He Thong Servo

Bo Dng Cng Nghip Vit Nam
Vinamain.com
H thng servo
Chng 1: GII THIU
1.1 H thng servo l g? N l mt h thng kim sot dng c c kh ph hp vi bin i v tr hoc tc mc tiu gi tr.
C cu nh v: H thng servo khng n gin ch l mt phng php thay th iu khin v tr v tc ca cc c cu c hc, ngoi nhng thit b c kh n gin, h thng servo by gi tr thnh mt h thng iu khin chnh trong phng php iu khin v tr v tc . Sau y l mt s v d v cc c cu nh v: C cu nh v n gin : Cc v d v c cu ny l xy lanh hay trc cam hay b ly hp v phanh hm
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u im ca c cu ny l n gin, r tin, v c th hot ng tc cao. C cu nh v linh hot iu khin bi servo motor C cu ny c th c iu khin vng h, na kn hay vng kn
u im ca c cu ny l chnh xc v p ng tc cao, c th d dng thay i v tr ich v tc ca c cu chp hnh.

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C cu chuyn ng nh hng C cu ny chuyn ng theo hng nht nh c ch nh t b iu khin. Chuyn ng c th l chuyn ng tnh tin hay quay.
u im l c cu chp hnh n gin v nng cao tui th hp s truyn ng (do truyn ng kh m). Backlash v hiu chnh: Backlash hiu nm na l gii hn chuyn ng ca mt h thng servo.Tt c cc thit b c kh u c mt im trung tnh gia chuyn ng hoc quay theo chiu dng v m (cng ging nh ng c trc khi o chiu th vn tc phi gim v 0). Xt mt chuyn ng tnh tin lui v ti nh trong hnh sau:
GVHD: Ths CH PHI
SVTH: L BU VINH- O VN V
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Chuyn ng tnh tin ny c iu khin bi mt ng c servo. Chuyn ng ti v lui c gii hn bi mt khon trng nh trong hnh. Nh vy ng c s quay theo chiu dng hoc chiu m theo mt s vng nht nh chuyn ng ca thanh qut ln ton b khon trng nhng khng c vt qu khon trng (y l mt trong nhng iu kin ct li ca vic iu khin ng c servo). Gii hn ny c gi l backlash. Tuy nhin trong thc t ng c quay nhng vng chnh xc con trt trt chnh xc v qut ln ton b khon trng trn l rt kh thc hin nu khng c mt s b tr cho n. V trong h thng servo nht thit c nhng hm lnh thc hin vic b tr, hiu chnh ny. Nh trong hnh v trn, h thng servo gi xung lnh hiu chnh cng/tr s lng xung lnh iu khin v cc xung lnh hiu chnh ny s khng c tnh n trong b m xung.
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H thng iu khin C ba dng : iu khin vng h:
Ngha l b iu khin v tr ch t lnh cho ng c quay m thi. iu khin na kn:
y s vng quay ca step motor c m ha v hi tip v b iu khin v tr. Ngha l n y th ng c step ch quay mt s vng nht nh ty thuc vo lnh ca b iu khin v tr, ni cch khc b iu khin v tr c th ra lnh cho chy hoc dng ng c theo mt lp trnh sn c ty thuc vo ca ngi thit k. iu khin vng kn
Vng hi tip lc ny khng phi hi tip t trc ng c v m vng hi tip lc ny l hi tip v tr ca bn chy thong qua mt tht tuyn tnh. Lc ny b iu khin v tr khng iu khin s vng quay ca motor na m n iu khin trc tip v tr ca bn chy. Ngha l cc sai s tnh do sai khc trong cc bnh rng hay h thng truyn ng c loi b.
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Cu hnh ca h thng servo:
ng c servo S khc bit ca ng c servo so vi nhng ng c s dng cm ng t ni chung l n c mt my d pht hin tc quay v v tr.
B iu khin (Tnh hiu u vo) iu khin tc ng c servo quay vi mt tc tng ng vi tnh hiu in p u vo. V vy n gim st tc quay ca ng c trong mi thi im.
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S khi iu khin ng c servo vi 2 vng hi tip v tr v tc :
Trong phn A B C l phn so snh x l tn hiu hi tip v hiu chnh lnh. Phn D E l c cu thc thi v hi tip. Cc phn A B C th kh ph dng trong cc s khi iu khin, phn D E th ty cc thit b s dng m chng c khc nhau i cht nhng v bn cht chng hon ton ging nhau. Sau y l mt s v d v phn D E thng gp.
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Hoc:
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1.2.servomotor Hnh thc bn ngoi v tn . S lng ng ra Loi servomotor
S series Ngy sn xut S lng tc motor Mu s Tiu chun servomotor
Tn Servomotor Sigma II Series SGMAH SGMPH SGMGH SGMBH Cng sut servomotor Ngun cung cp A:200V B:100V D:400V Thng s series ca encoder
Thng s k thut phanh 1:tiu chun C:phanh vi ngun 24VDC E:S+C SGMPH:xem catalog ci t Thng s k thut trc quay Thay i thit k A SGMAH SGMPH SGMGH(1500rmp) SGMBH E SGMPH SGMBH A=200% B=250%
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Cng sut ca sevomotor
Encoder series M s 1 1 A B C Thng s k thut 16-bit m ha tuyt i 17-bit m ha tuyt i 13-bit m ha gia tng 16-bit m ha gia tng 17-bit m ha gia tng SGMAH Tiu chun Tiu chun Ty chn SGMPH Tiu chun Tiu chun Ty chn SGMGH SGMUH Tiu chun Tiu chun Tiu chun Tiu chun SGBMH Tiu chun Tiu chun
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S khc bit so vi motor thng: V kt cu v hot ng ca ng c servo v c bn ging ng c thng. Nhng n c thit k p ng chnh xc cao, tc cao, tn s cao kim sot tc v v tr ca cc phng tin c kh. Khng phi bt k ng c no cng c th dng lm ng c servo. ng c servo l ng c hot ng da theo cc lnh iu khin v tr v tc . Chnh v th n phi c thit k sao cho cc p ng l ph hp vi nhu cu iu khin. V c bn th mt servo motor v mt ng c bnh thng ging nhau v mc cu to v nguyn l hot ng ( cng c phn cm phn ng, khe h t thng, cch u dy ). Tuy nhin tu theo nhu cu iu khin m n c mt s im ci tin hn (dnh cho nhng mc ch c bit) so vi ng c thng. Sau y l mt vi v d v nt t trng ca ng c servo: 1.Tng tc p ng tc : Cc ng c bnh thng, mun chuyn t tc ny sang tc khc th cn c mt khong thi gian qu . Trong mt s nhu cu iu khin, i hi ng c phi tng/gim tc nhanh chng t c mt tc mong mun trong thi gian ngn nht, hot t c mt v tr mong mun nhanh nht. V d mun iu khin mt c cu t v tr X n v tr X, ban u khi xa v tr X th ng c quay vi vn tc ln tng tc, tuy nhin khi n gn X i hi ng c cn gim tc tc th c th t c v tr mong mun mt cch chnh xc v loi tr s vt l v tr. Cc ng c thng khng th p ng c iu ny. ng c p ng c nhng yu cu trn th n phi c thit k sao cho rt ngn p ng tc ca ng c.
Mun nh vy ta cn gim moment qun tnh v tng dng gii hn cho ng c. gim moment qun tnh th ng c servo c gim ng knh rotor v loi b cc c cu st khng cn thit. tng dng gii hn, ng c servo c th s dng st Ferrit lm mch t v thit k hnh dng li st cho ph hp. i vi ng c nam chm vnh cu th n cn c thit k sao cho ngn cn c s kh t (hnh dng mch t) v tng kh nng t tnh ca nam chm (s dng nam chm t him rare earth magnet). 2.Tng kh nng p ng: p ng y cn c hiu l s tng/gim tc cn phi mm ngha l gia tc l mt hng s hay gn nh l mt hng s.
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Mt s ng c nh thang my hay trong mt s bng chuyn i hi p ng tc ca c cu phi mm, tc l qu trnh qu vn tc phi xy ra mt cch tuyn tnh. lm c iu ny th cun dy trong ng c phi c in cm nh nhm loi b kh nng chng li s bin i dng in do mch iu khin yu cu. Cc ng c servo thuc loi ny thng c thit k gim thiu s cun dy trong mch v c kh nng thu hp cc vng t trong mch t khe h khng kh. 3.M rng vng iu khin (control range): Mt s yu cu trong iu khin cn iu khin ng c mt di tc ln hn nh mc rt nhiu. ng c bnh thng ch cho php in p t ln n phi bng in p chu ng ca ng c v thng thng khng qu ln so vi in p nh mc.
ng c servo thuc loi ny c thit k t bit nhm gia tng in p chu ng hoc tng kh nng bo ho mch t trong ng c .Nh vy ng c servo thuc loi ny phi c tng cng cch in v s dng st Ferrit hoc nam chm t him (rare earth). 4. Kh nng n nh tc : ng c servo loi ny thng c thit k sao cho vn tc quay ca n rt n nh.
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Nh cc ta bit l khng c mch in hon ho, khng c t trng hon ho trong thc t. Chnh v th mt ng c quay 1750 rpm khng c ngha l n lun lun quay 1750 rmp m n ch dao ng quanh gi tr ny. ng c servo khc bit vi ng c thng l ch n nh tc khc cao. Cc ng c servo loi ny thng c s dng trong cc ng dng i hi tc chnh xc (nh robot). N c thit k sao cho c th gia tng c dng t trong mch t ln kh cao v gia tng t tnh ca cc t. Cc rnh rotor c thit k vi hnh dng c bit v cc cun dy rotor cng c b tr khc c bit c th p ng c yu cu ny.
Tng kh nng chu ng ca ng c: Mt s ng c servo c thit k sao cho c th chu ng c cc tn hiu iu khin tn s rt cao v c kh nng chu c c nhng yu cu tng tc bt ng t b iu khin. Nhng ng c nh th ny thng c ci tin v phn c c tui th cao v c th chng li c s hao mn do ma st trn bi bc n cng nh trn chi than (i vi DC) Cc loi v tnh nng ca Servo Motors: ng c Servo c phn loi thnh cc ng c servo DC, ng c servo AC, v ng c bc. C hai loi ng c servo AC , ng c servo ng b v ng servo loi cm ng. Phn loi ng c servo:
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Nt c trng ca mi ng c servo:
Cu trc ng c servo AC :
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Cc tnh nng ca ng c servo AC so vi ng c servo DC: - Nam chm vnh cu c gn sn trn roto .... t trng quay. - Cun dy c cung cp trn cc Stator ... ... ... ... tnh phn ng. - Mt khc, cc chc nng in ca Stator mt rotor c o ngc, ng c AC servo khng c cc chuyn mch v chui than m ng c DC servo c. Nguyn tc hot ng ca ng c servo AC:
Nh hnh trn th ng c c ba cun dy vi mt u chung cho tt c cc cun dy. Thng thng u chung c u vi ngun dng ngun v c kch t theo th t lin tc. Theo hnh th y l ng c c gc quay 120 cho mi bc. Rotor trong ng c c 2 rng. Stator c ba cc cch nhau 120 . Khi cun mt kch in th rng ca rotor b ht vo cc mt.Nu dng qua cun mt b ngt v ng dng cho cun hai , rotor quay 120 ngc kim ng h v rng ca rotor s ht vo cc hai. quay ng c ny mt cch lin tc, chng ta cn cp in lin tc lun phin cho ba cun dy. Bng di y th hin r qu trnh hot ng ca ng c servo.
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Cc c im ca ng c servo:
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1.3 Servo Amplifiers Hnh thc bn ngoi
Loi servo Amplifier
S series p dng cng sut p dng ngun cung cp
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Mu s
Sigma II Series SGDH Servo Amplifier Cng sut ti a p dng Servomotor in p cung cp A:200V B:100V D:400V Loi E:i vi momen xon,tc v kim sot v tr Ci t R: Rack mounted S: mt pha P: ng-thng gi (ch 6 n 15kW) Cng sut ti a p dng Servomotor Cng sut ti a p dng Servomotor K hiu Cng sut (KW) K hiu A3 0.03 50 A5 0.05 60 01 0.10 75 02 0.20 1A 04 0.40 1E 05 0.50 2B 08 0.75 3Z 10 1.0 3G 15 1.5 4E 20 2.0 5E 30 3.0
Cng sut(KW) 5.0 6.0 7.5 11.0 15.0 20.0 30.0 37.0 45.0 55.0
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Chng 2: S KT NI V DY
2.1 Kt ni n thit b ngoi vi Phn ny cung cp cc v d v tiu chun sn phm Sigma II Series kt ni thit b ngoi vi. 2.1.1 Mt pha (100V hoc 200V) thng s k thut vi mch chnh
1 7
6 4
1-My ct(MCCB): Bo v dng in bng cch ng ca OFF mch khi qu dng c pht hin. 2-Chng nhiu: c s dng loi b nhiu bn ngoi t dng in. 3-Cng tc t in t: (HI Series) Thay i servo ON v OFF.Ci t mt p tng trn contactor t
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4-Phanh ngun cung cp: c s dng cho mt servomotor vi mt phanh. 5-in tr ti to: Kt ni mt in tr bn ngoi ti to thit b u cui B1 v B2 nu kh nng ti to l khng . 6-Cp kt ni encoder 7- iu hnh k thut s, My tnh c nhn JUSP-OPO2A-1 v JZSP-CMS00-1 (cp) Cho php ngi dng thit lp cc thng s, hot ng tham chiu v hin th hot ng hoc tnh trng bo ng. Thng tin lin lc v kim sot cng c th vi mt my tnh c nhn. 8-My iu khin ch: Kt ni servo SGDH amplifier n my ch iu khin lu tr. 2.1.2 Ba pha (200V) thng s k thut vi mch chnh 8
7 2
6 4
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1-My ct(MCCB): Bo v dng in bng cch ng tip im OFF mch khi qu dng c pht hin. 2-Chng nhiu: c s dng loi b nhiu bn ngoi t dng in. 3-Cng tc t in t: (HI Series) Thay i servo ON v OFF.Ci t mt p tng trn contactor t 4-Phanh ngun cung cp: c s dng cho mt servomotor vi mt phanh. 5-in tr ti to: Kt ni mt in tr bn ngoi ti to thit b u cui B1 v B2 nu kh nng ti to l khng . 6-Cp kt ni encoder 7- iu hnh k thut s, My tnh c nhn JUSP-OPO2A-1 v JZSP-CMS00-1 (cp) Cho php ngi dng thit lp cc thng s, hot ng tham chiu v hin th hot ng hoc tnh trng bo ng. Thng tin lin lc v kim sot cng c th vi mt my tnh c nhn. 8-My iu khin ch: Kt ni servo SGDH amplifier n my ch iu khin lu tr Yaskawa hoc c thc hin bi mt cng ty khc.
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2.1.3 Ba pha (400V) Thng s k thut vi mch chnh
7 5
6 1-Cp in cho phanh: c cung cp bi 100VAC hoc 200AC Cung cp 24VDC cho servomotor vi 24VDC phanh 2-My ct(MCCB): Bo v dng in bng cch ng tip im OFF mch khi qu dng c pht hin. 3-Chng nhiu: c s dng loi b nhiu bn ngoi t dng in. 4-Cng tc t in t: (HI Series) Thay i servo ON v OFF.Ci t mt p tng trn contactor t 5-Phanh ngun cung cp: c s dng cho mt servomotor vi mt phanh.
