美国LinMot直线电机用户手册

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User ManualRel. 1.0

LinMot

Sulzer Electronics AG

Technoparkstrasse 1CH-8005 ZürichTel.: +41 (0) 1 445 2282Fax: +41 (0) 1 445 2281Email: office@Homepage:

非常好的直线电机样本

© 1999 Sulzer Electronics AG

This work is protected by copyright.

Under the copyright laws, this publication may not be reproduced or transmitted in any form, electronic or mechanical, including photocopying,recording, microfilm, storing in an information retrieval system, not even for didactical use, or translating, in whole or in part, without the priorwritten consent of Sulzer Electronics AG.

LinMot® is a registered trademark of Sulzer Electronics AG.

Note

The information in this documentation reflects the stage of development at the time of press and is therefore without obligation.

Sulzer Electronics reserves itself the right to make changes at any time and without notice to reflect further technical advance or productimprovement. Please refer to the latest edition of our “General business terms”

Version 1.01 / Rev. 3 October 8th 1999

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1.1

2.1

3.1 Table of Contents1.Introduction__________________________________________1-1Used symbols__________________________________________1-2Installation____________________________________________2-2Drive system LinMot®___________________________________3-1

Actuator: Linear drive LinMot® P___________________________3-2

Actuator: stepper motor LinMot® Step________________________3-2

Actuator: electromagnet LinMot® Magnet_____________________3-22.Safety notes__________________________________________2-13.System Overview_______________________________________3-13.1.13.1.23.1.3

3.2

3.3

3.4

3.5

3.6LinMot® P: a new construction element____________________3-2Substitution possibilities of LinMot® P_____________________3-3Technical properties of LinMot® P________________________3-4Application fields of LinMot® P___________________________3-4Driving and operating modes of LinMot®___________________3-5

Driving concept__________________________________________3-5

Operation modes_________________________________________3-5

Connection to higher-level control systems____________________3-8

Internal protection functions________________________________

Monitoring functions_____________________________________

Emergency stop possibilities________________________________

Emergency stop through supply interruption___________________

System configuration____________________________________

Curve generation________________________________________

Monitoring function (digital Oscilloscope)___________________

Error logbook__________________________________________3-93-93-93-93.6.13.6.23.6.33.7Protection and error behavior____________________________3-93.7.13.7.23.7.33.7.43.8Operation and configuration____________________________3-103-103-113-123-133.8.13.8.23.8.33.8.4

3.9

4.1Customer specific applications___________________________3-14Operating modes_______________________________________4-1

Analog position setting____________________________________

Analog current setting____________________________________

Two point run___________________________________________

Running reference curves__________________________________

Set values through the serial interface________________________

Operating state “Setup”___________________________________

Operating state “Wait for Disable”___________________________

Operating state “Disable”__________________________________

Operating state “Drive Init”________________________________

Operating state “Run”_____________________________________

Operating state “Stop”____________________________________

Operating state “Error”____________________________________4-24-34-34-44-54-74-74-74-74-84-84-84.Design and Installation_________________________________4-14.1.14.1.24.1.34.1.44.1.54.2Operating states_______________________________________4-64.2.14.2.24.2.34.2.44.2.54.2.64.2.7

4.3Position monitoring_____________________________________4-9

Following error monitoring________________________________4-9

Position range monitoring________________________________4-10

4.3.14.3.2

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4.4

4.4.1

4.4.2 Table of ContentsInitialization__________________________________________4-11Linear motors of the LinMot® P series_______________________4-11Stepper motors_________________________________________4-13

SYS1 interface_________________________________________4-14

SYS2 connector_________________________________________4-16

COM connector_________________________________________4-17

Connection of LinMot® P linear motors______________________4-18

Connecting stepper motors________________________________4-19

Connecting inductive loads________________________________4-194.5Signal interfaces______________________________________4-144.5.14.5.24.5.34.6Actuator interfaces____________________________________4-184.6.14.6.24.6.3

4.7Connecting the power supply____________________________4-20

E100/E200/E400 supply__________________________________4-20

E1000/E2000/E4000 supply_______________________________4-21

Signal board configuration________________________________4-234.7.14.7.24.8

4.9HW configuration of the electronic units__________________4-23Mechanical installation_________________________________4-254.8.1

