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首页西门子6SE70系列变频器启动与详细参数设定指南
西门子6SE70系列变频器启动与详细参数设定指南
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"西门子MD-6SE70_MC系列变频器/转换器的启动与详细参数化指南"
西门子的MD-6SE70_MC是SIMOVERT MASTERDRIVES系列的一部分,专用于运动控制应用。这个系列的设备在工业自动化领域中广泛应用于精确的电机控制。"Compendium FW2.5"指的是该设备的固件版本为2.5,提供了详细的用户指南和参数设置信息。
"Guidelines for Start-Up"部分强调了在启动设备前需要遵循的操作手册中的“首次启动”章节。这是确保设备安全、有效运行的重要步骤。在开始详细参数化之前,有几项预备措施是必须的:
1. **了解连接图**:熟悉电源和控制端子的连接图至关重要,这些信息可在设备操作手册的“连接”部分找到。对于选用的附加板,还需查阅“描述”部分。
2. **理解基本功能**:为了进行详细的参数化,需要先了解设备的基本功能。这包括:
- **功能块和参数**(Section 4):这部分介绍设备的功能块、连接器、双连接器、参数、数据集以及BICO(Binary Input/Output System)系统。BICO是一种二进制输入/输出系统,用于配置和管理设备间的逻辑关系。
- **参数化步骤**(Sections 5.1至5.3):详细阐述了如何对设备进行参数设置,以满足特定的应用需求。
此外,文档可能还包括了故障排除、诊断和维护等重要内容,帮助用户在遇到问题时能快速定位并解决。在实际操作中,这些知识对于确保MD-6SE70_MC变频器的高效运行和长期稳定性是必不可少的。
MD-6SE70系列的用户可以通过深入研究Compendium提供的信息,充分利用其高级功能,例如速度控制、位置控制和转矩控制,以适应各种复杂的工业应用场景。同时,正确的参数设置能够优化设备性能,减少能源消耗,提高生产效率。
这份Compendium是西门子MD-6SE70_MC用户的重要参考资料,不仅指导用户正确启动设备,还提供了进行详细参数设置的全面指南,确保用户能够根据具体需求定制和优化设备性能。通过深入学习和实践,用户可以更加熟练地操作和维护这些先进的变频器,从而提升整个自动化系统的可靠性和效率。
05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
4 Compendium Motion Control SIMOVERT MASTERDRIVES
7.3 Converter functions ........................................................................................ 7-51
7.3.1 Friction characteristic function (function diagram 399)................................... 7-51
7.3.1.1 Friction characteristic...................................................................................... 7-51
7.3.1.2 Friction characteristic recording (automatic procedure)................................. 7-51
7.3.2 Torque constant adaptation for synchronous motors (function diagram 393)... 7-53
7.3.3 Tr adaptation function (function diagram 394)................................................ 7-55
7.3.4 Position test function....................................................................................... 7-56
7.3.5 Function "PRBS signal with recording" (function diagram 796) ..................... 7-59
7.3.6 Function "speed filter" (function diagram 361) ............................................... 7-61
7.3.7 "Speed controller characteristic" function (function diagram 360) ................. 7-65
7.3.8 "Field weakening for synchronous motor" function (function diagram 389)... 7-66
7.3.9 Vdmax closed-loop control (function diagram 610)........................................ 7-71
7.3.10 Harmonic compensation................................................................................. 7-72
7.4 Special functions............................................................................................. 7-73
7.4.1 Loading firmware ............................................................................................ 7-73
8 COMMUNICATION .......................................................................................... 8-1
8.1 Universal Serial lnterface (USS).................................................................... 8.1-1
8.1.1 Protocol specification and bus structure........................................................ 8.1-2
8.1.1.1 Protocol specification..................................................................................... 8.1-2
8.1.1.2 Bus structure.................................................................................................. 8.1-7
8.1.2 The structure of net data ............................................................................. 8.1-10
8.1.2.1 General structure of the net-data block....................................................... 8.1-10
8.1.2.2 PKW area ....................................................................................................8.1-11
8.1.2.3 Process-data area (PZD)............................................................................. 8.1-19
8.1.3 Interface overview........................................................................................ 8.1-20
8.1.4 Connecting-up ............................................................................................. 8.1-23
8.1.4.1 Bus cable connection ..................................................................................8.1-23
8.1.4.2 Fitting the bus cable..................................................................................... 8.1-24
8.1.4.3 EMC measures............................................................................................ 8.1-25
8.1.4.4 Bus termination, USS protocol .................................................................... 8.1-28
8.1.5 Start-up ........................................................................................................ 8.1-31
8.1.5.1 Parameterization of the USS protocol (1st step)......................................... 8.1-32
8.1.5.2 Parameterizing the parameterizing enable and process-data
interconnections (2nd step) ......................................................................... 8.1-36
8.2 PROFIBUS .................................................................................................... 8.2-1
8.2.1 Product description of the CBP communications board................................ 8.2-1
8.2.2 Description of the CBP's functions on the PROFIBUS-DP ........................... 8.2-3
8.2.2.1 Cyclical data transmission ............................................................................. 8.2-5