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6-in tr ti to: Kt ni mt in tr bn ngoi ti to thit b u cui B1 v B2 nu kh nng ti to l khng . 7-Cp kt ni encoder 8- iu hnh k thut s, My tnh c nhn JUSP-OPO2A-1 v JZSP-CMS00-1 (cp).Cho php ngi dng thit lp cc thng s, hot ng tham kho v hin th hot ng hoc tnh trng bo ng. Thng tin lin lc v kim sot cng c th vi mt my tnh c nhn. 9-My iu khin ch: Kt ni servo SGDH amplifier n my ch iu khin lu tr Yaskawa hoc c thc hin bi mt cng ty khc. 2.2 Dy mch chnh Phn ny cho thy nhng v d in hnh ca dy mch chnh Sigma II servo Series, chc nng ca k hiu u cui mch chnh, v tm quan trng v trnh t. 2.2.1 Tn v m t ca u cui mch chnh Bng di y cho cc tn v m t ca k hiu u cui mch chnh. v Tn mch chnh v m t K hiu u Tn M t cui L1,L2 hoc u cui ng 30W n 200W Mt pha 100 n 115V (10% L,L2,L3 vo mch chnh 15%) 50 / 60Hz AC 30W n 400W Mt pha 200 n 230V (10% 15%) 50 / 60Hz 500W n Ba pha 200 n 230V (10% -15%) 15KW 200V 50/60Hz 500W n Ba pha 380 n 480V (10% -15%) 55KW 400V 50/60Hz U,V,W Kt ni u Kt ni n servomotor cui servomotor L1C,L2C K hiu u 30W n 200W Mt pha 100 n 115V (10% cui kim sot 15%), 50 / 60Hz ngun u vo 30W n 15KW Mt pha 200 n 230V (10% 15%), 50 / 60Hz 24V,0V 500W n 24VDC ( 15%) n v ch 400V 55KW u cui ni Kt ni vi cc thit b u cui cung cp in ni t t v u cui ng c ni t B1,B2 hoc u cui in 30W n 400W Thng thng khng kt ni. B1,B2,B3 tr ti to bn Kt ni mt in tr bn ngoi ti ngoi sinh (c cung cp bi ngi s dng) gia B1 v B2 nu kh nng ti sinh l khng . Lu : Khng c k hiu u cui
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B1,B2
U1, U2
DC kt ni k hiu u cui cho cc l phn ng cung cp in i ph ln sng hi ha u cui mch Thng thng khng kt ni chnh m u cui mch Thng thng khng kt ni chnh dng
B3. 500W n Thng thng ngn B2 v B3 (i 5.0KW vi mt in tr ti to ni b). Hy b cc dy gia B2 v B3 v kt ni mt in tr bn ngoi ti sinh (c cung cp bi khch hng) gia B1 v B2 nu nng lc ca ni b ti to in tr l khng . 6.0KW n Kt ni mt in tr bn ngoi ti 55KW sinh (c cung cp bi ngi dng) gia cc thit b u cui B1 v B2. Thng thng ngn v U1, U 2. Nu chng sng cp in hi ha l cn thit, kt ni cung cp in DC l phn ng gia U 1 v U 2.
2.2.2 Tn tht Servo Amplifier Bng sau y cho thy tn tht in nng khuch i servo ti u ra. v Tn tht in nng Servo Amplifier v tc ng ra Ngun Cng M hnh Dng Tn tht Tn tht Tn tht mch sut ti servo in in in in nng chnh a p Amplifier ng nng nng dng iu dng ra(gi mch in tr khin(W) Servomo tr hiu chnh(W ti tor [kW] dng) ) to(W) A 0.03 Mt SGDH0.66 3.5 pha A3BE _ 0.05 5.2 100V SGDH0.95 A5BE 13 0.10 12 SGDH2.4 01BE 0.20 16.4 SGDH3.0 02BE
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0.03 Mt pha 200V 0.05 0.10 0.20 0.40 0.75 1.50 0.45 0.75 Ba pha 200V 1.0 1.5 2.0 3.0 5.0 6.0 7.5 11.0 15.0 0.45 1.0 Ba pha 400V 1.5
SGDHA3AE SGDHA5AE SGDHA5AE SGDH02AE SGDH04AE SGDH08AE-S SGDH15AE-S SGDH05AE SGDH08AE SGDH10AE SGDH15AE SGDH20AE SGDH20AE SGDH30AE SGDH50AE SGDH60AE SGDH75AE SGDH1AAE SGDH1EAE SGDH05DE SGDH15DE
0.44 0.64 0.91 2.1 2.8 4.4 7.5 3.8 5.7 7.6 11.6 18.5 24.8 32.9 46.9 54.7 58.6 78.0 1.9 3.5 5.4
3.1 4.6 6.7 13.3 20 47 60 27 12 41 55 92 120 155 240 290 330 360 27 56 14 28 12 14
13
16.1 17.6 19.7 26.3 33
15
74 89
15
54 68 82 152 163 198 311 317 357 390
30 490 19 35 53 15
520 14 48 64 82
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2.0 3.0 5.0 6.0 7.5 11.0 15.0
SGDH20DE SGDH30DE SGDH50DE SGDH60DE SGDH75DE SGDH1ADE SGDH1EDE
8.4 11.9 16.5 20.8 25.4 28.1 37.2
83 118 192 232
28
126 161
36
243 247 279 303 407
264 288 392
Lu : nng lng tn tht in tr ti to l tn tht cho php.Lm theo hng dn sau y nu gi tr ny c vt qu: Ngt kt ni ni b in tr ti to trong mch khuch i servo bng cch loi b cc dy gia cc thit b u cui B2 v B3. Ci t bn ngoi mt in tr ti to gia cc thit b u cui B1 v B2. Mt in tr bn ngoi ti to phi c kt ni vi b khuch i cng sut 6kW hoc cao hn. 2.3 Tn hiu I / O Phn ny m t tn hiu I / O cho servo SGDH amplifier 2.3.1 V d in hnh kt ni tn hiu I / O
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Tham chiu v tr
M bo ng ti a in p hot ng:30VDC iu hnh hin ti:20 mADC PG t l phn chia ng ra p dng dng My thu SN75175 hoc MC3486
2 pin d phng 0,8-4 0,5 V (Khi s dng mt b m ha tuyt i). SEN tn hiu u vo (Khi s dng mt b m ha tuyt i). Servo ON (Servo ON khi ON ) P kim sot (P kim sot khi ON) Chy ngc b cm (Cm khi OFF) Chy thun b cm (Cm khi OFF) Bo ng thit lp li (Thit lp li khi ON) Gii hn hin ti ngc (Khng qu khi ON) Gii hn hin ti thun (Khng qu khi ON) Thi gian khng thay i trong b lc chnh l 47s
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2.3.2 Danh sch cc u cui CN1 Bng di y cho thy cch b tr v chi tit k thut ca k hiu u cui CN1 v Giao din u cui CN1 2 SG GND 1 SG GND 27 /TGON+ TGON 26 /Vtn hiu CMPng ra (/COI N-)
SEN
Tn hiu ng ra SEN GND
PL1
SG
V-REF
/PULS Tham 7 chiu xung u vo 10 SG GND 9
PULS
T-REF
12 /SIGN
14 /CLR
K hiu tham chiu u vo Xa g
11 SIGN
M d liu tham chiu cp in Tham chiu tc ng vo Tham chiu xung u vo Tham chiu momen xon ng vo Tham chiu tn hiu vo M d liu
29 /SRDY+
c ng ra servo
28 /TGO N
Tc trng hp ngu nhin pht hin ng ra TGO N tn hiu ng ra c ng ra servo Bo ng u ra servo PG chia ng ra Apha PG chia ng ra Bpha M u
31 ALM+
Bo ng u ra servo
30 /SRDY
33 PAO
PG chia ng ra Apha
32 ALM
35 PBO
PG chia ng ra Bpha
34 /PAO
37 ALO1
M u ra 36 /PBO bo ng
13 PL2
39 ALO3
M thu ng ra
38 ALO2
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vo
16
15 CLR
tham chiu cp in Xa g 41 P-CON vo
ra bo ng P hot ng u vo Servo ON u vo o u 42 P-OT Chuy vo n overtravel tip overtr avel u vo Chuyn 44 /ALM- Bo tip hin RST ng hnh v thit gii hn lp u vo li u vo u vo 46 /N-CL o ngun gii cung cp hn bn ngoi hin ti v u vo S-pha tn 48 PSO S-pha hiu u tn ra hiu ng vo 50 40 /S-ON
18 PL3
20 /PCO
M d liu tham chiu cp in PG chia ng ra Cpha
17 -
43 N-UI
19 PCO
PG chia ng ra C-pha
45 /P-CL
22 BAT(- Pin (- 21 BAT(+) Pin(+) ) )
47 +24V -IN
24
23
49 /PSO
25 /VCMB Tc (/CONI) trng hp ngu nhin pht hin ng ra

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v Thng s k thut CN1 Thng s k thut p dng cho kt ni Loi hn Case Nh sn xut Amplifier Servo 10.250-52A2JL Cng ty TNHH hoc tng ng 10.150-3000VE 10.350-52A0-008 Sumitomo 3M 50-pin Right Angle Plug 2.3.3 Tn v chc nng tn hiu I / O Phn sau y m t cc b khuch i servo tn tn hiu I / O v chc nng v Tn hiu u vo Tn tn hiu Chn Chc nng /S-ON 40 Servo ON: Thay i ON cc servomotor khi tip im trong bin tn ng. Chc nng la chn thng qua tham s Cn i hot Cng tc iu khin tc vng lp t ng tham chiu PI (t l / tch ri) P (t l) kim /P41 sot khi ON. Chung CON Tham chiu Vi tc c la chn tham chiu hng ni b: thit b chuyn mch theo hng xoay vng. Chuyn i ch Cho php chuyn i ch kim sot kim sot Gi liu tham Kim sot tc vi chc nng zerochiu Zero kp kp: tham chiu tc l s khng khi ON. Tham chiu xung V tr kim sot vi xung tham chiu khi dng: dng u vo tham chiu khi xung ON. P-OT 42 Chy thun b N-OT 43 cm Chy nghch b cm /P-CL Chc nng la chn thng qua tham s /N-CL 45 Gii hn hin ti Hin chc nng gii hn s dng khi thun ON. Gii hn hin ti 46 ngc ON Tc chuyn Vi tham chiu tc ni b c la mch ni b chn: ci t thit b chuyn mch tc ni b.
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/ALM -RST +24V IN SEN
44 47 4(2)
Bo ng thit lp li: bo ng trng thi servo Kim sot u vo cung cp in cho cc tn hiu : ngi s dng phi cung cp ngun in 24V +. D liu ban u yu cu tn hiu khi s dng mt b m ha tuyt i Kt ni cc chn cho cc pin d phng b m ha tuyt i Tham chiu tc u vo: 2 n 10V/vng tc ng c (u vo t c c th c sa i vi mt tham s.) Tham chiu M-men xon u vo: 1 ti 10V/vng tc ng c (u vo t c c th c sa i vi mt tham s.) Tng ng vi Hnh thc u vo xung tham chiu M + xung chui u vo ng CCW/ CW xung iu khin Hai pha xung (90 giai on khc M thu bit) Li truy cp : Xa li truy cp trong thi gian kim sot v tr. + 12V ko ln cp in khi PULS,SIGN v tn hiu tham chiu CLR l u ra thu m (12 V cung cp in c cho cc b khuch i servo).
Tham chiu tc Tham chiu Mmen xon Tham chiu v tr
BAT(+) 21 BAT(-) 22 V-REF 5 (6) T-REF 9 (10)
PULS /PULS SIGN /SIGN CLR /CLR P1 P2 P3
7 8 11 12 15 14 3 13 18
Lu : 1. Cc chc nng phn b cho / S-ON, / P-CON. P-OT, N-OT, / ALM-RST, / PCL, v / N-CL tn hiu u vo c th c thay i vi cc thng s. 2. Pin con s trong ngoc () l cn c tn hiu. 3. Phm vi in p u vo cho tham chiu tc v m-men xon ti a l 12V. v Tn hiu u ra Tn tn hiu AML+ ALM/TGON+ Chung /TGONChn 31 32 27 28 Chc nng Servo bo ng: Thay i OFF khi li c pht hin. Pht hin trong qu trnh chuyn ng servomotor: pht hin liu cc servomotor quay tc cao hn thit lp tc ng c. Motor pht hin tc c th c t thng qua tham s.
GVHD: Ths CH PHI
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/SRDY+ /S-RDYPAO /PAO PBO /PBO PCO /PCO PSO /PSO ALO1 ALO2 ALO3 FG Tc /VCMP+ /VCMP/COIN+ /COIN-
9 30 33(1) 34 35 36 19 20 48 49 37 38 39(1) Shell 25 26
Servo sn sng: ON nu khng c bo ng servo khi s kim sot / mch chnh cung cp in c bt. Tn hiu pha A Tn hiu pha B Tn hiu pha C Hai giai on chuyn i xung (A v pha B) giai on m ha tn hiu u ra tn hiu v xut x xung C ( giai on) tn hiu: RS-422 giai on tn hiu hoc tng ng.
Vi mt b m ha tuyt i: d liu u ra ni tip tng ng vi s lng cc vng (RS-422 hoc tng ng). M bo ng u ra: u ra bo ng m 3-bit. M thu: 30V v 20mA nh gi ti a S pha tn hiu Kt ni vi khung mt t nu dy l chn ca cp tn hiu I / O c ni vi v ni. Tc trng hp ngu nhin (s lng ti ch iu khin tc ): pht hin hay khng tc ng c nm trong phm vi thit lp v nu n ph hp vi gi tr tham chiu tc . nh v hon thnh (s lng ti ch kim sot v tr): lt v khi s lng cc xung li t gi tr thit lp. Thit lp s lng cc xung li thit lp trong cc n v tham chiu (cc n v xung u vo c xc nh bi gear in t). Cc thit lp k hiu cui khng c s dng. Khng kt ni chuyn tip n cc k hiu u cui
V tr
25 26
Khng s dng
16 17 23 24 50
Lu :1. Pin con s trong ngoc () l cn c tn hiu. 2. Cc chc nng phn b cho / TGON, / S-RDY, v / V-CMP (/ COIN) c th c thay i thng qua cc thng s. Chc nng / CLT, / VCT, / BK, / cnh bo, v cc tn hiu NEAR / cng c th c thay i. 2.3.4 Giao din Mch Mc ny cho v d v cc b khuch i servo kt ni tn hiu I / O n my ch iu khin. v Giao din cho cc mch u vo tham chiu
GVHD: Ths CH PHI
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v Tn hiu ng vo Analog Tn hiu Analog hoc l tn hiu tham chiu tc hay m-men xon ti tr khng di y. Tham chiu tc u vo: khong 14k Tham chiu Momen xon u vo: khong14k in p ti a cho php tn hiu u vo l 12V.
Servo Amplifier 1.8k ( W) ti thiu
Tham chiu v tr u vo vi mch Mt mch u ra cho cc xung tham chiu v tn hiu li truy cp vo my ch iu khin c th l dng-driver hoc thu-m u ra. V d u ra Line-driver u cui my ch iu khin u cui Servo amplifier
p dng ng-driver SN75174 sn xut bi TI, hoc tng ng
2.8V (cp cao ) - (cp thp) 3,7 V
GVHD: Ths CH PHI
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V d 1:u ra thu-m: cung cp in ngoi u cui my ch iu khin u cui Servo amplifier
Cc v d sau y cho thy lm th no chn in tr R1 ko u vo hin thi (I) ln nm gia 7 v 15mA. Cc v d ng dng R 1 = 2. 2k vi R 1 = 1k vi R1 = 180 vi VCC = 24V 5% VCC = 12V 5% VCC = 5V 5% u ra thu-m . V d 2: S dng mt b khuch i servo vi 12V ni b cp in Mch ny s dng ngun in 12V c cung cp vo b khuch i servo, u vo khng phi l c lp trong trng hp ny.
u cui Servo amplifier PL1, PL2, PL3 k hiu u cui u cui my ch iu khin
1.5V ti a khi ON
GVHD: Ths CH PHI
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v Giao din trnh t u vo vi mch Cc u vo chui giao din kt ni thng qua mt mch relay hoc mch thum transistor. Chn mt relay thp , nu khng s b li mt s kt qu lin lc
v Giao din u ra vi mch Bt k trong ba loi sau y ca u ra mch khuch i servo c th c s dng. Kt ni u vo mt mch iu khin my ch lu tr ti sau mt trong nhng loi. Kt ni vi mt u ra Line driver vi mch Encoder d liu ni tip chuyn i sang giai on hai (giai on A v B) xung tn hiu u ra (PAO, / PAO, PBO, / PBO), ngun gc xung tn hiu (PCO, / PCO) v giai on lun chuyn tn hiu S (PCO, / PCO) l s lng thng qua cc mch, s lng ng dy trnh iu khin thng bao gm cc h thng iu khin v tr b iu khin my ch. Kt ni s lng dng mch iu khin thng qua mt mch ng dy thu ti b iu khin my ch. Kt ni vi mt u ra thu m vi mch Tn hiu bo ng m s lng c thu t thu m s lng mch transistor. Kt ni mt mch ra thu m thng qua mt photocoupler, relay, hoc nhn mch dng.
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Lu : in p ti a cho php v nng lc hin ti cho cc mch thu m l: in p: 30VDC Dng in: 20mADC Kt ni n mt vi mch u ra Photocoupler Photocoupler mch u ra c s dng bo ng servo, servo sn sng, v trnh t tn hiu u ra mch khc. Kt ni mt mch u ra photocoupler thng qua mt mch relay hoc nhn dng.