4.10Constructive notes on the installation of the linear motors____4-26

5.Configuration Software_________________________________5-1

5.1

5.2

5.3

5.4

5.5

5.6

5.7Installation requirements________________________________5-1Installation of the configuration software___________________5-2Introduction___________________________________________5-3Login________________________________________________5-3Commander___________________________________________5-4Control Panel_________________________________________5-4Parameter Inspector____________________________________5-5

Editing the parameters____________________________________

Saving and loading parameter sets___________________________

Copy and Paste__________________________________________

Verifying parameter settings________________________________

Printing parameter sets____________________________________

Write-protected parameters_________________________________

Online mode____________________________________________

Offline mode____________________________________________

User interface of the Curve Inspector________________________

Operational elements of the Curve Inspector__________________

Curve Editor interface____________________________________

Operational elements of the Curve Editors____________________

Creating curves with the wizards___________________________

Defining reference curves in Excel__________________________

Setting the recording variables_____________________________

Setting the trigger mode__________________________________

Determining the sample rate_______________________________

Adjusting the display____________________________________

Starting and stopping the Oscilloscope_______________________

Printing recorded curves__________________________________

5-65-75-75-85-85-95-95-95.7.15.7.25.7.35.7.45.7.55.7.65.7.75.7.85.8Curve Inspector______________________________________5-105-105-105-135-145-165-175-195-195-205-215-215-215.8.15.8.25.8.35.8.45.8.55.8.65.9Oscilloscope__________________________________________5-185.9.15.9.25.9.35.9.45.9.55.9.6

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5.10.1

5.11.1

5.12.1

5.12.2

5.12.3

5.12.4

5.12.5

5.13.1

5.13.2

5.13.3

5.13.4

5.13.5

5.13.6 Table of Contents5.10Error Inspector_______________________________________5-22Operational elements of the Error Inspectors__________________5-22Commissioning example__________________________________5-24Creating a curve________________________________________5-25Configuring the electronic unit_____________________________5-25Oscilloscope configuration for the recording of the position set value5-26Oscilloscope configuration for the following error monitoring____5-27Final remark___________________________________________5-28"Linear Out" curve______________________________________"Hold" curve___________________________________________"Jump Back" curve______________________________________Saving curves__________________________________________Merging curves_________________________________________Writing curves to the electronic unit________________________5-305-325-335-345-345-365.11Tutorial A: First Steps________________________________5-245.12Tutorial B: Operating the Oscilloscope___________________5-255.13Tutorial C: Generating reference curves_________________5-29

5.14Tutorial D: Defining curves with Excel___________________5-37

6.Parameters___________________________________________6-1

7.Service______________________________________________7-1

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1. Introduction

This manual is organized as follows: Introduction

Safety notesPlease take a moment to read and get accustomed with the safety instructions. This

information is intended for your personal safety and should help in protecting theelectronic units and linear motors from possible damage.

Gives an overview of the properties and features of the single LinMot® components andtheir operation.

Here you will find a description of the functionality, the different operation modes andthe technical data of the electronic unit. Further, the interfaces and the installation aredescribed in this chapter. This information helps you optimally embed the LinMot®products in your application.

In this chapter you will get accustomed with the functionality and possibilities of thePC software for the configuration of the LinMot® electronic unit. Further, you will findexamples that will make the first commissioning of the system easy.

This chapter gives an in-depth description of all the parameters to which you haveaccess during the configuration of the LinMot® electronic unit.

Explains the error messages that are displayed by the LEDs and helps you in thetroubleshooting.System descriptionDesign andinstallationConfigurationsoftwareParametersService

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1.1 Used symbols Introduction

Important notes or tips in this manual are marked with the following symbols:Tips, notes

Useful information that should make operating the devices easier is given here.Caution

Non observance of these warnings can represent a danger for health or life and lead todamage or destruction of the devices and other objects.

Strong magnetic fields

Warning about magnetic materials that could cause damage to magnetic data mediumslike diskettes, credit cards, etc.

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2. Safety notes Safety notes

The LinMot® linear drives are resources meant to be built into an electrical systems ormachines. During operation these resources have moving parts and hot surfaces fromwhich a danger of health or material damage could arise.

The commissioning (putting the device into operation as specified in the application)of the linear motors is prohibited, as long as the machine does not comply with therelevant safety prescriptions.