8.2.2.2 Acyclical data transfer ................................................................................. 8.2-10
8.2.2.3 Acyclical master class 1, automation (PLC)................................................ 8.2-12
8.2.2.4 Acyclical master class 2 - Configuration (DriveES)..................................... 8.2-16
8.2.2.5 Acyclical master class 2 - Operator control (SIMATIC OP)......................... 8.2-17
8.2.3 Mechanisms for processing parameters via the PROFIBUS ...................... 8.2-18
8.2.4 PROFIdrive V3: Acyclic parameter accessing with data block 47 .............. 8.2-26
8.2.4.1 Comparison between parameter tasks to PROFIdrive version 2 and 3...... 8.2-28
8.2.4.2 Example of "Request parameter value", simple.......................................... 8.2-29
8.2.4.3 Example of "Change parameter value", simple........................................... 8.2-30
8.2.4.4 Example of "Request parameter value", more than one array element...... 8.2-31
Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 5
8.2.4.5 Example of "Change parameter value", more than one array element....... 8.2-32
8.2.4.6 Example of "Request parameter value", multi-parameter ........................... 8.2-33
8.2.4.7 Example of "Change parameter value", multi-parameter............................ 8.2-35
8.2.4.8 Request description, individual.................................................................... 8.2-37
8.2.4.9 Request description, total............................................................................ 8.2-38
8.2.4.10 Request text, individual ...............................................................................8.2-39
8.2.4.11 Coding in the parameter task according to PROFIdrive Version 3 ............. 8.2-40
8.2.5 Mounting methods / CBP slots .................................................................... 8.2-43
8.2.5.1 CBP mounting slots in MC Compact PLUS units........................................ 8.2-43
8.2.5.2 CBP slots in Compact units and chassis-type units with the CUs of
function classes Motion Control Performance 2 (CUPM), Motion Control
(CUMC) and Vector Control (CUVC)........................................................... 8.2-44
8.2.5.3 CBP slots in Compact and chassis-type units with the CUs of function
classes FC (CU1), VC (CU2) or SC (CU3).................................................. 8.2-46
8.2.6 Connecting up the CBP to the PROFIBUS .................................................8.2-47
8.2.6.1 Assignment of plug-in connector X448........................................................ 8.2-47
8.2.6.2 Connecting up the bus cable by means of the RS485 bus connecting
system .........................................................................................................8.2-47
8.2.6.3 Connecting the bus cable with the fiber-optic cable system ....................... 8.2-52
8.2.6.4 Shielding of the bus cable / EMC measures ...............................................8.2-54
8.2.7 Starting up the CBP..................................................................................... 8.2-57
8.2.7.1 Basic parameterization ................................................................................ 8.2-57
8.2.7.2 Process data interconnection in the units.................................................... 8.2-62
8.2.7.3 Process data interconnection via standard telegrams ................................ 8.2-69
8.2.7.4 Process data monitoring.............................................................................. 8.2-71
8.2.8 Settings for the PROFIBUS-DP master (Class 1) ....................................... 8.2-73
8.2.8.1 Operating the CBP with a SIMATIC S5....................................................... 8.2-75
8.2.8.2 Operating the CBP with a SIMATIC S7....................................................... 8.2-77
8.2.8.3 Operating the CBP with a non-Siemens system ......................................... 8.2-79
8.2.8.4 Operating the CBP2 with extended functions with a SIMATIC S7.............. 8.2-80
8.2.8.5 CBP2 with cross traffic operated with a SIMATIC S7.................................. 8.2-81
8.2.8.6 CBP2 with clock synchronization operated with a SIMATIC S7.................. 8.2-83
8.2.8.7 CBP2 with clock synchronization on a PROFIBUS master in
accordance with PROFIdrive V3 ................................................................. 8.2-86
8.2.9 MASTERDRIVES as PROFIdrive V3-Slave................................................ 8.2-88
8.2.9.1 Incorporation of drives in automation systems / plant characterization ...... 8.2-90
8.2.9.2 Communication model................................................................................. 8.2-94
8.2.9.3 Drive control................................................................................................. 8.2-95
8.2.9.4 Checkback messages (status words).......................................................... 8.2-96
8.2.9.5 Setpoints / Actual values ............................................................................. 8.2-97
8.2.9.6 Dynamic Servo Control (DSC)..................................................................... 8.2-98
8.2.9.7 Communication interface........................................................................... 8.2-106