Lu : Dung lng ti a cho php mch photocoupler u ra l: in p: 30VDC Dng in: 50mADC 2.4 Dy m ha (Ch i vi SGMGH v Motors SGMSH) Nhng phn sau y m t cc th tc lp t mt b m ha khuch i servo 2.4.1 Kt ni encoder Cc s sau y cho thy cc h thng dy in ca u ra b m ha t ng c n CN2 ca b khuch i servo, v tn hiu u ra PG t CN1 iu khin. iu ny
GVHD: Ths CH PHI
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p dng cho c b m ha tng i v b m ha tuyt i ca ng c SGMGH v SGMSH. Encoders tng i Servo amplifier Encoder tng i
Ng ra dng driver SN751LS194
p dng Dng SN75175
Shield dy Encoders tuyt i Encoder tuyt i servo amplifier
Ng ra dng Driver SN751 LS194NS
p dng dng MC4386 hoc SN75175
GVHD: Ths CH PHI
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2.4.2 CN2 cc loi giao din kt ni u cui encoder Cc bng sau y m t cch kt ni k hiu u cui CN2. v Giao din kt ni u cui CN2 Chn Tn hiu Chc nng Chn Tn hiu 1 PG 5V PG cp in 5 V 2 PG0V 3 BAT(+) Pin (+) 4 BAT(-) (i vi mt b m ha tuyt i) 5 PS PG tip ni tn hiu 6 /PS u vo v Kiu kt ni CN2 Kt ni servo p dng Plug (hoc Socket) amplifier Plug hn Plug hn (Kt ni Servo (Kt Servomotor) Amplifier) 53460-0611 55100-0600 54280 - 0600 (Yaskawa s: (Yaskawa s: JZSPJZSP-CMP9-1) CMP9-2)
Chc nng PG cp in 0V Pin (-) (i vi mt b m ha tuyt i) PG tip ni tn hiu u vo
Sn xut Cng ty TNHH Molex Nht Bn
Lu : 1. FA1394 l s sn phm cho cc plug cui servo amplifier v u cui servomotor cc b socket t Cng ty TNHH Molex Nht Bn 2. Cc cm relay kt ni u cui servomotor n kt ni m ha cho SGMAH v servomotor SGMPH. 3. Cc kt ni b m ha sau y cho servomotor SGMGH v SGMSH: L-shaped plug: MS3108B20-29 Straight: MS3106B20-29 Cp kp: MS3057-12A Lu : Encoder cp c sn t Yaskawa. bit chi tit v cc loi cp, xem Sigma II Series b sung danh mc h thng Servo (G-MI # 99.001).
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Chng 3: THNG S CI T V THAM S

Chng ny m t vic s dng mi u ni CN1 trong cc tn hiu I / O khuch i servo SGDH cng nh cc th tc thit lp cc thng s lin quan cho cc d nh mc ch. Cu hnh tham s Tham s bao gm cc loi c th hin trong bng sau. Xem Ph lc danh sch cc tham s. Loi S thng s M t Chc nng la chn hng s Servo tng v hng s khc Pn000 n Pn003 Pn100 n Pn123 Chn cc chc nng c bn v ng dng nh cc loi hnh kim sot hay ch ngng s dng khi bo ng xy ra Thit lp cc gi tr s nh tc v v tr vng li nhun. Thit lp cc thng s kim sot v tr nh hnh thc tham chiu cc u vo mch v s t l. Thit lp thng s kim sot tc nh tham chiu tng tc u vo v thi gian gim tc bt u mm. Thit lp cc thng s kim sot m-men xon nh m-men xon t c cc tham chiu u vo v gii hn ngc m-men xon thun / o. t iu kin u ra cho tt c cc thay i trnh t tn hiu, la chn v phn b tn hiu I / O. Xc nh nng lc mt in tr ti sinh bn ngoi v cc hng s c bo lu. Thc hin chc nng ph tr nh ch hot ng chy Kch hot tnh nng theo di tham chiu tc v m-men xon, cng nh gim st kim tra xem tn hiu I / O l ON hoc OFF.
Hng s kim sot v tr Pn200 n Pn208 Hng s iu khin tc Hng s kim sot mmen xon Pn300 n Pn308 Pn400 n Pn409
Hng s lin tc
Pn500 n Pn512 Pn600 n Pn601
Khc
Chc nng ph tr hot Fn000 n ng Fn014 Ch mn hnh Un000 n Un00D
3.1 Ci t theo c im thit b Phn ny m t cc th tc thit lp cc thng s theo kch thc v c im hiu sut ca thit b c s dng. 3.1.1 Chuyn mch hng xoay Servomotor Cc b khuch i servo c ch xoay ngc o ngc hng quay servomotor m khng Rewiring. Chuyn tip trong cc thit lp tiu chun c nh ngha l ngc
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nhn t ti. Vi ch quay ngc, hng quay servomotor c th o ngc m khng thay i cc thng s khc. Ch c s thay i (+, -) ca chuyn ng trc b o ngc. Thit lp ch xoay ngc S dng tham s Pn000.0 Thng s Pn000.0 Tn hiu La chn hng Ci t Thit lp mc nh: 0 Ch iu khin Tc / kim sot mmen, kim sot v tr
S dng cc ci t sau y chn hng quay servomotor. Ci t 0 1 M t Chuyn tip lun chuyn c nh ngha l quay ngc(CW) nhn t ti. Chuyn tip lun chuyn c nh ngha l xoay chiu kim ng h (CW) nhn t ti. (Tiu chun thit lp) (Ch quay ngc)
3.1.2 Thit lp cc gii hn chc nng Overtravel Cc chc nng gii hn overtravel phn thit b di ng ngn chn lc nu n vt qu phm vi cho php ca chuyn ng. S dng chc nng Overtravel s dng chc nng overtravel, kt ni tn hiu u vo hn ch chuyn i overtravel k hiu u cui hin th di y vo cc chn chnh xc ca b khuch i servo ni CN1
u vo P-OT CN1-42 u vo N-OT CN 1-43
Chy thun b nghim cm (Chuyn tip Overtravel) Chy ngc b nghim cm (o chiu Overtravel)
Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr
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Kt ni k hiu hn ch chuyn mch nh hnh di y ngn nga thit hi cho cc k hiu trong chuyn ng tuyn tnh u cui quay ngc u cui quay thun Servomotor Hn ch Hn ch chuyn chuyn servo amplifier i i
iu khin vi mt tn hiu u vo ON hoc OFF c th hin trong bng sau. Tn hiu P-OT Trng thi ON OFF N-OT ON OFF Cp ng vo CN1-42:thp CN1-42:cao CN1-43:thp CN1-43:cao M t Chy thun c cho php, (hot ng trng thi bnh thng). Chy thun cm (chy ngc c cho php). Chy ngc c cho php, (hot ng trng thi bnh thng). Chy ngc cm (chy thun c cho php).
Cho php / v hiu ho tn hiu u vo Thit lp cc thng s sau y xc nh xem tn hiu u vo c s dng cho overtravel hay khng. Ci t mc nh l "c s dng." Thng s Pn50A.3 Tn hiu Tn hiu P-OT (Tn hiu u vo chy thun cm) Tn hiu N-OT (Tn hiu u vo chy ngc b cm) Ci t Thit lp mc nh: 2 Ch iu khin Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr
Pn50B.0
Thit lp mc nh: 3
GVHD: Ths CH PHI
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Servo amplifier Cc h thng dy in ngn mch c hin th trong hnh c th c b qua khi P-OT v N-OT khng c s dng.
Thng s Pn50A.3
Tn hiu S tn hiu POT (Tn hiu u vo chy thun cm)
Ci t Thit lp mc nh: 2
M t S dng cc tn hiu u vo P-OT ngn chn quay thun. (Xoay thun b cm khi CN1-42 c m v c cho php khi CN 1-42 l lc 0V). Khng s dng cc tn hiu u vo P-OT ngn chn chuyn vng xoay. (Xoay thun lun cho php v c cng cng hiu nh shorting CN1-42 0V). S dng cc tn hiu u vo N-OT ngn chn quay ngc li. (Chy ngc l b cm khi CN1-43 c m v c cho php khi CN 1-43 l lc 0V). Khng s dng cc tn hiu u vo N-OT ngn chn quay ngc li. (quay ngc lun lun c cho php v c cng cng hiu nh shorting CN1-43 0V).
Pn50B.0
S tn hiu N- Thit lp mc OT nh: 3 (Tn hiu u vo chy ngc b cm) 8
Ch dng servomotor cho tn hiu u vo P- OT v N-OT Thit lp cc thng s sau y xc nh ch dng Servomotor khi tn hiu u vo P-OT v N-OT c s dng. Ch nh ch dng Servomotor khi mt trong cc tn hiu sau y l u vo trong hot ng servomotor. u vo chy thun cm (P-OT, CN1-42) u vo chy ngc cm (N-OT, CN1-43)
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Thng s Pn001.1
Tn hiu Ch dng Overtravel
Ci t Thit lp mc nh: 0
Ch iu khin Tc / kim sot mmen, kim sot v tr
Ch dng Sau khi dng Thit lp Pn001.1
Lu : kim sot m-men xon, servomotor s c t trong tnh trng bo ng sau khi mt trong hai decelerating hoc coasting n mt ca (theo phng thc ngng t trong Pn001.0), bt k cc thit lp ca Pn001.1. Thng s Pn001.1 Tn hiu Ch dng Overtravel Ci t 0 1 M t Dng cc servomotor cng mt cch nh thay i OFF servo (theo Pn001.0). Decelerates cc servomotor dng li mmen xon ci sn, v sau kha servomotor trong Zero thit lp ch Clamp.Momen xon: Pn406 dng khn cp momen xon. Decelerates cc servomotor dng li mmen xon ci sn, v t trong tnh trng bo ng servomotor thit lp momen xon: Pn406 dng khn cp momen xon.
Pn406 xc nh ngng p dng cho m-men xon overtravel khi tn hiu u vo cho quay thun hoc quay ngc cm c s dng. Gii hn m-men xon c quy nh nh mt t l phn trm ca m-men xon c ci t. Thng s Pn406 Tn hiu Dng khn cp momen xon (Hp l khi Pn001.1 l 1 hoc 2) Ci t(%) Range: 0% n Mmen xon ti a Thit lp mc nh: 800 Ch iu khin Tc / kim sot mmen, kim sot v tr
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Ch dng Dng bi phanh nng ng u vo chy thun cm P-OT (CN1-42) u vo chy ngc cm N-OT (CN1-43) Lao n mt im dng Chy chm dng li Max. thit lp cho mt m-men xon trng hp dng khn cp Pn406 3.1.3 Hn ch mo-men xon Cc b khuch i servo SGDH gii hn m-men xon nh sau: Cp 1: Gii hn ti a s lng m-men xon bo v cc thit b hoc phi. Cp 2: Gii hn m-men xon sau khi servomotor di chuyn cc trang thit b cho mt v tr quy nh (gii hn m-men xon ni). Cp 3: Lun lun gii hn s lng hn l tc m-men xon. Cp 4: Cng tc gii hn gia tc v m-men xon. p dng mc 1 v 2 trong chc nng gii hn m-men xon c m t di y. Thit lp cp 1: Gii hn momen xon ni Gii hn M-men xon ti a nhng gi tr thit lp trong cc thng s sau Thng s Pn402 Tn hiu Hn ch momen xon thun Hn ch momen xon ngc Ci t(%) Ch iu khin Range: 0-800 Tc / kim sot mmen, Thit lp mc nh: kim sot v tr. 800 Range: 0-800 Tc / kim sot mmen, Thit lp mc nh: kim sot v tr. 800
Pn403
Thit lp gii hn m-men xon ti a cho quay thun v quay ngc. c s dng khi m-men xon phi hn ch do iu kin trang thit b. Chc nng gii hn m-men xon: lun lun theo di m-men xon v u ra cc tn hiu di y khi gii hn l t. Cc tn hiu sau y u ra ca chc nng gii hn m-men xon. Tn hiu / CLT M t To ra khi Pn50F.0 phn b u ra t k hiu cui SO1 n SO3.
Ch mn hnh (Un006) u ra tn hiu mn hnh

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Cc gii hn m-men xon c quy nh nh mt t l phn trm ca m-men xon c quy nh. Lu : Nu gii hn c thit lp m-men xon cao hn m-men xon ti a ca servomotor, cc gii hn m-men xon l ti a ca servomotor. V d ng dng: Thit b bo v
Gii hn momen Tc motor Momen xon Qu nh mt gii hn m-men xon s cho kt qu trong mt m-men xon khng khi tng tc v gim tc .
S dng tn hiu / CLT Phn di y m t vic s dng cc tn hiu u ra lin h / CLT l tn hiu u ra gii hn mt m-men xon. I / O cung cp in Servo amplifier Photocoupler s lng cp cho mi u ra nt: in p hot ng ti a: 30VDC Dng in ng ra ti a: 50mADC
u ra / CLT CN -1 1
Gii hn u ra m-men xon
Tc / kim sot mmen, kim sot v tr
Tn hiu ny cho thy s lng m-men xon servomotor (hin ti) ang c hn ch. Trng thi ON iu kin Cc mch gia CN1-1v 2 c ng li. CN 1 - 1 mc thp. Cc mch gia CN1- 1v2 c m ra. CN 1 - 1 mc cao. M t M-men xon u ra Servomotor ang c hn ch. (Tham chiu m-men xon ni ln hn gii hn thit lp). M-men xon u ra Servomotor l khng c hn ch. (Tham chiu m-men xon ni thp hn gii hn thit lp).
OFF
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Ci t: Pn402 (Hn ch momen xon thun) Pn403 ( Hn ch momen xon ngc) Pn404 ( Hn ch momen xon thun ngoi): / P-CL ch u vo Pn405 ( Hn ch momen xon ngc ngoi): / N-CL ch u vo Khi tn hiu / CLT c s dng, cc tham s sau y phi c s dng chn tn hiu u ra. Thng s Pn50F Tn hiu La chn tn hiu u ra 2 Ci t Thit lp mc nh: 0.000 Ch iu khin Tc / kim sot mmen, kim sot v tr
Pn50F.0 / CLT 1 pht hin gii hn momen xon
u cui ng ra CN1-25, 26 (SO1) CN1-27, 28 (SO2) CN1-29, 30 (SO3)
S dng bng sau chn thit b u cui s ra tn hiu / CLT. Thng s Ci t 1 0 Pn50F. 0 1 2 3 25 27 29 u cui ng ra 2 26 28 30
Lu : Nhiu tn hiu cp cho s lng cc mch tng t u ra c s dng bng cch OR logic. Thit lp cc tn hiu u ra khc n mt gi tr khc hn l giao cho cc tn hiu CLT / s dng ch cn tn hiu u ra CLT/. Thit lp Cp 2: Gii hn Momen xon ngoi Mt tn hiu lin lc vi u vo c s dng cho php m-men xon (hin hnh) trc y t trong gii hn cc thng s. Gii hn m-men xon c th c t ring cho quay thun v quay ngc.
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Servo amplifier Hn ch m-men xon Pn402 Hn ch m-men xon Pn402 hoc Pn404 Hn ch m-men xon Pn40 3 Hn ch m-men xon Pn403 hoc Pn405
/ P-CL CN1 -45
Quay Tc thun quay Tc quay Tc quay Tc quay
/ N-CL CN1 -4 6
Quay ngc
Ng vo / P-CL CN1-45 u ra / N-CL CN 1-46
Gii hn u vo momen xon thun ngoi Gii hn u vo momen xon ngc ngoi
Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr
y l m-men xon bn ngoi (hin hnh) gii hn u vo cho quay thun v ngc li. Kim tra tnh trng cp pht tn hiu u vo khi s dng chc nng ny,cc thit lp mc nh c cho trong bng di y. Thng s / P-CL Trng thi tn hiu CN1-45 mc thp khi ON CN1-45 mc cao khi OFF Ch thch S dng gii hn mmen xon thun. Khng s dng gii hn m-men xon thun. Hot ng bnh thng. S dng gii hn mmen xon ngc. Khng s dng gii hn m-men xon ngc.Hot ng bnh thng M t Hn ch: Pn404
Hn ch: Pn405
/ N-CL
CN1-46 mc thp khi ON CN1-46 mc cao khi OFF
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Nhng tn hiu u ra sau v phng php gim st c s dng khi m-men xon ny ang c hn ch. Tn hiu / CLT Ch mn hnh (Un006) Un005: s 6 v 7 (Vi Ci t mc nh) Un006: Tu theo iu kin phn b s lng tn hiu. V d ng dng: Buc ngng. Robot ang nm gi mt phi Thng s Pn404 Tn hiu Gii hn momen xon thun ngoi Gii hn momen xon ngc ngoi Ci t(%) Range: 0-800 Thit lp mc nh: 100 Ch iu khin Tc / kim sot mmen, kim sot v tr M t To ra khi Pn50F .0 c chuyn cho mt u ra t k hiu u cui SO1 n SO3. -
Range: 0-800 Tc / kim sot Thit lp mc mmen, kim sot nh: 100 v tr Thit lp gii hn m-men xon khi m-men xon hn ch bi mt u vo kt ni vi bn ngoi. Pn405 Ci t Ng vo / P-CL (CN1-45) Ng vo / N-CL (CN1-46) M t Pn404 p dng gii hn m-men xon Pn405 p dng gii hn m-men xon
GVHD: Ths CH PHI
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S dng tn hiu / P-CL v / N-CL S dng / P-CL v / N-CL l tn hiu u vo hn ch m-men xon c minh ha di y.