Those responsible for the safety of the plant or machine must guarantee that onlyqualified personal accustomed to working with electrical drive equipment is allowed towork on the devices in order to prevent and avoid injuries to persons and damage tothe equipment.

Qualified personal are those who, as a result of their training, experience andinstruction as well as their knowledge of the relevant norms, regulations, accidentprevention prescriptions and service conditions have been entitled by the responsiblefor the safety of the plant to execute the necessary work and thereby recognize andprevent possible danger.

The operation manual as well as any further manuals in the documentation of theproduct are to be followed consequently when executing the respective operations.

Only tested and potential separated power supplies are allowed to be used for thevoltage supply of the LinMot® electronic units and other accessories.

The electrical installation is to be done according to the relevant prescriptions. Anyfurther prescription contained in the documentation is to be observed.

The linear drives must be protected from loads in excess of the specifications.Particularly during transportation great care must be taken in order to preventexcessive load or even bending of any part.

Electronic devices are basically not fail-safe. The user is responsible for driving thelinear drive in a safe state in case of a failure.

Inside the sliders of the linear motors are strong permanent magnets. These can causedamage or corruption to magnetical data mediums such as diskettes, credit cards, etc.These safety notes imply no claims regarding completeness. For questions andproblems please contact Sulzer Electronics AG.

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2.1 Installation Safety notes

The drive systems described in this operation manual are components and notserviceable or connection-ready devices or machines in terms of the device safety laws,the EMC laws or the CE machinery guidelines.

The components are intended to be embedded in other machines. The ultimate mode ofaction is only defined once these components have been embedded in the user’smachine or plant. The conformity of the construction with the existing prescriptionsand laws lies under the sole responsibility of the user.

The commissioning of the components is only permitted in machines or plants thatcomply with the CE machinery guidelines and/or with the relevant safety prescriptionsof the respective country.

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3. System Overview

3.1 Drive system LinMot® System Overview

LinMot® is a modular built servo drive system that can be operated as ‘stand-alone’ orin connection with commercial PLCs, PCs or other higher-level control systems.LinMot® incorporates the basic idea of the peripheral drive elements: the referencevalues are given directly by the higher-level control system in form of position setvalues, while the actual motion profiles and position control are calculated andexecuted peripheral in the LinMot® electronic unit. MS-Windows based configurationand commissioning programs release the engineers and draftsmen fromelectrotechnical detail questions and allow for quick and function oriented work.

Among the actuators connectable to the LinMot® electronic units, the electromagneticdirect linear drives LinMot® P take a special position, as they offer completely newpossibilities in the machine construction and mechatronic system concept.

The notions LinMot Step and LinMot Magnet refer to complementary drive familiesconsisting of the combination of commercially available stepper motors and magnets as®actuators and LinMot electronic units. Both stepper motors and electromagnets can be®

used in mixed system configurations with the LinMot linear drives.® ®

Figure 3-1: Mixed system configuration consisting of two linear motors LinMot®P, a LinMot® E electronic unit as well as a stepper motor and an electromagnet.

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3.1.1 Actuator: Linear drive LinMot® P System Overview

LinMot® Ps are electromagnetic direct linear drives with integrated position sensingand bearing. LinMot® P linear motors are intrinsically free of mechanical play, gearingor belt wear. The enormous dynamic properties and compact construction of LinMot®P

make a variety of applications and novel constructions possible.

Figure 3-2: Electromagnetic direct linear motor LinMot® P

3.1.2 Actuator: stepper motor LinMot® Step

LinMot® Step allows the open-loop operation of commercially available two-phasestepper motors with LinMot® E electronic units.

3.1.3 Actuator: electromagnet LinMot® Magnet

LinMot® Magnet allows the intelligent control of electromagnets as used in short-stroke positioning elements or valves. Compared to the conventional voltage controlledoperation of electromagnets, the pull-in and release times of such elements can begreatly reduced with the use of LinMot® Magnet, by driving them over-excited duringthe transient.