8.2.9.8 Clock synchronous application.................................................................. 8.2-106
8.2.9.9 Encoder interface (from SW 1.6)............................................................... 8.2-107
8.2.10 Diagnosis and troubleshooting .................................................................. 8.2-117
8.2.10.1 Evaluating the possibilities of hardware diagnosis.................................... 8.2-117
8.2.10.2 Fault and alarm display on the basic unit.................................................. 8.2-119
8.2.10.3 Evaluating CBP diagnostic parameters..................................................... 8.2-122
8.2.10.4 Meaning of information in the CBP diagnosis parameter r723.................. 8.2-124
8.2.10.5 Additional methods of diagnosis for start-up personnel ............................ 8.2-128
8.2.10.6 CBP2 diagnostic parameters.....................................................................8.2-134
8.2.10.7 Extended CBP2 diagnosis for start-up personnel ..................................... 8.2-137
8.2.11 Appendix.................................................................................................... 8.2-140
05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
6 Compendium Motion Control SIMOVERT MASTERDRIVES
8.3 SIMOLINK...................................................................................................... 8.3-1
8.3.1 General principles.......................................................................................... 8.3-1
8.3.2 Peer-to-peer functionality .............................................................................. 8.3-5
8.3.3 Application with peer-to-peer functionality..................................................... 8.3-6
8.3.4 Components of the peer-to-peer functionality ............................................... 8.3-8
8.3.5 Parameterization of the peer-to-peer functionality ...................................... 8.3-10
8.3.6 Diagnostics of the peer-to-peer functionality............................................... 8.3-14
8.3.7 Synchronization of the control circuits by means of the bus cycle time
(MC only) ..................................................................................................... 8.3-16
8.3.8 Synchronization diagnostics (MC only) ....................................................... 8.3-18
8.3.9 Switchover of the synchronization source (MC only) .................................. 8.3-18
8.3.10 Special data and application flags............................................................... 8.3-20
8.3.11 Configuration (example of peer-to-peer functionality) ................................. 8.3-21
8.3.12 Master/slave functionality ............................................................................ 8.3-25
8.3.13 Application with master/slave functionality .................................................. 8.3-26
8.4 CBC Communications Board......................................................................... 8.4-1
8.4.1 Product description........................................................................................ 8.4-1
8.4.2 Mounting methods / CBC slots...................................................................... 8.4-4
8.4.2.1 Mounting positions of the CBC in MC Compact PLUS units......................... 8.4-4
8.4.2.2 Mounting positions of the CBC in Compact and chassis units of function
classes MC (CUPM, CUMC) and VC (CUVC) .............................................. 8.4-5
8.4.2.3 Mounting positions of the CBC in Compact type and chassis type units
with the CU of the function classes FC (CU1), VC (CU2) or SC (CU3)........ 8.4-6
8.4.2.4 Mounting positions of the CBC in VC Compact PLUS units ......................... 8.4-7
8.4.3 Connecting..................................................................................................... 8.4-8
8.4.3.1 Connection of the bus cable.......................................................................... 8.4-9
8.4.3.2 EMC measures............................................................................................ 8.4-10
8.4.3.3 Bus termination of the CAN bus (jumper S1.2) ........................................... 8.4-13
8.4.3.4 Ground connection (jumper S1.1) ............................................................... 8.4-13
8.4.3.5 Interface X458 / X459 with jumper strip S1................................................. 8.4-14
8.4.3.6 Recommended circuits................................................................................ 8.4-15
8.4.4 Data transfer via the CAN bus..................................................................... 8.4-16
8.4.4.1 General........................................................................................................ 8.4-16
8.4.4.2 Parameter area (PKW) ................................................................................ 8.4-17
8.4.4.3 Process data area (PZD)............................................................................. 8.4-24
8.4.5 Start-up of the CBC ..................................................................................... 8.4-31
8.4.5.1 Basic parameterization of the units ............................................................. 8.4-32
8.4.5.2 Process-data softwiring in the units............................................................. 8.4-45