Servo amplifier I / O cung cp in Photocoupler My ch iu khin
3.2 Ci t theo my ch iu khin Phn ny m t cc th tc kt ni mt Sigma II Series servo n mt iu khin lu tr, trong c th tc thit lp cc thng s lin quan. 3.2.1 Tham chiu tc Tham chiu tc u vo bng cch s dng tn hiu u vo tham chiu tc u vo. Do tn hiu y cs dng khc nhau, thit lp cc u vo tham chiu ti u cho h thng to ra.
Tham chiu M-men xon u vo (Analog in p u vo) Tham chiu tc u vo (Analog in p u vo)
Servo amplifier Tham chiu momen xon Tham chiu tc i din cho cp dy xon.
u vo V-REF CN 1-5 u vo SG CN 1-6
Tham chiu tc u vo Tn hiu Ground
iu khin tc iu khin tc
GVHD: Ths CH PHI
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Cc yu t u vo trn c s dng kim sot tc (tham chiu analog). (Pn000.1 = 0, 4, 7, 9, hoc A). Dy lun iu khin tc bnh thng. Tc ng c c iu khin tng ng vi in p u vo gia V-REF v SG.
Tc ng c Nh sn xut thit lp in p vo(V) Tc ng c dc c t trong Pn300. V d thit lp : Pn300 = 600: Thit lp ny c ngha l 6V tng ng vi tc ng c cao. Tham kho tc Chiu quay Tc motor SGMAH u vo servomotor +6V Quay thun tc ng c 3000rpm +1V Quay thun (1 / 6) tc ng 500rpm c -3V Quay ngc (1 / 2) tc ng 1500rpm c Thng s Pn300 c th c s dng thay i phm vi in p u vo. V d dng in u vo
Servo amplifier 470 , W ti thiu
GVHD: Ths CH PHI
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Lun lun s dng cp i xon lc nhiu. Kt ni V-REF v SG n tc u ra k hiu u cui tham chiu trn my ch iu khin khi s dng mt b iu khin my ch, chng hn nh mt b iu khin lp trnh c cho kim sot v tr.
My ch iu khin u cui tham chiu tc ng ra
Servo amplifier
u cui ng vao xung phn hi : i din cho cp dy xon. iu chnh Pn300 theo cc thng s k thut in p u ra ca b iu khin my ch. iu chnh cc yu t tham chiu iu chnh tc u vo ti cc tham s sau y. Thng s Tn hiu Ci t Ch iu khin Pn300 iu chnh h s Range: 150-3.000 x iu khin tc tham chiu tc (0.01V/ tc ng u vo c) t phm vi tham chiu in p cho tc u vo V-REF ti CN1-5 theo iu khin my ch lu tr v dng in u ra bn ngoi.
Tham kho tc (rpm) Thit lp dc ny. Tham kho in p (V) Ci t mc nh iu chnh sao cho mt u vo 6V tng ng vi ng c tc cao ca tt c cc p dng servomotors. Lu : in p ti a cho php tham chiu tc u vo (gia CN1-5 v 6) l 12VDC
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S dng tn hiu / P-CON u vo P-CON CN1-41
Tham chiu kim sot t l
iu khin tc , kim sot v tr
Cc k hiu tn hiu u vo / P-CON chuyn mch kim sot tc sang ch kim sot t PI (t l-tch phn) n P (t l). Kim sot t l c th c s dng trong hai trng hp sau y: Khi hot ng c thc hin bng pht tn hiu tham chiu tc t my ch iu khin cho cc b khuch i servo, b iu khin my ch lu tr c chn lc c th s dng ch kim sot P cho iu kin c th . Nu PI phng thc kim tra c s dng khi tham chiu tc c mt tham chiu b , cc ng c c th quay vi tc rt chm v khng ngng ngay c khi 0 c quy nh nh mt tham chiu tc . Trong trng hp ny, s dng ch kim sot P dng ng c . 3.2.2 Tham chiu v tr Cc xung tham chiu, code tham chiu v u vo c s dng cho tham chiu v tr. K t khi tn hiu ny c th c s dng trong nhiu cch khc nhau, thit lp cc tham chiu ti u u vo cho h thng to ra. Xung tham chiu u vo Kim sot nh v c bng cch nhp mt xung tham chiu cho mt di chuyn
Servo amplifier Xung tham chiu ng vo Code tham chiu ng vo
Xa ng vo : i din cho cp dy xon Bt k cc hnh thc sau y c th c s dng cho tham chiu v tr: Line-driver u ra 12 V s lng thu-m 5 V s lng thu-m
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V d 1: Kt ni u ra Line- driver p dng dng driver : SN75174 sn xut bi Texas Instruments Inc., MC3487 hoc tng ng My ch iu khin servo amplifier
V d 2: Kt ni u ra thu-m Thit lp gii hn in tr R1 cho hin ti u vo I nm trong phm vi sau y: My ch iu khin servo amplifier
: i din cho cp dy xon
GVHD: Ths CH PHI
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Cc v d di y cho thy lm th no chn in tr R1 ko u vo hin ti I ln gia 7 v 15mA. V d v cc ng dng V = IR R 1 = 1k vi VCC = 12V 5% R1 = 180 vi VCC 5V = 5% Lu : Bng sau y cho thy s logic tn hiu cho mt s lng thu m. Trang thi u ra cp 1 Tn hiu Logic ON Tng ng vi cp cao u vo OFF Tng ng vi cp thp u vo Mch ny s dng ngun in 12V c cung cp vo b khuch i servo, u vo khng phi l c lp trong trng hp ny. My ch iu khin servo amplifier
: i din cho cp dy xon Lu : Bin nhiu ca tn hiu u vo s gim nu xung tham chiu c cung cp bi mt u thu m. t tham s Pn200.3 n 1 nu v tr thay i do nhiu. La chn mt mu xung tham chiu S dng cc thng s sau y la chn hnh thc xung tham chiu c s dng. Ng vo PULS CN1-7 Tham chiu xung u vo Kim sot v tr Ng vo / PULS CN 1-8 Tham chiu xung u vo Kim sot v tr Ng vo SIGN CN 1-11 Tham chiu code u vo Kim sot v tr Ng vo / SIGN CN1-12 Tham chiu code u vo Kim sot v tr
GVHD: Ths CH PHI
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Servomotor ny ch quay mt gc t l thun vi xung u vo. Tn hiu Thit lpRange Ch diu khin Mu xung tham Thit lp mc nh: Kim sot v tr kho 0 Hnh thc tham chiu xung u vo t t cc b khuch i servo n b iu khin my ch. Thng s Pn200. 0 My ch iu khin xung tham chiu v tr servo amplifier
K t khi hnh thc xung tham chiu c th c la chn trong s nhng hnh thc lit k di y, thit lp theo mt thng s k thut iu khin my ch. Thng s Mu xung Nhn Logic Tham chiu quay Tham chiu quay Pn200.0 tham chiu xung ng thun ngc vo 0 im,chui xung Logic khng nh 1 Xung CW +xung CCW 2 3 4 5 Chui xung 2 pha vi chnh lch 90 pha im,chui xung Xung CW +xung CCW Chui xung 2 pha vi chnh lch 90 pha X1 X2 X4 Logic ph nh -
7 8 9
X1 X2 X4
GVHD: Ths CH PHI
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Nhn xung ng vo S xung di chuyn Servomotor
Xung tham chiu ng vo PULS (CN1-7) SIGN (CN1-11) Xung u vo chc nng nhn c th c s dng nu xung tham chiu l mt chui xung hai giai on vi lch pha 90 . Chc nng gair in t cng c th c s dng chuyn i xung u vo. Tn hiu u vo thi gian xung tham chiu Mu xung tham chiu Thng s k thut in im,chui xung ng Sign (SIGN) vo (tn hiu SIGN + H = Tham PULS) chiu thun Tn s tham chiu ti L = Tham a: 500kpps chiu ngc (200kpps s lng thu m) Xung CW v xung CCW Tn s tham chiu ti a: 500kpps (200kpps s lng thu m) Chui hai xung Pn200.0 l vi chnh lch 90 pha tham s c (pha A + pha B ) s dng Tn s tham chiu ti chuyn i a: 500kpps hnh thc xung (200kpps s lng thu nhn u vo m) s. 2: 400kpps 4: 200kpps
GVHD: Ths CH PHI
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Li truy cp ng vo clear u vo CLR CN 1-15 Xa ng vo Kim sot v tr u vo / CLR CN1-14 Xa ng vo Kim sot v tr Vic xy ra sau khi cc tn hiu CLR c thit lp n mc cao Servo amplifier
Cc li truy cp bn trong cc mch khuch i servo c t thnh 0. Chc v kim sot vng lp u b cm. S dng tn hiu xa li truy cp t b iu khin my ch lu tr hoc chn sau hot ng xa thng qua tham s Pn200.1. Thng s Tn hiu Ci t Range Ch iu khin Pn200.1 Li truy cp t tn Thit lp mc nh:0 iu khin v tr hiu Clear La chn hnh thc xung cho cc li truy cp tn hiu CLR (CN1-15). Thit lp Pn200.1 M t Thi gian xa 0 Xa cc truy cp li khi tn hiu CLR cao. Xung trng thi xa li khng cn nu tn hiu vn cn cao. 1 Xa cc li truy cp vo cc cnh ca tn hiu CLR cao. Xa cc li truy cp ch Xa mt ln vo thi im mt ln vo cnh ln ca ny tn hiu CLR 2 Xa cc li truy cp khi tn hiu CLR thp. trng thi xa Xung li khng cn nu tn hiu vn cn thp 3 Xa cc li truy cp vo cc cnh ca tn hiu CLR thp. Xa mt ln vo thi im Xa cc li truy cp ch ny mt ln vo cnh xung ca tn hiu CLR.
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3.2.3 S dng tn hiu u ra Encoder u ra tn hiu Encoder c chia bn trong mch khuch i servo c th u ra bn ngoi. Cc tn hiu ny c th c s dng to thnh mt vng lp kim sot v tr trong b iu khin my ch.
Servo amplifier
My ch iu khin
Encoder (servomotor)
Cc mch u ra cho cc dng u ra driver. Kt ni mi dng tn hiu theo s mch in sau y. servo amplifier My ch iu khin
P: i din cho cp dy xon R = 220 n 470 C = 0.1F (tch t in) Lu : Dividing c ngha l chuyn i mt chui xung u vo t cc b m ha c t trn servomotor theo mt xung ci sn v a ra xung chuyn i.
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Tn hiu I / O Tn hiu I / O c m t di y. u ra PAO CN1-33 u ra encoder pha A u ra / PAO CN 1 -34 u ra PBO CN1-35 u ra / PBO CN 1 -36 u ra PCO CN 1-19 u ra /PCO CN 1-20 u ra encoder pha /A u ra encoder pha B u ra encoder pha /B u ra encoder pha C u ra encoder pha /C
Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr Tc / kim sot mmen, kim sot v tr
Chia u ra tn hiu m ha. Lun lun kt ni cc thit b u cui khi mt vng lp tn hiu v tr c hnh thnh trong iu khin my ch kim sot v tr. Thit lp mt t l phn chia vo cc thng s sau y. T l chia PG Pn201 Thit lp t l phn chia khng lin quan n t l thit lp gear (Pn202 v 203) cho b khuch i servo ,chc nng in t gear trong qu trnh kim sot v tr Mu pha ng ra Quay thun quay ngc Pha A Pha B Pha C Pha A Pha B Pha C
u vo SEN CN1-4 u vo / SEN CN1-2 u ra PSO CN1-48 u ra / PSO CN1 -49 u vo BAT (+) CN1-21 u vo / BAT (-) CN1- 22
Tn hiu u vo SEN Tn hiu Ground u ra pha S encoder u ra pha /S encoder Pin (+) Pin (-)
Tc / iu khin mmen Tc / iu khin mmen Tc / iu khin mmen,iu khin v tr Tc / iu khin mmen,iu khin v tr Tc / iu khin mmen,iu khin v tr Tc / iu khin mmen,iu khin v tr
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S dng SEN BAT (-) cc tn hiu cho b m ha tuyt i. u ra SG CN1-1 Tn hiu ground Tc / iu khin mmen,iu khin v tr SG: Kt ni vi 0V trn b iu khin my ch. Thit lp chia xung t xung t l phn chia trong cc tham s sau y. Thng s Tn hiu Ci t(PPR) Ch iu khin Pn201 PG Divider Range: 16-16.384 Tc / iu khin Thit lp mc nh: mmen,iu khin 16.384 v tr Thit lp s lng cc xung tn hiu u ra PG (PAO, / PAO, PBO, / PBO). Servo amplifier Servomotor encoder d liu serial Pha A u ra Pha B
Xung t cc b m ha servomotor (PG) c chia cho s c nh sn trc khi n u ra. S lng cc xung cho mi chui ng ra c t tham s ny. Thit lp gi tr bng cch s dng cc n v tham chiu ca thit b iu khin c s dng. Phm vi thit lp khc nhau vi cc b m ha c s dng. V d thit lp Gi tr nh sn: 16 1 phn gii
Ch Servomotor v Thng s k thut Encoder A B,1 C,2
phn gii (Bits)
13 16 17
phn gii s xung ca encoder(PPR) 2048 16348
Thit lpRange 16 n 2048 16 n 16348
GVHD: Ths CH PHI
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Lu : 1. Bt OFF ngun mt ln v bt ON li sau khi thay i cc tham s. 2. Mt b m ha 13-bit s chy 2048 PPR ngay c khi cc thit lp ti Pn201 c t cao hn 2049 3.2.4 Chui tn hiu I / O Chui tn hiu I / O c s dng kim sot hot ng khuch i servo. Kt ni cc k hiu tn hiu u cui theo yu cu. Kt ni tn hiu u vo Kt ni tn hiu u vo th t nh hnh di y. I/O ngun cung cp My ch iu khin servo amplifier
Lu : Cung cp mt ngun cp in I/O ring bit bn ngoi; cc b khuch i servo khng c mt cp in ni b 24V. Ngoi chi tit cp in k thut: 24V 1 VDC, 50mA ti thiu. Vic phn b chc nng cho cc mch dy tn hiu u vo c th c thay i. u vo 24 VIN CN1-47 I / O Ngun cung cp u vo ngoi Tc / iu khin mmen,iu khin v tr
GVHD: Ths CH PHI
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Cc u cui u vo ngun cung cp in bn ngoi c ni chung cho chui tn hiu u vo
Servo amplifier I/O ngun cung cp Kt ni mt I/O ngun cp in bn ngoi Kt ni tn hiu u vo: / S-ON (CN1-40) / P-CON (CN1-41) P-OT (CN1-42) N-OT (CN1-43) / ALM-RST (CN1-44) / P-CL (CN1-45) / N-CL (CN1-46)
Kt ni tn hiu u ra Kt ni tn hiu u ra tng t nh trong hnh sau. Servo amplifier I/O ngun cung cp
Photocoupler cp ng ra cho mi nt u ra: in p hot ng ti a: 30VDC Dng in hot ng ti a: 50mADC Cp ng ra thu m cho mi nt u ra: in p hot ng ti a: 30VDC Dng in hot ng ti a: 20mADC 3.2.5 S dng chc nng Gear in t Chc nng gear in t cho php khong cch mi u vo xung tham chiu servomotor c t thnh gi tr bt k. N cho php cc xung c to ra bi my iu khin ch
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s c s dng iu khin m khng cn phi xem xt t l s thit b hoc s xung encoder. Ci t Gear in t Tnh ton t l gear in t (B / A) bng cch s dng cc hng dn sau y, v thit lp cc gi tr trong cc tham s Pn202 v 203. 1. Kim tra thng s k thut thit b lin quan n gear in t: T l gim tc Ball screw pitch ng knh Pulley
2. Kim tra s xung encoder cho SGMH servomotor. Ch Servomotor v Loi encoder phn gii s xung ca encoder (PPR) Thng s k thut Encoder A Encoder tng i 13 bit 2048 B 16 bit 16348 C 17 bit 32768 1 Encoder tuyt i 16 bit 16348 2 17 bit 32748 Lu : s bit i din cho phn gii ca cc b m ha p dng khng ging nh s lng cc xung tn hiu m ha (pha A v pha B) s lng t cc b khuch i servo. 3. Xc nh cc n v s dng tham chiu. Mt n v tham chiu l v tr n v d liu ti thiu c s dng di chuyn mt ti. (n v tham chiu ti thiu t b iu khin my ch) di chuyn mt khong trong cc n v 0.001mm n v tham chiu: 0.001mm
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Xc nh cc n v tham chiu theo thng s k thut thit b v chnh xc nh v. V d (trong mm): n v c th tham kho hoc 0.1in 0.01in hoc 0.01 mm hay 0.001mm, vv Mt n v tham chiu ca mt trong nhng xung di chuyn ti bi mt n v tham chiu. Khi cc n v tham chiu l 1m Nu mt tham chiu ca 50.000 n v l u vo, cc ti di chuyn 50mm (1.97in) (50.000 x 0.001mm = 50mm). S khi iu khin S sau y minh ha mt khi iu khin kim sot v tr.