3.2 LinMot® P: a new construction element

Most commercially available servo drive systems only dispose of rotating motors,where the speed and in some cases the angular position are controlled. However, manyapplications don’t only need rotational movements, but linear movements too. Theconventional solution is to realize mechanical constructions based on levers, cam disks,spindles, belts etc. In which the rotational movement of the servo motor is translated ina linear movement. This way the servo drive serves basically as a ‘controlled energysource’.® In this sense the LinMot P linear drives are more than just ‘controlled energy® sources’: LinMot P executes dynamic controlled and position controlled linearmovements directly, with no need for additional mechanical gearing elements.® LinMot P fulfills the mechatronic basic idea according to which the movementfunctions are executed directly, with minimal mechanical elements and right in the

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System Overview

place where they are needed. The motion control, i.e. the actual machine functionalityas well as the motion parameters are defined exclusively in the software and can beadjusted at any time with no need for intervention in the mechanic.

3.3 Substitution possibilities of LinMot® P

Depending on the application, LinMot® P can substitute the following conventionalsolutions and extend them with additional functionality due to its complete electronic

control:

Spindle drives

Cam disks

Mechanical levers

Belt drives

Pneumatic cylindersRack-and-pinion drives

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3.4 Technical properties of LinMot® P System Overview

The linear drives LinMot® P are characterized by the following properties: Connection to commercially available PLC and PC control systems

Position controlled and curve-driven operation

Dynamic properties of the drive adjustable ( vmax, amax)

Extremely high dynamic specification (e.g.: continuous cyclical operation >15 Hz) Compact, connection-ready construction with integrated sensing and bearing Suitable for operation in rough industrial environments

3.5 Application fields of LinMot® P

The linear drives LinMot® P can be used both as stand-alone systems or in connectionwith highly complex machines. The following list of application examples is thereforenot complete and gives only an insight in the variety of the possible applications: Textile machines

Weaving machines, knitting machines, carpet machines, winding machines Packaging machines

Food: pastries, coffee, tee, sweets

Consumer goods: office material, toys

Cosmetics: soap, tubes

Pharmaceutical: tablets, pills

Printing machines

Offset and tampon printing machines

Assembly systems

Winding machines

Handling machines

Robotics

Laboratory automation

Folding machines

Labeling machines

Newspaper and paper machines

Sorting machinery

Parcel and letter sorting systems, material sorting machines

….

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3.6 Driving and operating modes of LinMot®

3.6.1 Driving concept System Overview

The basic idea of LinMot® P consists in having the control tasks executed as peripheralas possible in order to free the higher-level control systems from unnecessary andcalculation-intensive ballast. The system configuration is therefore accordingly simple,as the higher-level control system just outputs the actual target value and monitorssome feedback information. The following sections will implicitly refer to LinMot® Plinear motors as actuators when no specific indication is provided. In this case thetarget value consists in the position set value to which the drives should move, whilethe feedback information typically represents a following error message. In the case ofstepper motors and electromagnets these statements can be interpreted by analogy.

Figure 3-3: LinMot®’s peripheral position control frees the higher-level control

system from calculation intensive tasks.

3.6.2 Operation modes

Different modes of operation are available to the user. These allow optimal embeddingof the actuators in the control concept of the machine and the respective application.The LinMot® AT software currently supports the following modes of operation: direct digital reference value setting

setting two target values depending on a high/low signal

executing two predefined curves based on a trigger signal

continuous operation, e.g. periodical execution of a curve

In all these modes a filter can be connected in order to limit the derived signals like forexample the speed or acceleration. The following table shows typical applicationexamples for the different modes of operation.

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LinMot®

System Overview1. Example: Online specification of an exact reference curveAn higher-level control system outputs a reference curve online for the motor to follow exactly. Solution: Operating mode‘ analog’ without limiting filter settings.PC/ PLC‘ analog out’ LinMot® P t s s LinMot® E‘ analog out’ mode:‘ analog’

t

2. Example: Online specification of any reference curveAn higher-level control system outputs position set values online for the motor to follow smoothly. Solution: Operating mode‘ analog’ with vmax/amax filter activated.‘ analog out’ PC/ PLC t s s t aamax

mode:‘ analog’

LinMot® P

‘ analog out’

LinMot® E

t-amax

3. Example: Digital selection between two set valuesFollowing a digital high/low signal from a PLC, the motor moves between two given positions with presettable maximum acceleration and speed. Solution: Operating mode:‘ Two Point’ . Acceleration limiter and speed limiter set to the desired maximal values.‘ digital out’high

low

t s PC/ PLC t v s LinMot® E t LinMot® P‘ digital out’ mode:‘ position’ two

vmax

-vmax

aamax

t-amax

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非常好的直线电机样本

LinMot®

System Overview4. Example: Digital selection between two reference curvesFollowing a trigger signal from a PLC, the motor moves between two given position following predefined trajectories. Solution: Operating mode:‘ Trigger Curve’ . Acceleration limiter and speed limiter set to the desired maximal values.‘ trigger out’high

low

t s PC/ PLC t v s LinMot P®

mode:‘ position’ two

‘ trigger out’ LinMot® E

vmax

t-vmax

aamax

t-a max

5. Example: Periodical movement sequenceThe motor executes a previously defined curve cyclically with a given frequency.high

