfcier ofslave axesSpeedController Servo上一步但)[下一步>|职消Stiffness选择机电币动负载重重(工程经验值参数的倍)选择后,点击“下
7.Load inertiaJO motor5-8it一步”,浮现卜面画面Paraeters Servo[XVorschlag Download-*w ert303Current limit1[%In]厕200304Torque limit[%Tn]200200500Speed nionitoring1MOTREGEN.MODE MOTAREGEN.MODE/r501Delay time1[s]
0.
10.3504Encoder rnunitoringmotorNO NOApply proposal设置电流极限值()、转速监视时间(),再点击“下一步,,浮现下一画面
8.200%1SSpeed ControllerParuetersParameters ProposalDown1oad value200P gainspeedcontroller
10.
74110.741201Tiine const,ant.n-control.[G4[G4202Gain acccl.feedforward
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56910.569204Filter speedactual[199-[199-115Filt.er setpoint[nis]
11.49|L49203Filter accel.[lag[lag210P gainhold controller
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0513.05910Gain XcontrollerAppIy proposalI I I〈上一步鱼)下一步更)》取销控制器参数接受建议值,点击『再点击下一步,,浮现下一画面
9.Apply proposaParaeters可使用参考值,点击.但是和参数须改为再点击“下一
10.Applyproposal”100101fieldbus,步’,浮现画面download100Setpointsource101Control signalsource130Rainp t.11UP CW131Rainp tilDOW CW132Rainp tilup CCW133Ramp tildown CCIJ136Stop r:zurip113137Emergency r~np
1.14MliiLnn.mi speem1301MaxLnn.mi speed1302730Brake function1731Brake releasetime1,303D•***z-*1e1QThe cahuldtionofthe start-up pdismcterTiscompleted.To domload the calculated parameters to theinverter andto completethestart-up presstheProposal Down1oad valuebultonFirish1UNIPOL/FIXSETPT1FIELDBUSTERMINALS FIELDBUS▼[s]
0.0410[s]
0.0410T0domloadthecalculatedparameterstothe[s]
0.0410inverter withoutcorrplcthg theslart-up picssthebutton Downbad.[s]
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0.0410[rprnj00[rpin]30003000二□N ON[s]
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150.15IIIApply proposal(上一步如完成职消点击把参数下载下去H.download,.打开软件12参数设置参照实际输入输出参数设置可参考下面60Terminal assignment870-876执行下载然后点击按钮或者闪电标记“start”.选择手动操作,验证控制器和机电接线是否正确;刹车是否正常释放;机械是否卡堵或者过载13在进行手动操作测试前,要保证即的第个端子要有DIOO=1X13124VDCo。