Servo amplifier
Xung tham chiu
PG tn hiu ng ra 3.2.6 Kt ni u vo iu khin tc Chc nng ny cung cp mt phng php kim sot tc d dng. N cho php ngi dng thit lp ban u ba tc ng c khc nhau vi cc thng s, v sau chn mt trong nhng tc bn ngoi bng cch s dng mt kt ni u vo.
GVHD: Ths CH PHI
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Servo amplifier Kt ni ng vo La chn tc Tc bn ngoi thit lp mt thit b my pht xung khng bt buc. Cc tc hot ng servomotor c thit lp trong tham s ny
S dng kt ni u vo kim sot tc Thc hin theo cc bc 1-3 bn di s dng kt ni u vo vi chc nng iu khin tc . 1. Thit lp kt ni vi kim sot tc u vo nh hnh di y. Thng s Tn hiu Ci t Ch iu khin Pn000.1 La chn ch Thit lp mc nh:0 Tc / iu khin iu khin mmen,iu khin v tr Tc c th c iu khin thng qua cc kt ni u vo Servo amplifier Servomotor Kt ni u vo
GVHD: Ths CH PHI
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ngha cho cc tn hiu thay i sau khi tc u vo kt ni vi chc nng iu khin c s dng. Thit lp M t Tn hiu u vo Pn000.1 0,1,2,7 8,9,A,B khng c s dng kt ni vi chc nng kim sot tc u vo / P-CON (CN1-41) / P-CL (CN1-45) c s dng kim sot chuyn i gia P v PI. c s dng chuyn i gia ON v OFF gii hn m-men xon thun bn ngoi c s dng chuyn i gia ON v OFF gii hn m-men xon ngc bn ngoi / N-CL Ci t tc (/ SPD-B) 0 Tham chiu 0,vv 1 SPEED 1 (Pn301) 1 SPEED 2 (Pn302) 0 SPEED 3 (Pn303)
/ N-CL (CN1-46)
3,4,5,6
s dng kt ni vi chc nng kim sot tc u vo
/ P-CON (/ SPD-D) Hng quay 0: thun 1: ngc
/ P-CL (/ SPD-A) 0 0 1 1
Lu : 1. 0: OFF (cp cao); 1: ON (cp thp) 2./P-CON, / P-CL v / N-CL khc vi cc chc nng trong bng trn khi Pn 000.1 c t thnh 3, 4, 5, hoc 6. Chc nng ny c bt t ng khi Pn50A. 0 c t thnh 0. 3.Cc / SPD-D, / SPD-A, v / tn hiu SPD-B c th c s dng ch khi tn hiu c phn b cho cc mch u vo. 2. t tc ng c vi cc tham s sau y. Thng s Tn hiu Ci t(rpm) Ch iu khin Pn301 Tc 1 (SPEED 1) Range: 0-10.000 iu khin tc (Kt ni iu khin tc Thit lp mc nh: u vo) 100 Pn302 Tc 2 (SPEED 2) Range: 0-10.000 iu khin tc (Kt ni iu khin tc Thit lp mc nh: u vo) 200 Pn303 Tc 3 (SPEED 3) Range: 0-10.000 iu khin tc (Kt ni iu khin tc Thit lp mc nh: u vo) 300
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Cc thng s ny c s dng thit lp tc ng c khi kt ni vi chc nng iu khin tc u vo c chn. Nu thit lp l cao hn tc ng c ti a ca servomotor, sau cc servomotor s lun phin tc ti a ca n. Kt ni ng vo iu khin tc Servo amplifier Servomotor
Tn hiu u vo la chn tc / P-CL (SPD-A) (CN1-45) v / N-CL (/ SPD-B) (CN1-46) v tn hiu la chn hng quay / P-CON (/ SPD-D) (CN1-41) cho php cc servomotor chy tc ci sn. 3. Thit lp thi gian bt u chy. Thng s Tn hiu Ci t(ms) Ch iu khin Pn305 Thi gian bt u Thit lp Range: 0- iu khin tc tng tc 10.000 Thit lp mc nh: 0 Pn306 Thi gian bt u Thit lp Range: 0- iu khin tc gim tc 10.000 Thit lp mc nh: 0
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Cc b khuch i servo iu khin tham chiu tc bng cch p dng thit lp ny tng tc Tc tham chiu Tc mm tc ti a Tc tham chiu ni b servo amplifier Pn305: khong thi gian cnh ny. Tc ti a
Pn306: khong thi gian cnh ny. Vng kim sot tc c th c thc hin bng cch nhp mt b tham chiu tc tng hoc s dng kt nivi u vo iu khin tc . Mi b thng xuyn n 0 cho kim sot tc bnh thng. t mi tham s vo khong thi gian sau. Pn305: Thi gian khong t khi bt u servomotor cho n khi n t n tc ti a. Pn306: Thi gian khong t khi servomotor t tc ti a cho n khi n dng li. Hot ng bng cch kim sot tc kt ni u vo Sau y m t hot ng bng cch kim sot tc kt ni vi u vo. Chy v Dng Cc tn hiu u vo sau y c s dng chy v dng cc servomotor. Ng vo / P-CL CN1-45 La chn tc 1 Tc / iu khin Gii hn momen xon thun mmen,iu khin v tr ngoi u vo. Ng vo / N-CL CN1-46 La chn tc 2 Tc / iu khin Gii hn momen xon mmen,iu khin v tr ngc ngoi u vo. S dng bng sau khi s dng kt ni vi u vo iu khin tc c. Tn hiu kt ni Thng s La chn tc / P-CON / P-CL / N-CL Pn000.1 (/ SPD-D) (/ SPD-A) (/ SPD-B) 3 Dng li bi mt tham chiu 0 0 tc ni b ca 0. 4 Analog tham chiu tc (VREF) u vo
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5 6
Chiu hoc 0 1 3, 4, 5, 6, hng Chung 1 1 quay 1 0 0:thun 1:ngc Lu : 1. 0: OFF (cp cao); 1: ON (cp thp) 2. u vo tn hiu ch bo bng thanh ngang (-) l ty chn. Khi kt ni vi u vo iu khin tc khng c s dng, tn hiu u vo c s dng nh gii hn u vo m-men xon bn ngoi. Lu : Cc u vo tc kt ni vi chc nng iu khin c s dng ch khi tn hiu c phn b cho / SPD-D, / SPD-A,v / SPD-B. La chn hng quay Cc tn hiu u vo / P-CON (/ SPD-D) c dng xc nh hng quay servomotor. Ng vo / P-CON CN1-41 Tham chiu kim sot t l, Tc / iu khin vv mmen,iu khin v tr Khi kt ni vi u vo iu khin tc c s dng, cc tn hiu u vo / P-CON (/ SPD-D)quy nh c th theo hng t quay servomotor. / P-CON (/ SPD-D) Tn hiu Logic Cp u vo 0 Quay thun 1 Quay ngc Lu : 0: OFF ( cp cao); 1: ON (cp thp) Khi kt ni vi tc kim sot u vo khng c s dng, tn hiu / P-CON c s dng cho kim sot t l, khng kp, v m-men xon / iu khin tc thun. V d v kt ni hot ng kim sot tc u vo. V d sau y cho thy hot ng kim sot tc bng cch kt ni vi u vo. S dng chc nng bt u mm lm gim sc vt l khi tc thay i.
Xung tham chiu u vo (kim sot v tr) Analog tham chiu u vo m-men xon (Kim sot M-men xon) SPEED 1 (Pn301) SPEED 2 (Pn302) SPEED 3 (Pn303)
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Tc motor Thit lp nhanh chng v gim tc Pn305 v Pn306 (ln mm bt u).
Lu : Cc chc nng bt u mm c sn ch khi kt ni vi u vo iu khin tc c s dng vi Pn000.1 thit lp n 5, v khng c sn khi mt u vo xung tham chiu c s dng. Nu u vo kt ni iu khin tc chuyn sang ch l xung tham chiu ch u vo trong khi servomotor ang hot ng tc 1, tc 2, hoc tc 3, b khuch i servo s khng nhn c mt xung tham chiu cho n khi hon thnh tn hiu nh v (/ COIN) l u ra . Xung tham chiu lun lun bt u u ra t b iu khin my ch sau khi mt v tr tn hiu u ra l hon thnh t b khuch i servo. Tn hiu thi gian cho iu khin v tr
1. Cc hnh trn minh ha tn hiu thi gian khi chc nng bt u mm c s dng. 2. Gi tr ca t1 l khng b nh hng bi vic s dng cc chc nng bt u mm. Mt
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s chm tr 2ms ti a xy ra khi cc tn hiu / PC-L (/ SPD-A) hoc / N-CL (/ SPD-B) c c. 3.2.7 S dng iu khin momen xon Cc b khuch i servo SGDH gii hn m-men xon nh hnh di y. Cp 1: Gii hn s lng m-men xon ti a bo v cc thit b hoc phi. Cp 2: Gii hn m-men xon sau khi Servomotor di chuyn cc trang thit b cho mt v tr quy nh (gii hn m-men xon ni). Cp 3: iu khin m-men xon s lng hn l tc u ra. Cp 4:cng tc gia tc v kim sot m-men xon. Sau y m t s dng cho cc cp 3 v 4 trong chc nng iu khin m-men xon. La chn kim sot m-men xon Thit lp cc tham s sau y chn kiu iu khin m t trong cc cp 3 v 4. Thng s Tn hiu Ci t Ch iu khin Pn000.1 La chn phng Thit lp mc nh: Tc / iu khin php kim sot 0 mmen,iu khin v tr Tn hiu u vo Tham chiu M-men xon u vo. Cc tn hiu u vo sau y c s dng iu khin m-men xon.
Servo amplifier Tham chiu u vo M-men xon (Analog in p u vo) Tham chiu u vo tc (Analog in p u vo)
u vo T-REF CN1-9
Tham chiu u vo MTc / iu khin mmen men xon u vo SG CN1-10 Tn hiu Ground cho cc Tc / iu khin mmen u vo tham chiu momen xon Cc tn hiu ny c s dng khi iu khin m-men xon c chn. M-men xon Servomotor c kim sot n l t l thun vi in p u vo gia T-REF v SG.
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Tham chiu m-men xon (%)
Thit lp mc nh in p u vo (V) dc c thit lp n Pn400 Ci t mc nh Thng s Pn400 thit lp mc in p m p dng nh gi m-men xon cao. V d: Vi Pn400 = 30 VIN (V) ng dng kt qu momen xon +3 100% mmen theo hng thun +9 300% mmen theo hng thun -0.3 10% mmen theo hng ngc. V d v mt vi mch u vo Servo amplifier
Lu : Lun lun s dng cp i xon kim sot lc nhiu. Thay i in tr gii thiu: Model 25HP-10B sn xut bi Sakae Tsushin Kogyo Co, Ltd Tham chiu u vo tc S dng tn hiu / P-CON u vo/ P-CON CN1-41 Tham chiu kim sot t l, Tc / iu khin vv mmen,iu khin v tr
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Chc nng ca tn hiu u vo / P-CON thay i theo p dng t cho Pn000.1. Thit lp Pn000.1 Chc nng / P-CON 0,1 Cng tc iu khin gia P (t l) v PI (t l-tch phn). 2 Khng c s dng. 3,4,5,6 Cng tc, hng quay kt ni u vo ch iu khin tc . 7,8,9 Cng tc ch iu khin A Lt ON / OFF khng kp. B Cm ON/OFF Lu : Cc / P-CON tn hiu chc nng chuyn mch t ng khi Pn50A.0 c thit lp l 0. Cc tham s kim sot m-men xon Cc tham s sau y c s dng iu khin m-men xon. Thit lp cc tham s theo yu cu ca h thng servo c s dng. Ci t(0.1V x T l Ch iu khin m-men xon) Pn400 Tham chiu u vo Thit lp Range: 10- Tc / iu khin M-men xon tng 100 mmen Thit lp mc nh: 30 Tham s ny t ra phm vi in p u vo cho cc m-men xon tham chiu T-REF (CN1-9) ty thuc vo phm vi u ra ca b iu khin my ch lu tr hoc mch bn ngoi. Ci t mc nh l 30, do s lng mmen bng 3V (30 0,1). Thng s Tn hiu Tham chiu Momen xon
in p tham chiu in p tham chiu ny c thit lp
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Thit lp Pn002.1 0 1
M t S dng gii hn tc c thit lp bi Pn407 (chc nng gii hn tc bn trong). S dng V-REF (Cn1-5 v -6) l u vo bn ngoi gii hn tc v b gii hn tc ca in p, u vo V-REF v Pn300 (ngoi chc nng gii hn tc ).
Chc nng gii hn tc ni b Thng s Tn hiu Pn407 iu khin hn ch tc trong momen xon
Ci t (rpm) Ch iu khin Thit lp Range: 0- Tc / iu khin 10.000 mmen Thit lp mc nh: 10.000 Tham s ny t ra gii hn tc ng c khi iu khin m-men xon c chn. N c s dng ngn chn cc thit b qu tc trong thi gian kim sot m-men xon. K t khi tn hiu gii hn tc pht hin chc nng VLT / ging nhau trong iu khin m-men xon l tn hiu CLT /.Hn ch momen xon, ni m cc tn hiu / CLT c m t Range iu khin momen xon Tc motor Gii hn tc
Momen xon Tc ti a ca servomotor s c s dng nu Pn407 c thit lp n mt gi tr cao hn tc ti a ca cc servomotor. Chc nng hn ch tc bn ngoi: Chc nng ny t ra phm vi tham chiu in p cho tc u vo V-REF (CN1-5) theo phm vi u ra ca b iu khin my ch lu tr hoc mch bn ngoi. Khi cc thit lp mc nh (600) l nhn 0.01V, kt qu (6V) tng ng vi cc ng c c tc cao. Thng s Tn hiu Ci t Ch iu khin Pn300 Tham chiu u vo Thit lp Range: Tc / iu khin tng tc 150-3.000 mmen Thit lp mc nh: 600
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Ci t mc nh l 6V = ng c c tc cao dc ny c thit lp Tham chiu tc (rpm) in p tham chiu(V)
Nguyn tc ca gii hn tc Khi s kim sot tc vt qu phm vi, m-men xon t l nghch vi chnh lch gia tc gii hn v tc thc t. Trong thc t, tc gii hn ng c thc t ph thuc vo iu kin ti. Tc motor
3.2.8- Chc nng cho chuyn tip momen xon. Chc nng cho chuyn tip m-men xon ch c s dng trong kim sot tc (tham chiu analog). Chc nng ny c s dng : Rt ngn thi gian nh v. Phn bit mt tham chiu tc iu khin my ch to ra mt tham chiu cho chuyn tip m-men xon. u vo thng tin ny cng vi cc tham chiu tc b khuch i servo. Mt gi tr cho chuyn tip m-men xon qu cao s gy ra mt overshoot hoc mt undershoot. ngn chn iu ny, thit lp gi tr ti u trong khi quan st cht ch phn ng ca h thng. Kt ni mt tham chiu tn hiu tc cho V-REF (CN1-5 v 6) v mt tn hiu tham chiu cho chuyn tip m-men xon n T-REF (CN1-9 v 10).