‘ digital out’ PC/ PLC t s s LinMot® P‘ digital out’ LinMot® E mode:‘ continuous’

Solution: Operating mode:‘ Continuous Curve’ . Acceleration limiter and speed limiter set to the desired maximal v

alues.

low

t

6. Example: Synchronization on a speed valueA linear movement should be executed from a particular point and with a previously defined speed. Solution: Operating mode:‘ Analog’ Two,’ Position’ or‘ Trigger Curve’ . The reference position should be set in such a way, that the speed limiter will be active in the synchronization range.

‘ digital out’high

PC/ PLClow

t s LinMot® P s t v‘ digital out’

ssync

mode:‘ continuous’,‘ position’ two or‘ curve’

LinMot® E

vsync

t

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非常好的直线电机样本

3.6.3 Connection to higher-level control systems

The electronic units LinMot® E can be controlled by higher-level control systemsdirectly by means of analog or digital input/output signal lines. The necessaryparameterisation is done with the LinMot® Talk software via an RS-232 working via CAN-bus or RS-232 is also possible on specific customer request.

Figure 3-4: Connecting LinMot® to an higher-level control system

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3.7 Protection and error behavior

3.7.1 Internal protection functions System Overview

The integrated sensors and complex monitoring programs allow the detection andhandling of thermal overloading of the LinMot® E and P components by means ofwarning and/or error messages. There is further the possibility to monitor the voltagesupply of the LinMot® E electronic units for overvoltage and undervoltage. If thehigher-level control system does not respond to the warning and error messages, theactuators will be shut down for safety reasons.

3.7.2 Monitoring functions

The so-called following error monitoring and the position range monitoring offer twopowerful functions for the monitoring of the actual movement processes.Following error monitoringPosition range monitoring

3.7.3 Emergency stop possibilities

From the point of view of the higher-level control system there are two ways to handle® the LinMot actuators in case of an emergency stop:

With the so-called FREEZE signal the drives can be stopped and maintained in

their current position. The movement is resumed when the FREEZE signalbecomes inactive again.

By means of the STOP signal the drives can be driven to a predefined emergency

stop position or shut down.

3.7.4 Emergency stop through supply interruption

As the LinMot® electronic units feature separate supplies for the signal circuitry andthe power circuitry, an emergency stop can also be forced by directly interrupting thepower supply to the power circuits. As long as the signal circuitry remains powered,the initialization and actual position of the LinMot® P actuators are not lost. Thereforeit is possible to resume operation without needing to re-initialize the drives.

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3.8 Operation and configuration

3.8.1 System configuration System Overview

The configuration and commissioning of the LinMot® systems is done by means of theMS-Windows based software LinMot® Talk. All the parameters can be displayedclearly, selected and edited with LinMot® Talk by simple clicking with the mouse. Asall the parameters are stored in the electronic unit, they can be recalled, analyzed andchanged at any time. Creating duplicates of parameters and parameter files to bearchived is equally easy. Password protection protects the data from illegitimate access.Figure 3-5: Parameter Inspector window

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3.8.2 Curve generation System Overview

Predefined reference curves can be executed on trigger signals in different operatingmodes. The shapes of these curves can be generated automatically by means of theCurve Creator, or can be edited manually point by point as Excel tables.

Figure 3-6: Reference curves can be generated semi-automatically

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3.8.3 Monitoring function (digital Oscilloscope) System Overview

Quick commissioning and optimization of a LinMot® system is supported by the built-in monitoring function. With it, the reference curves can be compared with themovements actually executed with no need for additional sensors, etc. The differencesbetween the two curves can give indirect hints on counteracting forces and frictionforces which can be useful when adjusting the controller parameters. The operationand look of the monitoring function correspond to those of modern digitaloscilloscopes.

Figure 3-7: Motion analysis with the integrated digital Oscilloscope

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