8.4.6 Diagnosis and troubleshooting .................................................................... 8.4-52
8.4.6.1 Evaluation of hardware diagnostics............................................................. 8.4-52
8.4.6.2 Fault displays and alarms on the basic unit ................................................8.4-54
8.4.6.3 Evaluation of the CBC diagnostic parameter .............................................. 8.4-56
8.4.6.4 Meaning of CBC diagnosis.......................................................................... 8.4-57
8.4.7 Appendix...................................................................................................... 8.4-60
Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 7
8.5 CBC CANopen communication board........................................................... 8.5-1
8.5.1 Object directory.............................................................................................. 8.5-5
8.5.2 Commissioning the CBC .............................................................................8.5-16
8.5.2.1 General settings........................................................................................... 8.5-16
8.5.2.2 NMT state .................................................................................................... 8.5-27
8.5.2.3 Relation between PDO/PZD and SDO/PKW............................................... 8.5-29
8.5.2.4 PDO mapping .............................................................................................. 8.5-34
8.5.3 Manufacturer-specific objects...................................................................... 8.5-48
8.5.3.1 Parameter editing ........................................................................................ 8.5-48
8.5.3.2 Example: Change parameter value with object 4001h................................8.5-52
8.5.3.3 Setting factory values (defaults) via CANopen............................................ 8.5-53
8.5.3.4 Changing the baud rate and bus address
(on MASTERDRIVES MC only)................................................................... 8.5-54
8.5.4 Faults and alarms ........................................................................................ 8.5-55
8.5.4.1 Structure of object 1003
h
(pre-defined error field) ...................................... 8.5-55
8.5.4.2 Error codes .................................................................................................. 8.5-56
8.5.5 Life guarding / node guarding...................................................................... 8.5-59
8.5.6 The state machine ....................................................................................... 8.5-60
8.5.6.1 Control word ................................................................................................ 8.5-61
8.5.6.2 Status word.................................................................................................. 8.5-62
8.5.6.3 Modes of operation...................................................................................... 8.5-64
8.5.7 Description of individual modes................................................................... 8.5-65
8.5.7.1 Profile Position mode...................................................................................8.5-65
8.5.7.2 Profile Velocity mode................................................................................... 8.5-68
8.5.7.3 Synchronous mode......................................................................................8.5-70
8.5.7.4 Homing mode .............................................................................................. 8.5-71
8.5.7.5 Profile Torque mode .................................................................................... 8.5-97
8.5.7.6 Setup mode .................................................................................................8.5-97
8.5.7.7 Automatic Position mode............................................................................. 8.5-98
8.5.7.8 Automatic Single Block mode...................................................................... 8.5-98
8.5.8 Diagnostics and troubleshooting ................................................................. 8.5-99
8.5.8.1 Error and alarm displays on basic unit ........................................................ 8.5-99
8.5.8.2 Evaluation of CBC diagnostic parameter ..................................................8.5-103
8.5.8.3 Meaning of CBC diagnostics ..................................................................... 8.5-104
8.5.9 CANopen EDS........................................................................................... 8.5-106
8.5.10 Parameterization........................................................................................ 8.5-107
8.5.10.1 Parameterization for the CBC CANopen with
MASTERDRIVES MC_F01 and MASTERDRIVES MC_B-Pos ................ 8.5-107
8.5.11 Logical interconnections for control and status words .............................. 8.5-108
8.5.12 General plans of interconnections in MASTERDRIVES MC..................... 8.5-116
8.5.13 Terms and abbreviations........................................................................... 8.5-133
05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
8 Compendium Motion Control SIMOVERT MASTERDRIVES