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My ch iu khin
SGDH servo amplifier
S dng chc nng cho chuyn tip momen xon. s dng chc nng cho chuyn tip m-men xon , t cc tham s sau y n 2. Thng s Tn hiu Ci t Ch iu khin Pn002.0 Ci t iu khin Thit lp mc nh:0 Tc / iu khin tc ( giao tip u mmen cui T-REF) Thit lp ny cho php chc nng cho chuyn tip m-men xon. Thit lp Pn002.0 Chc nng T-REF 0 Khng c 1 T-REF k hiu u cui s dng cho u vo bn ngoi gii hn m-men xon. 2 T-REF k hiu u cui s dng cho u vo feed-forward m-men xon. Chc nng cho chuyn tip m-men xon khng th c s dng vi cc m-men xon hn ch bi tham chiu in p tng t chc nng c m t trong momen xon. 3.2.9 Hn ch bi Analog tham chiu in p. Ci t Cho chuyn tip m-men xon c thit lp bng cch s dng tham s Pn400. Cc thit lp mc nh ti Pn400 l 30. V d nu gi tr cho chuyn tip m-men xon l 3V,sau m-men xon c gii hn 100% ca gi tr m-men xon .
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Thng s Pn400
Tn hiu iu chnh h s tham chiu m-men xon u vo
Ci t(0.1V x T l Ch iu khin m-men xon) Thit lp Range: 0- Tc / iu khin 100 mmen Thit lp mc nh: 30
3.2.10 Chc nng cho chuyn tip tc Cc chc nng cho chuyn tip tc s dng in p tng t v c hiu qu ch kim sot v tr. Chc nng ny c s dng : Rt ngn thi gian nh v. Phn bit mt tham chiu v tr b iu khin my ch to ra mt feed-forward tham chiu tc . u vo thng tin ny cng vi v tr tham kho b khuch i servo. Mt gi tr qu cao cho chuyn tip tc s dn n mt overshoot hoc undershoot. ngn chn iu ny, thit lp gi tr ti u trong khi quan st cht ch phn ng ca h thng. Kt ni tn hiu tham chiu v tr n PULS v SIGN (CN1-7, 8, 11, v 12) v tn hiu tham chiu cho chuyn tip tc n V-REF (CN1-5 v 6) My ch iu khin SGDH servo amplifier
Kp: V tr vng t c KFF: Feed-forward thu c S dng chc nng cho chuyn tip tc . s dng chc nng cho chuyn tip tc , thit lp cc thng s sau n 1. Thng s Tn hiu Ci t Ch iu khin Pn207.1 Thit lp iu khin Thit lp mc nh:0 Kim sot v tr tc
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Thit lp ny cho php chc nng cho chuyn tip tc . Thit lp Pn207.1 Chc nng V-REF 0 Khng c 1 V-REF thit b u cui s dng cho u vo feed-forward tc . Thit lp Cho chuyn tip tc c thit lp bng cch s dng tham s Pn300. Cc thit lp mc nh ti Pn300 l 600. Nu v d, gi tr cho chuyn tip tc l 6V, sau tc c gii hn 100% ca gi tr m-men xon. Thng s Pn300 Tn hiu iu chnh h s tham chiu tc u vo Ci t(0.1V x T l Ch iu khin m-men xon) Thit lp Range: Kim sot v tr 150-3.000 Thit lp mc nh: 600
3.2.11 Hn ch momen xon bi tham chiu Analog p Hn ch m-men xon ca tham chiu in p gii hn m-men xon tng t bng cch ch nh mt m-men xon analog in p n u cui l T-REF (CN1-9 v 10). N khng th c s dng kim sot cho m-men xon bi v cc tham chiu m-men xon u vo k hiu u cui T-REF c s dng nh mt u vo k hiu u cui. Gii hn m-men xon bn cnh chy thun khi tn hiu P-CL lt v, v c gii hn bn cnh chy ngc khi tn hiu N-CL lt v.
Gi tr tc tham chiu Tc tham chiu
S dng hn ch momen xon bi tham chiu Analog in p
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s dng chc nng ny, thit lp cc thng s sau y n 3: Thng s Tn hiu Ci t(rpm) Ch iu khin Pn002.0 Ci t iu khin Thit lp mc nh: iu khin tc tc 0 ,kim sot v tr (giao tip u cui T-REF) Tham s ny c th c s dng cho php hn ch m-men xon bi tham chiu in p tng t. Thit lpPn002.0 Chc nng T-REF 0 Khng c 1 T-REF k hiu u cui s dng cho u vo gii hn m-men xon bn ngoi. 2 T-REF k hiu u cui s dng cho u vo cho chuyn tip mmen xon 3 T-REF k hiu u cui s dng cho u vo gii hn m-men xon bn ngoi khi P-CL v N-CL l hp l. Chc nng ny khng th c s dng vi chc nng cho chuyn tip m-men xon c m t trong 3.2.7- Chc nng cho chuyn tip momen xon s dng chc nng ny, xc minh lm th no tn hiu u vo c giao. (Hy tham kho phn 3.3.3 Cp pht tn hiu u vo vi mch). Bng sau y phc tho cc thit lp mc nh. Tn hiu u vo Cp tn hiu M t Ch thch / P-CL CN 1-45 l lc "L" M-men xon c Gii hn gi tr: khi cp ON gii hn mt chy hoc Pn404 hay thun T-REF u vo, ty theo ci no nh hn. CN 1-45 l lc "H" M-men xon khng khi cp OFF gii hn cnh chy thun Hot ng bnh thng / N-CL CN 1-46 l lc "L" M-men xon c Gii hn gi tr: khi cp ON gii hn bn chy hoc Pn405 hay ngc. T-REF u vo, ty theo ci no nh hn. CN 1-46 l lc "H" M-men xon khng khi cp OFF gii hn cnh chy ngc. Hot ng bnh thng.
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Thit lp Gii hn m-men xon c t tham s Pn400. Thng s Tn hiu Ci t(rpm) Ch iu khin Pn400 iu chnh h s Thit lp Range: 0- Tc /iu khin tham chiu m-men 100 mmen xon ng vo Thit lp mc nh: 30 Khi mt trong hai tn hiu P-CL hoc N-CL c bt, mc gii hn m-men xon sau ng thi tr thnh hp l. Thng s Tn hiu Ci t(rpm) Ch iu khin Pn404 Gii hn mt Thit lp Range: 0- Tc / iu khin momen xon chy 800 mmen,iu khin thun ngoi Thit lp mc nh: v tr 100 Pn405 Gii hn mt Thit lp Range: 0- Tc / iu khin momen xon chy 800 mmen,iu khin ngc ngoi Thit lp mc nh: v tr 100 3.2.12 Chc nng gii hn xung tham chiu Chc nng ny gii hn s khuch i servo t m xung tham chiu u vo trong kim sot v tr. Servomotor vn ng yn trong khi chc nng c s dng. Cc / P-CON (/gii hn) tn hiu c s dng kch hot hoc v hiu ha chc nng. Servo Amplifier
Xung tham chiu
S dng chc nng gii hn xung tham chiu s dng chc nng gii hn, thit lp cc thng s nh hnh di y. Thng s Tn hiu Ci t Ch iu khin Pn000.1 La chn ch Thit lp mc nh:0 Kim sot v tr kim sot
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Cc thit lp sau y cho php cc chc nng gii hn. Thit lp Pn000.1 M t 1 Cho php cc chc nng gii hn. Lun lun m xung tham chiu. Cho php cc chc nng gii hn. Cc tn hiu / P-CON (/ B gii hn) c s dng kch hot hoc v hiu ha cc chc nng gii hn. / P-CON (/ gii hn) M t ON S ln xung tham chiu. OFF Nghim cm cc b khuch i servo m xung tham chiu.Servomotor vn cn b kha. Lu : Du ngoc (/) xung quanh mt tn hiu c ch ch ra rng tn hiu c cp cho cc mch u vo. Mi quan h gia tn hiu gii hn v xung tham chiu. Tn hiu gii hn
Xung tham chiu
u vo xung tham chiu khng c tnh trong thi gian ny.
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3.3 Thit lp Servo Amplifier Phn ny m t cc th tc thit lp cc thng s vn hnh b khuch i servo SGDH. 3.3.1 Tham s Cc Sigma I Series servo amplifier cung cp nhiu chc nng v c tham s cho php ngi dng c th chc nng v thc hin iu chnh hot ng. Servo Amplifier
Mt bng iu khin ca nh iu hnh hoc k thut s c dng thit lp cc tham s Tham s c chia thnh ba nhm sau y. Tham s Chc nng Pn000 n Pn601 Xc nh chc nng khuch i servo,xc nh chc nng b khuch i servo, servo hot ng li, etc. Fn000 n Fn012 Thc hin chc nng ph tr nh Jog ,Ch hot ng Un000 n Un00D Kch hot tnh nng kim sot tc ng c v tham chiu m-men xon trn mn hnh ca bng iu khin. 3.3.2 Tc chy S dng cc tham s sau y thit lp hoc thay i tc ng c khi vn hnh servomotor t mt bng iu khin hoc nh iu hnh k thut s. Thng s Tn hiu Ci t(rpm) M t Pn304 Tc chy Thit lp Range: 0- Tc / iu khin 10.000 mmen,iu khin Thit lp mc nh: v tr 500 S dng tham s ny thit lp tc ng c khi vn hnh t mt bng iu khin servomotor hoc nh iu hnh k thut s. Nu thit lp l cao hn tc ti a ng c servomotor, sau cc servomotor s lun phin tc ti a ca n.
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Bng iu khin Nh iu hnh k thut s 3.3.3 Cp pht tn hiu u vo vi mch Cc chc nng phn b cho cc mch dy tn hiu u vo c th c thay i. CN1 kt ni tn hiu u vo c giao vi cc ci t mc nh, nh c hin th trong bng sau y. S u cui kt ni CN1 40 41 42 43 44 45 46 Tn ng vo u cui S10 S11 S12 S13 S14 S15 S16 Thit lp mc nh K hiu Tn / S-ON Servo ON / P-CON (T l kim sot tham chiu) P-OT Gii hn chy thun N-OT Gii hn chy ngc ALM-RST Thit lp li bo ng / P-CL (Gii hn dng thun) / N-CL (Gii hn dng ngc)
Cc tham s sau y c s dng cho php phn b tn hiu u vo. Thng s Tn hiu Ci t Ch iu khin Pn50A. 0 Ch phn b tn Thit lp mc nh: Tc / iu khin hiu u vo 0 mmen,iu khin v tr
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Thit lp Pn50A. 0 0
1 Phn b tn hiu u vo Cc tn hiu sau y c th c cp pht khi Pn50A .0 c thit lp n 1.
M t Thit lp mc nh trnh t cp pht tn hiu u vo. Thit lp ny cng ging nh mch khuch i servoYaskawa SGDB-SGAD Cho php ci t bt k trnh t tn hiu u vo.
Servo amplifier
/S-ON Xc nh thit b u cui cp pht tn hiu u vo CN1-40 l thit lp mc cho cc tn hiu u vo /S-ON Bt k cc tn hiu u cui CN1-40 n 46 c th c Cp pht tn hiu cho /S-ON qua Pn50A tham s 1 Bng sau y cho thy cc thit lp mc nh cc tham s cho thit lp u vo 1 n 4. Thng s Tn hiu Ci t M t Pn50A La chn tn hiu Thit lp mc nh: Tc / iu khin u vo 1 2100 mmen,iu khin v tr Pn50B La chn tn hiu Thit lp mc nh: Tc / iu khin u vo 2 6.543 mmen,iu khin v tr Pn50C La chn tn hiu Thit lp mc nh: Tc / iu khin u vo 3 8.888 mmen,iu khin v tr Pn50D La chn tn hiu Thit lp mc nh: Tc / iu khin u vo 4 8.888 mmen,iu khin v tr V d v phn b tn hiu u vo Cc hng dn c s dng cp pht trnh t tn hiu u vo c m t bng cch s dng tn hiu / S-ON nh l mt v d in hnh.
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Thit lp Pn50A.1 M t 0 Tn hiu u vo cc / S-ON t cc Tn hiu phn cc: Servo ng vo u cui SI0 (CN 1-40) ON thun l hp l khi c tn hiu thp (ON) 1 Tn hiu u vo cc / S- ON t ng vo u cui SI1 (CN 1-41) 2 Tn hiu u vo cc / S-ON t cc ng vo u cui SI2 (CN 1-42). 3 Tn hiu u vo cc / S- ON t ng vo u cui SI3 (CN 1-43) . 4 Tn hiu u vo cc / S-ON t cc ng vo u cui SI4 (CN 1-44). 5 Tn hiu u vo cc / S-ON t cc ng vo u cui SI5 (CN 1-45). 6 Tn hiu u vo cc / S-ON t cc ng vo u cui SI6 (CN 1-46). 7 Tn hiu hot ng / S-ON n lun lun l hp l. 8 Tn hiu hot ng / S-ON n lun lun l khng hp l. 9 Tn hiu u vo S-ON t ng vo Tn hiu phn cc: Servo cui SI 0 (CN1-40). ON ngc hp l khi c tn hiu cao (OFF) A Tn hiu u vo cc / S-ON t ng vo cui SI 1 (CN1-41). B Tn hiu u vo S-ON t ng vo cui SI 2 (CN1-42). C Tn hiu u vo S-ON t ng vo cui SI 3 (CN1-43). D Tn hiu u vo S-ON t ng vo cui SI 4 (CN1-44). E Tn hiu u vo S-ON t ng vo cui SI 5 (CN1-45). F Tn hiu u vo cc / S-ON t ng vo cui SI 6 (CN1-46) Nh c hin th trong bng trn, cc tn hiu / S-ON c th c phn b cho bt k ng vo u cui t SI0 SI6. / S-ON lun lun l u vo khi Pn50A.1 c thit lp n 7, v mt dng tn hiu bn ngoi do s khng cn thit bi v b khuch i servo s xc nh xem servo l ON hoc OFF. Cc tn hiu / S- ON khng c s dng khi Pn50A.1 c thit lp n 8. Thit lp ny ch c ngha trong cc trng hp sau y. Khi t tn hiu u vo sero amplifier s c thay th bi mt tn hiu u vo. Cc tn hiu phi c tri ON (cp thp) trong khi hot ng bnh thng lm cho tn hiu hp l khi OFF (cp cao) khi chy thun cm (P-OT) v chy ngc cm (N-OT) l u vo. ng tn hiu ng vo u cui phi c tri ON ngay c trong cc cu
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hnh h thng m khng yu cu tn hiu ny, nhng h thng dy in khng cn thit, c th c loi b bng cch thit lp Pn50A.1 n 8. Lu : Mt s tn hiu c th c cp cho cc mch u vo tng t. Khi servo l ON, tn hiu cm chy thun hoc cm chy ngc c s dng. Ti mt thit lp vi phn cc ngc, cc hot ng khng an ton c th khng c c trong trng hp c th t kt ni ng tn hiu. Cp pht tn hiu u vo khc Cp pht tn hiu u vo c th c thay i nh hnh di y. Tn hiu ng vo Tham s M t Tn Logic p S Ci t dng 0 u vo tn hiu quy nh t SI0 (CN1 -40). 1 u vo tn hiu quy nh t SI1 (CN1 -41). 2 u vo tn hiu quy nh t SI2 (CN1 -42). 3 u vo tn hiu quy nh t SI3 Tham chiu ON Pn5 0A.2 (CN1 -43). kim sot t l (/ (Cp thp) 4 u vo tn hiu quy nh t SI4 P-CON) (CN1 -44). 5 u vo tn hiu quy nh t SI5 (CN1 -45). 6 u vo tn hiu quy nh t SI6 (CN1 -46). 7 Thit lp tn hiu quy nh lun lun c kch hot 8 Thit lp tn hiu quy nh lun lun b v hiu. 9 u vo tn hiu quy nh ngc t SI0 (CN1-40). A u vo tn hiu quy nh ngc t SI0 (CN1-41). B u vo tn hiu quy nh ngc t SI0 (CN1-42). C u vo tn hiu quy nh ngc t SI0 (CN1-43). D u vo tn hiu quy nh ngc t SI0 (CN1-44). E u vo tn hiu quy nh ngc t SI0 (CN1-45). F u vo tn hiu quy nh ngc
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t SI0 (CN1-46). Cm chy OFF Pn5 0A.3 thun(P-OT) (cp cao) Cm chy Pn5 0B.0 ngc(N-OT) Thit lp li bo ON Pn5 0B.1 ng (cp thp) (/ ARM-RST) Gii hn dng Pn5 0B.2 thun(/P-CL) Gii hn dng Pn5 0B.3 ngc(/N-CL) Tng t nh trn .* La chn kt ni Pn50C .0 ng vo iu 0 n F khin tc (/ SPD-D) La chn kt ni Pn50C .1 ng vo iu khin tc (/ SPD-A) La chn kt ni Pn50C .2 ng vo iu khin tc (/ SPD-B) La chn ch ON Pn50C .3 iu khin(/ C(cp thp) SEL) Zero Clamp Pn50D. 0 (/ ZCLAMP) Gii hn xung Pn50D. 1 tham chiu(/INHIBIT) Chuyn mch Pn50D. 2 tng (/ G-SEL) Lu : Tng t nh trn* "c ngha l tn hiu ng vo u cui SI0 n SI6 c kch hot hay v hiu ha thng qua cc thit lp tham s 0-8. 3.3.4 Phn b u ra tn hiu vi mch Phn b tn hiu u ra S lng chc nng tn hiu c th c phn b cho cc dy mch tn hiu u ra c hin th di y.
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S u cui kt ni CN1 25 26(SG)
Tn u cui ng ra SO1
Thit lp mc nh K hiu Tn / V-CMP + Pht hin tc (/COIN+) trng hp ngu nhin (nh v / V-CMP hon thnh) (/COIN-)
Ch thch S lng tn hiu s khc nhau ty thuc vo ch kim sot. _
27 SO2 / TGON + Pht hin quay 28(SG) / TGON 29 SO3 / S-RDY + Servo sn _ sng 30(SG) / S-RDY Thit lp mc nh la chn tn hiu u ra Cc thng s la chn cc tn hiu u ra v cc thit lp mc nh ca n c hin th di y. Tham s Tn hiu Ci t M t Pn50E La chn tn hiu Thit lp mc nh: Tc / iu khin u ra 1 3.211 mmen,iu khin v tr Pn50F La chn tn hiu Thit lp mc nh: Tc / iu khin u ra 2 0.000 mmen,iu khin v tr Pn510 La chn tn hiu Thit lp mc nh: Tc / iu khin u ra 3 0.000 mmen,iu khin v tr Chn kt ni u cui CN1 s l tn hiu u ra.
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Cp pht tn hiu u ra khc Tn hiu ng ra Tham s S nh v hon Pn50E. 0 thnh (/ COIN)
M t Ci t 0 1 2 3 V hiu(khng s dung quy nh tn hiu ng ra) Quy nh tn hiu ng ra t SO1(CN1-25 v 26) u cui ng ra Quy nh tn hiu ng ra t SO2(CN1-27 v 28) u cui ng ra Quy nh tn hiu ng ra t SO3(CN1-29 v 26) u cui ng ra
Pht hin Pn50E. 1 0 n 3 tc trng hp ngu nhin (/ V-CMP) Pht hin quay Pn50E. 2 0 n 3 Servo sn Pn50E. 3 0 n 3 sng Pht hin gii Pn50F .0 0 n 3 hn momen Tng t nh trn (tn hiu u ra xon(/CLT) ngn chn hoc xut n u cui Pht hin gii Pn50F .1 0 n 3 SO1 ti SO3 thng qua cc thit lp hn tc tham s 0-3). (VLT) Phanh Interlock Pn50F .2 0 n 3 (/ BK) Cnh bo Pn50F.3 0 n 3 (/WARN) Gn Pn510. 0 0 n 3 (/ NEAR) Khng s dng Lu : Tn hiu c to ra vi logic OR khi nhiu tn hiu c phn b cho cc mch u ra tng t. Tn hiu khng gi tr l khng hp l. V d nh v hon thnh tn hiu / COIN l khng hp l trong ch iu khin tc Cc thng s sau y c th c s dng hon i cc tn hiu ng ra u cui SO1 n SO3. Thng s Tn hiu Ci t M t Pn512 Chuyn i tn hiu Thit lp mc nh: Tc / iu khin ng ra 0.000 mmen,iu khin v tr
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Cc thit lp ny ch nh ca kt ni CN1 tn hiu u ra s c chuyn i: u cui ng ra Tham s M t S Ci t SO1 Pn512. 0 0 Khng chuyn i tn hiu. (CN1-25, 26) 1 Chuyn i tn hiu. SO2 Pn512. 1 0 Khng chuyn i tn hiu. (CN1-27, 28) 1 Chuyn i tn hiu. SO3 Pn512. 2 0 Khng chuyn i tn hiu. (CN1-29, 30) 1 Chuyn i tn hiu. Khng s dng Pn512. 3 3.3.5 La chn ch kim sot Cc b khuch i servo SGDH cung cp iu khin tc , iu khin v tr, iu khin m-men xon, v kim sot cc ch khc c hin th trong bng sau. Cc tham s sau c dng t ch kim sot. Tham s Tn hiu Ci t M t Pn000. 1 La chn ch Thit lp mc nh: Tc / iu khin kim sot 0 mmen,iu khin v tr Thit lp Pn000.1 0 1 2 3 4 5 6 7 8 9 A B Ch kim sot iu khin tc (tham chiu Analog) Kim sot v tr(chui xung tham chiu) Kim sot momen xon(tham chiu Analog) La chn kt ni ng vo iu khin tc (tham chiu kt ni) La chn kt ni ng vo iu khin tc (tham chiu kt ni)iu khin tc (tham chiu Analog) La chn kt ni ng vo iu khin tc (tham chiu kt ni)kim sot v tr(chui xung tham chiu) La chn kt ni ng vo iu khin tc (tham chiu kt ni)kim sot momen xon(tham chiu Analog) Kim sot v tr(chui xung tham chiu) iu khin tc (tham chiu Analog) Kim sot v tr(chui xung tham chiu) kim sot momen xon(tham chiu Analog) Kim sot momen xon(tham chiu Analog) iu khin tc (tham chiu Analog) iu khin tc (tham chiu Analog) kim sot zero clamp Kim sot v tr(chui xung tham chiu) kim sot v tr(cm)
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M t ca ch kim sot Cc ch kim sot c m t di y. iu khin tc (tham chiu Analog) Hnh thc ny kim sot tc bng cch s dng mt tham chiu in p u vo analog. Kim sot v tr (chui xung tham chiu) Hnh thc ny iu khin nh v bng cch s dng mt chui xung tham chiu u vo. Kim sot momen xon(tham chiu Analog) Hnh thc ny iu khin m-men xon bng cch s dng mt tham chiu in p u vo analog. La chn kt ni u vo iu khin tc (tham chiu kt ni) Hnh thc ny s dng / P-CON (/ SPD-D), / P-CL (/ SPD-A), v / N-CL (/ SPD-B) tn hiu u vo kim sot tc nh n b chuyn mch gia ba tc iu hnh ci sn trong b khuch i servo. La chn kt ni u vo iu khin tc (tham chiu kt ni) iu khin tc (tham chiu Analog) Hnh thc ny kim sot tc bng cch chuyn i gia cc tham chiu kt ni v kim sot tc in p tham chiu analog . Analog tham chiu in p iu khin tc c kch hot khi c hai / P-CL (/ SPD-A) v / N-CL (/ SPD-B) tn hiu u vo l OFF (cp cao). La chn kt ni u vo iu khin tc (tham chiu kt ni) kim sot v tr (chui xung tham chiu) Hnh thc ny kim sot tc chuyn mch gia tham chiu kt ni v chui xung tham chiu kim sot v tr. Chui xung tham chiu kim sot v tr c kch hot khi c hai / P-CL (/ SPD-A) v / N-CL (/ SPD-B) tn hiu u vo l OFF (cp cao). La chn kt ni u vo iu khin tc (tham chiu kt ni) kim sot momen xon (tham chiu Analog) Hnh thc ny kim sot tc chuyn mch tham chiu kt ni v tham chiu in p iu khin m-men xon tng t. Kim sot m-men xon bng cch s dng mt tham chiu in p analog c kch hot khi c hai / P-CL (/ SPD-A) v / N-CL (/ SPD-B) tn hiu u vo l OFF (cp cao). Kim sot v tr(chui xung tham chiu) iu khin tc (tham chiu Analog) Hnh thc ny s dng chuyn mch gia kim sot v tr v kim sot tc thng qua cc tn hiu / P-CON (/ C-SEL). Kim sot v tr(Chui xung tham chiu) kim sot momen xon(tham chiu Analog) Hnh thc ny s dng chuyn mch gia kim sot v tr v kim sot m-men xon thng qua cc tn hiu / P-CON (/ C-SEL). 3.4 Thit lp chc nng dng 3.4.1 iu chnh Offset Khi Servomotor khng dng Cc servomotor c th quay tc rt thp v khng dng li ngay c khi in p tham chiu c quy nh 0V cho b khuch i servo kim sot tc v m-men xon (tham chiu analog). iu ny xy ra khi in p tham chiu t b iu khin my ch
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lu tr hoc mch in bn ngoi l hi b (n v mV). Cc servomotor s ngng nu iu chnh offset l ng n 0V.
in p tham chiu
offset
in p tham chiu offset sa cha servo amplifier
tc hoc momen xon tham chiu
tc hoc momen xon tham chiu
Nhng phng php sau y c th c s dng iu chnh cc tham chiu b cho 0V Phng php iu chnh Kt qu iu chnh t ng tham chiu Offset Cc tham chiu b c t ng iu chnh n 0V. Cc d liu tham chiu c th b c thit lp n mt gi tr xc nh
Hng dn iu chnh tham chiu s dng Offset 3.4.2 La chn ch dng dng cc servomotor bng cch p dng phanh ng (DB), thit lp ch mong mun trong tham s sau y. Cc servomotor s ngng do ma st thit b nu phanh ng khng c p dng Thng s Tn hiu Servo OFF hoc ch Stop Alarm Thit lp mc nh (Ms) M t
Pn001. 0
Thit lp mc nh: 0 Tc / kim sot mmen, kim sot v tr
Cc b khuch i servo SGDH c OFF theo cc iu kin sau y: Cc Servo ON tn hiu u vo (/ S-ON, CN1-40) l OFF bt. Mt bo ng servo xy ra. Ngun c bt OFF.
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Xc nh ch dng nu c xy ra trong cc hot ng. Thit Pn001.0 0 Kt qu S dng phanh ng ngng cc servomotor. Duy tr phanh nng ng sau khi dng servomotor. * S dng phanh ng ngng cc servomotor. Ch phanh nng ng sau khi dng servomotor, v servomotor dng n mt gii hn Ngng cc servomotor mt gii hn . Cc servomotor c tt v dng chuyn ng li do ma st thit b
Lu : * Nu servomotor dng li hoc di chuyn tc rt thp, n s dng n mt v tr. ** i vi cc b khuch i servo, mch DB c bt khi ngun in chnh l OFF: 30 n 200W cho 100V: SGDH-A3BE to-02BD 30 n 1500W cho 200V: SGDH-A3AE to-15AE 0.5 n 7.5kW cho 400V: SGDH-05DE to - 75DE i vi cc b khuch i servo trn, cc vi mch DB c bt khi in nng cung cp kim sot l OFF. Nu mch DB cn phi c bt OFF khi ngun in chnh hoc kim sot ngun in cung cp l OFF, ngt kt ni dy ng c servo (U, V, v W) Lu : Cc phanh nng ng l mt chc nng dng khn cp. Khng lin tc bt u v ngng cc servomotor bng cch s dng tn hiu servo ON (/ S-ON) hoc bng thay i lin tc ON v OFF Lu : phanh ng (DB) l mt cch ph bin nhanh chng dng mt servomotor bi in shorting cun dy ca n. DB l mch tch hp vo b khuch i servo 3.4.3 S dng chc nng Zero Clamp Chc nng Zero Clamp Cc chc nng khng kp c s dng cho cc h thng ni m cc b iu khin my ch khng cho mt mu tham chiu tc v tr cc u vo. Ni cch khc, chc nng ny c s dng dng li v kha servomotor ngay c khi in p tham chiu tc u vo V-REF khng phi l 0V. Mt vng lp v tr ni b tm thi c thnh lp kim sot cc servomotor trong vng mt xung khi chc nng khng kp c bt. Ngay c khi cc servomotor l quay bng lc p buc bn ngoi, n vn s tr li v tr kp bng khng.
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Mt tham chiu tc thp hn so vi cc thit lp Pn501 l b qua. My ch iu khin tham chiu tc
Thit lp thng s Thit lp cc tham s sau y tn hiu u vo / P-CON (/ ZCLAMP) c th c s dng kch hot hoc v hiu ha chc nng kp bng khng Thng s Tn hiu La chn phng php kim sot Thit lp mc nh (Ms) M t
Pn001. 0
Thit lp mc nh: 0 iu khin tc
Ng vo / P-CON CN 141
T l kim sot, vv
Tc / kim sot mmen , kim sot v tr
Thit lp tc ng c S dng cc tham s sau y thit lp cc mc tc ng c m khng c thc hin kp. Thng s Tn hiu Ci t (rmp) M t Pn 501 Cp Zero Clamp Thit lp Range: 0- iu khin tc 10.000 Thit lp mc nh: 10 Nu iu khin khng kp tc c chn, thit lp cc tc ng c m khng kp s c thc hin. Tc ti a s c s dng nu gi tr ca Pn501 c t cao hn tc ti a ca cc servomotor.
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iu kin Zero Clamp Zero kp c thc hin khi tt c cc iu kin sau y: Zero kp kim sot tc c chn (tham s Pn000.1 c thit lp n A). / P-CON (/ ZCLAMP) (CN1-41) l ON (0V). Tc tham chiu xung di mc thit lp ca Pn501. Tc Tc tham chiu V-REF Gi tr nh sn cho Zero kp
Ng vo / P-CON (/ ZCLAMP) Zero kp c thc hin Lu : Khi tn hiu / ZCLAMP c giao, cc hot ng khng kp s c s dng ngay c i vi kim sot tc (Pn000.1 = 0). 3.5 Tn tht. 3.5.1 Tn tht do in tr cun dy servomotor Cc s sau y cho thy mi quan h gia m-men xon c to ra v tn tht do in tr cun dy ca mi loi servomotor.
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SGMAH Servomotor. 200V
SGMAH Servomotor. 100V
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SGMPH Servomotor. 200V
SGMPH Servomotor. 100V
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SGMGH Servomotor. 200V. 1500rpm
SGMGH Servomotor. 400V.1500rp
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3.5.2 Nng lng tiu tn ca Servo Amplifier Cc s sau y cho thy mi quan h gia u vo ca b khuch i servo in p cung cp in v nng lng tiu tn ca n. Servo Amplifier cho ng c 100V
Servo Amplifier cho ng c 200V
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Servo Amplifier cho ng c 400V
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3.6 Encoder tuyt i Nu mt ng c vi mt b encoder tuyt i c s dng, mt h thng pht hin cc v tr tuyt i c th c hnh thnh trong iu khin my ch. Do , t ng hot ng c th c thc hin m khng hot ng tr li ngay sau khi in c bt ON 3.6.1 Giao din mch My ch iu khin Servo Amplifier
p dng dng thu : SN75175 hoc MC3486 ca TI. Gii hn in tr R: 220 470
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Tn hiu SEN My ch iu khin Servo Amplifier
Hy ch t nht ba giy sau khi bt in trc khi nng cao tn hiu SEN cp cao. Khi tn hiu SEN c thay i t cp thp n cp cao, a bin d liu v gia tng xung ban u c truyn i. Cc ng c c th khng c hot ng cho n khi cc hot ng ny c hon thnh, bt k trng thi ca tn hiu servo ON (/ S-ON). Lu : Nu v l do no l cn thit thay i OFF rng mt tn hiu SEN c ON, v sau thay i n tr li v mt ln na, duy tr mc cao t nht 1,3 giy trc khi thay i n ON v OFF.
Tn hiu SEN
3.6.2 Cu hnh mt Encoder tuyt i Chn mt ng dng ca b encoder tuyt i vi cc tham s sau y. Thng s Pn002.2 Tn hiu ng dng encoder tuyt i Ci t Thit lp Range:0 hoc 1 Thit lp mc nh:0 M t Tc ,kim sot momen,kim sot v tr
Hoc "0" hoc "1" trong bng sau y phi c thit lp cho php encoder tuyt i.
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Ci t Pn002.2 0 1
Kt qu S dng b m ha tuyt i nh l mt b m ha tuyt i. m tuy S dng b m ha tuyt i nh l mt b m ha gia tng. m t
3.6.3 Ci t Encoder tuyt i t Thc hin cc hot ng thit lp cho cc b m ha tuyt i trong cc trng hp sau t m ng y: Khi bt u my cho ln u tin. n. Khi mt bo ng m ha sao lu to ra. u c Khi m ha mt in, thng do t kt ni cp. ng Cc hot ng thit lp c th thc hin bng cch s dng ton t cm tay k thut c ng s, cc bng iu khin iu hnh c a servo amplifier, hoc vi cc phn mm theo di nh ca d my tnh c nhn. S dng ci t cm tay iu h t hnh k thut s. 1. Bm MODE / SET chn ch chc nng ph tr. m
2. Chn chc nng ngi dng Fn008. Bm tri Arrow hoc phi Arrow ng Bm chn cc ch s thit lp, v sau bm mi tn Up Arrow hoc Down Arrow v c trn phm thay i s.