9 TECHNOLOGY OPTION F01 .......................................................................... 9-1
9.1 Enabling technology option F01 ....................................................................... 9-1
9.2 Overview of the documentation........................................................................ 9-1
9.3 Application areas .............................................................................................. 9-3
9.3.1 General functions.............................................................................................. 9-3
9.3.2 Positioning ........................................................................................................ 9-5
9.3.3 Synchronization ................................................................................................ 9-7
9.3.4 Technology functions already included in the standard software .................. 9-13
9.3.5 Seamless Integration in SIMATIC Automation Solutions ............................... 9-15
9.4 Brief description of the technology functions.................................................. 9-16
9.4.1 Overview of the function diagrams ................................................................. 9-16
9.4.2 Integrating the technology into the basic unit [801]........................................ 9-17
9.4.3 General information on position encoder evaluation [230] ... [270]................ 9-17
9.4.4 Resolver evaluation [230]............................................................................... 9-19
9.4.5 Optical sin/cos encoder [240] ......................................................................... 9-20
9.4.6 Multiturn encoder evaluation [260, 270] ......................................................... 9-22
9.4.7 Pulse encoder evaluation [250, 255] .............................................................. 9-32
9.4.8 Position sensing system for motor encoder [330] .......................................... 9-35
9.4.9 Using absolute encoders for positioning of motors with load-side gearing
and rotary axis ................................................................................................ 9-48
9.4.10 Linear axis with absolute encoder when the traversing range is greater
than the display range of the encoder. ........................................................... 9-52
9.4.11 Position sensing system for external machine encoder [335]........................ 9-53
9.4.12 Position control system [340].......................................................................... 9-54
9.4.13 Technology overview and mode manager [802] ............................................ 9-57
9.4.14 Machine data [804] ......................................................................................... 9-59
9.4.15 Parameter download file POS_1_1 [806]....................................................... 9-60
9.4.16 Positioning control signals [809]..................................................................... 9-61
9.4.17 Positioning status signals [811] ...................................................................... 9-61
9.4.18 Digital I/Os for positioning [813]...................................................................... 9-62
9.4.19 Evaluation and control of the position sensing system,
simulation mode [815] .................................................................................... 9-62
9.4.20 Setpoint output and enabling [817].................................................................9-63
9.4.21 Faults, warnings, diagnostics [818] ................................................................ 9-63
9.4.22 Setup mode [819] ........................................................................................... 9-64
9.4.23 Homing mode [821] ........................................................................................ 9-65
9.4.23.1 Homing with homing switch only .................................................................... 9-68
9.4.23.2 Homing with encoder zero mark only............................................................. 9-69
9.4.23.3 Use of a reversing switch during homing ....................................................... 9-69
9.4.24 MDI mode [823] .............................................................................................. 9-70
9.4.25 Control mode [825] ......................................................................................... 9-74
9.4.26 Automatic and automatic single-block mode [826, 828]................................. 9-75
9.4.27 Roll feed [830]................................................................................................. 9-75
9.4.28 Synchronization mode - overview [831] .........................................................9-76
9.4.29 Virtual master axis [832] ................................................................................. 9-84
9.4.30 Real master with deadtime compensation [833] ............................................ 9-85
9.4.31 Engaging/disengaging cycle [834].................................................................. 9-86
9.4.32 Gearbox function [835] ................................................................................... 9-91
9.4.33 Generation of the position setpoint [836]........................................................ 9-92
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