3. Nhn DATA / phm ENTER. M hnh sau y s xut hin. n Mn
4. Cch nhn phm Up Arrow s thay i m hnh hin th nh hnh di y. mn i Tip tc nhn phm Up Arrow cho n khi "PGCL5" c hin th. Nu mt sai mc p c chnh c thc hin, "nO_OP" s flash cho mt giy v s hin th tr li ch chc s
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SVTH: L BU VINH- O VN V U VINH
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nng ph tr. Trong trng hp , quay li bc 3 trn v thc hin cc hot ng tr li Up Cursor Key Khi mt mc quan trng c thc hin c sai st
n flash cho mt giy. Up Cursor Key
Tr v ch chc nng ph tr. 5. Khi "PGCL5" c hin th, bm MODE / SET chnh. Mn hnh hin th s thay i nh sau, v nhiu ln lt d liu ca b m ha tuyt i s b xa. n flash cho 1 giy.
6. Nhn DATA / phm SHIFT tr v ch chc nng ph tr.
iu ny hon tt cc hot ng thit lp cc b m ha tuyt i ca cc b khuch i servo Lu : Nu cc b m ha tuyt i bo ng sau y c hin th, cc h thng bo ng phi c s dng phng php m t trn cho hot ng thit lp. N khng th b xa bi thit lp li bo ng ca b khuch i servo (/ ARM-RST) tn hiu u vo. Encoder sao lu bo ng . Encoder kim tra tng hp bo ng. Ngoi ra, nu mt bo ng gim st c to ra trong cc b m ha, bo ng phi c xa bng cch chuyn ngun OFF.
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3.7 H thng bo v. 3.7.1 MCCB hoc cu ch theo cng sut in Bng sau y cho thy MCCB hoc cu ch in cho mi ngun cung cp. Ngun cung Servo Amplifier p dng cho Cng sut in Cng sut dng cp mch Model ng c mi cho mi chnh Servo MCCB hoc Cng SGDHAmplifier cu ch (Arms) sut(KW) (KVA) * * ** Mt pha 0.03 A3BE SGMAH-A3B 0.15 4 100V 0.05 A5BE SGMAH-A5B 0.25 0.10 01BE SGMAH-01B 0.40 SGMPH-01B 0.20 02BE SGMAH-02B 0.60 6 SGMPH-02B Mt pha 0.03 A3AE SGMAH-A3A 0.20 4 200V 0.05 A5AE SGMAH-A5A 0.25 0.10 01AE SGMAH-01A 0.40 SGMPH-01A 0.20 02AE SGMAH-02A 0.75 SGMPH-02A 0.40 04AE SGMAH-04A 1.2 8 SGMPH-04A 0.75 08AE-S SGMAH-08A 2.1 11 SGMPH-08A 1.50 15AE-S SGMPH-15A 4.0 19 * y l gi tr thc ti ti nh gi cao. Khi cu ch thc s la chn, xc nh cng sut vi bin in cho hot ng gi cao im. ** c im iu hnh (25 C): 2 giy hoc nhiu hn cho 200%, 0,01 giy tr ln i vi 700% Ghi ch: 1. Mt cu ch hot ng nhanh c th khng c s dng v b khuch i servo cung cp in loi u vo l mt t in. 2. B khuch i servo SGDH khng c sn cc mch bo v ni t. cu hnh h thng an ton hn, ci t mt ngt li ni t c hoc khng c mt thit b ngt in bo v chng li qu ti v iu kin ngn mch.
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S kt ni phn cui,chuyn i n v JUSP-TA50P
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3.7.2 JUSP-TA50P S phn cui s chn v tn tn hiu.
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M rng Cables Encoder Tiu chun m ha cc loi cp c chiu di ti a l 20m. Cc ti a cho php cp c chiu di l 50m. Kt ni Encoder Cp thng Kt ni encoder ti servomotor ti Servo Amplifier i vi SGMAH v SGMPH servomotors
i vi SGMGH, SGMSH, v SGMUH servomotors
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3.8 Tham s o chiu S tham s Pn002.3 Pn004 Pn005 Pn110.3 Pn119 Pn11A Pn11B Pn11C Pn11D Pn11E Pn11F Pn120 Pn206 Pn511 Gii hn di 0 0 1 1 1 1 0 0 0 0 513 Gii hn trn 2 3 2000 2000 150 150 150 150 2000 51200 32768 Thit lp mc nh 0 0000 0001 0 60 1000 50 70 100 100 0 0 16384 8888
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Chng 4: NG DNG SERVOMOTOR ng c DC v ng c bc vn l nhng h hi tip vng h - ta cp in ng c quay nhng chng quay bao nhiu th ta khng bit, k c i vi ng c bc l ng c quay mt gc xc nh ty vo s xung nhn c. Vic thit lp mt h thng iu khin xc nh nhng g ngn cn chuyn ng quay ca ng c hoc lm ng c khng quay cng khng d dng. Mt khc, ng c servo c thit k cho nhng h thng hi tip vng kn. Tn hiu ra ca ng c c ni vi mt mch iu khin. Khi ng c quay, vn tc v v tr s c hi tip v mch iu khin ny. Nu c bt k l do no ngn cn chuyn ng quay ca ng c, c cu hi tip s nhn thy tn hiu ra cha t c v tr mong mun. Mch iu khin tip tc chnh sai lch cho ng c t c im chnh xc. ng c servo c nhiu kiu dng v kch thc, c s dng trong nhiu my khc nhau, t my tin iu khin bng my tnh cho n cc m hnh my bay v xe hi. ng dng mi nht ca ng c servo l trong cc robot, cng loi vi cc ng c dng trong m hnh my bay v xe hi. Nhng ng dng in hnh ca servomotor: Robot Trc ca thit b truyn ng. My cng c NC. My hn t ng. My in. My x in. My ng gi. My o. My un lng. Sn xut n v bn dn. Chip gn kt tc cao. My lin kt. Dng c y t. iu khin anten. Lm phim Bng ti My khoan My dn nhn.
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4.1 Lm phim. Loi ng dng:Chiu di. Motion: Linear a tip tuyn bao gm mt rng rc hoc ct tay m khi quay, tc ng mt lc trn mt vnh ai hoc k di chuyn mt ti tuyn tnh. a tip tuyn chung bao gm rng rc, dy cp, bnh rng v c rng vnh ai, k v pinions. a tip tuyn cho php rt nhiu tnh linh hot trong thit k ca iu khin c hc, v c th rt chnh xc vi t phn ng d di. Dy chuyn kim loi nn c th trnh c v chng cung cp t hoc khng c ng c gim xc. M t ng dng: Mt my nh phim b sa i l mi khung di Kim sot my tnh vi mc ch to ra hiu ng c bit. Mt ng c s c ci t trong my nh kt ni vi mt ng knh 1/2-inch, 2-inch B phim phi di thp Sprocket v ch s mt khung trong 200 mili giy. Khong cch khung hnh l 38 mm (1.5 "). My Yu cu: Mt mc lc khung hnh trong vng 200 phn nghn giy Mc lc phi ph hp vi giao din BCD Tua li nhanh v lp ch mc khung Yu cu iu khin chuyn ng: Chm khng rung ng phn cn li-\ stepper Ti thiu thi gian gii quyt Preset v di chuyn hng lot Gii php ng dng: Trong ng dng ny, khong cch di chuyn v thi gian c c bit, nhng s gia tng yu cu khng c bit. Gia tc c th c bt ngun bng cch quan st rng, i vi mt cu hnh thang vi di chuyn bng tng tc, gim tc v thi gian hng lot.N c xc nh rng yu cu l tng tc 107.4 rps2 vi tc 7.166 RPS. Gi s rng b phim nng 1 oz v ma st tng s10 b phim l ozin. Cc rotor Sprocket, v phim c tnh ton qun tnh c 0.545 oz-in/sec2. Gii quyt cc cng thc m-men xon ch ra rng ng c cho cc ng dng ny phi cung cp 11.9 oz-in vo a phim v rng rc . Mt mc lc c chn c kt ni vi mt BCD giao din trong my nh in t. Ci sn v ch hng lot trn mc lc ny sau c iu khin bi my nh in t cung cp nhanh chng v tua li khung lp ch mc.
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Driver/indexer
Motor
4.2 My hn Loi ng dng: Chiu di Motion: Linear M t: Trong qu trnh ch to tm kim loi, mt phn khng ng nm trn mt bng ti di chuyn lin tc mt tc khng th on trc. Ti hai ch mi hn s c thc hin trn tng phn, ngoi 4 inches, vi cc mi hn u tin 2 inches t phn u hng ca cnh. Mc tiu my Tiu chun hot ng Chc v hn theo v tr v vn tc ca mi mt phn Thc hin hn v nh v m khng dng bng ti Qu trnh hn phi mt 1 giy hon thnh Yu cu kim sot chuyn ng Lp trnh I / O; trnh t lu tr D liu chuyn ng Gia tc v tc tuyn tnh cao Gii php ng dng: ng dng ny i hi mt iu khin m c th thc hin sau hoc chuyn ng da trn d liu chnh v tr b m ha. Trong ng dng ny, cc iu khin s nhn d liu tc v v tr t mt b m ha gia tng gn kt vo mt con ln trn bng ti ch cc b phn khng gn kt.
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Bng ti c coi l a chnh h thng. ng c th cp / a h thng nhn c lnh t b iu khin, da trn mt t l vn tc v v tr thng tin cung cp bi cc b m ha h thng s cp. Cc tuyn tnh lc mang ng c u mi hn v c gn kt trn mt nn tng khng ng nht vi bng ti. Cng ngh ng c tuyn tnh c la chn mang u hn. Cc ng c bc tuyn tnh khng ph thuc vo cng mt tuyn tnh vn tc v hn ch c hu trong h thng chuyn ng quay trn chuyn i tuyn tnh. i vi v d, trong mt h thng ti cng p, cc qun tnh ca ti cng p thng xuyn vt qu qun tnh ca ti v lm tng chiu di ca trc vt, do khng qun tnh. Vi ng c tuyn tnh, tt c cc lc l to ra bi ng c l p dng c hiu qu trc tip n ti, do chiu di khng nh hng h thng qun tnh. ng dng ny yu cu trc ln phi c 54-inch kch hot tc ca bng ti sau y trn 20 ich / giy. Quy trnh ng dng 1. Mt b cm bin gn trn u pht hin mp mi hn ca mt phn di chuyn v gi xung kch hot iu khin. 2. Cc b iu khin nhn c tn hiu kch hot v lnh ng c tuyn tnh / a on ng ni ln n hai ln tc ca bng ti. 3. B iu khin tc thay i t l n 01:01, do u mi hn duy tr tc ca bng ti cho cc mi hn u tin hn mt 1 giy. 4. T l sau y c thit lp n khng, v gim tc hn bng khng vn tc trn 2 inch. 5. Cc lnh iu khin cc lc tuyn tnh n lp li cc on ng ni ging nh trong bc 1 trn. iu ny gy ra cc u mi hn n v tr chnh n, ti mt vn tc bng vi bng ti, 4 inch pha sau mi hn u tin. 6. Bc 3 l lp i lp li lm cho cc mi hn 1 giy. Indexer
Linear motor Microstepping Drive
spot welds
Encoder
Weld Head
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4.3 Bng ti Loi ng dng: nh ch mc / Bng ti Motion: Linear Tip tuyn a bao gm mt rng rc hoc ct tay m khi quay, tc ng mt lc trn mt vnh ai hoc k di chuyn mt ti tuyn tnh. Tip tuyn chung a bao gm rng rc, dy cp, bnh rng v c rng vnh ai, k v pinions. Tip tuyn a cho php rt nhiu tnh linh hot trong thit k ca c hc ng c, v c th rt chnh xc vi t phn ng d di. M t ng dng: Mt my quan st h thng ang c m t ng kim tra phn nh cho cc khuyt im. Cc b phn nm trn mt bng ti nh v i qua cc vng quan st ca my nh . Cc bng ti c bt u v ngng li my tnh kim sot v s dng ci t mt h thng vo a bng ti v n l cn thit cho mt phn i qua camera ti mt vn tc khng i. l mong mun thc y bng ti tng tc 20 inches / mt giy trong 100 mili giy. Cc b phn trn rng rc bt k thi gian nht nh l 1 lb v ti c c tnh c mt qun tnh ca 2 ozin2. Tnh ma st ca tt c cc thnh phn c kh l 30 oz-in. My yu cu: My tnh iu khin h thng chnh xc cao Phn ng d di thp Yu cu iu khin di chuyn: Kim sot vn tc chnh xc To chuyn ng phn gii cao Gii php ng dng: Mt my tnh iu khin ton b h thng my. Mt ng c tng thch mc lc c la chn. Mt ng c v m / a h thng cung cp 100 oz-in ca m-men xon tnh cng c la chn hon thnh ng dng.
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4.4 My khoan. Loi ng dng: Cng c n. Motion: Linear M t ng dng: Mt giai on chuyn giao mt my l cn thit khoan l trong mt phi bng cch s dng mt khoan a u. ng c n u khoan a tc cao trong vng 0.1 ca cc phi v sau tin hnh tc ct n su cn thit. Khoan sau c thu hi ti mt tc trung cp cho n khi hon thnh v cng vic, sau nhanh chng rt li v t cho chu k tip theo. Cc hon thnh chu k khoan mt 2.2 giy vi 0.6 giy chm tr trc khi cc chu k tip theo. Do s gn gi ca cc thit b khc, di theo hng di chuyn l rt hn ch.Thm yu cu l gim st my cho khoan mc v v. My Yu cu: Gii hn di ca di chuyn Gii hn bo tr Mn hnh v gim thiu thit hi khoan Khoan tc cao
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Yu cu iu khin di chuyn: iu khin ng gi . Phc hp d liu chuyn ng. Tc cao. Chu k nhim v cao. Gii php ng dng: Vic kt hp yu cu ca tc cao, chu k nhim v cao v theo di vic khoan tt c cc im n vic s dng mt ng c servo. Bng cch kim tra cc m-men xon ti trn motor (t c bng cch gim iu khin hin hnh), giai on khoan c th c theo di (mt tng ti trong giai on ny ch ra rng khoan b hng). Loi ng dng s yu cu mt a quay trn t c cng cao, cng vi tc cao.
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4.5 My dn nhn. Loi ng dng: forlowing Motion: Linear M t ng dng: Chai trn bng ti chy qua mt c ch ghi nhn p dng mt nhn chai. Khong cch ca cc chai trn bng ti khng phi l quy nh v bng ti c th chy chm, tng tc, hoc ngng bt c lc no. My yu cu: Chnh xc p dng cc nhn chai trong chuyn ng Cho php cho thay i tc bng ti Cho php cho khong cch khng nht qun gia cc chai Ko nhn chai thng qua hp kh mi m ph hp ghi nhn mi tc Yu cu iu khin di chuyn: ng b ha n trc bng ti. Chc nng hp s in t. Kim sot ng ra. M-men xon cao vt qua ma st cao. phn gii cao. M vng stepper nu c th. Gii php ng dng: Mt iu khin chuyn ng, c th chp nhn u vo t mt b m ha c gn kt vi bng ti v tt c cc tham chiu tc v khong cch ca cun nhn m ha l cn thit cho ng dng ny. Mt h thng servo cng yu cu cung cp cc m-men xon v tc vt qua ma st ca u phn pht v qun tnh ca cun nhn ln. Mt u vo photosensor c kt ni vi mt lp trnh ca b iu khin gim st v tr chai trn bng ti. B iu khin lnh ng c nhn y nhanh dng tc n thi im cnh u tin ca a ch nhn l lin lc. Cc ng c di chuyn nhn trn dng tc cho n khi hon chnh c p dng cho nhn, v sau gim tc dng li v ch i cho cc chai tip theo. Vn tc Primary Axis
Secondary Axis
Registration Input
Time
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Chng 5: THI CNG

M hnh:
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Bn v b mt m hnh.
Thng s k thut ca Servo pack. Yakawa SGDH-01BE,100V,100W. Thng s k thut ca Servo AC. SGMPH -01BB 100V,100W.
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5.1 S kt ni dy mch ng lc.
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5.2 S mch iu khin
5.3 PLC MITSHUBISHI FX1S
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K hiu ng vo v ng ra:
S cung cp ngun cung cp.
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Thng s k thut u vo 24VDC FX1N n v chnh, FX0N, FX2N khi m rng khi m rng X0 x7 X10 24V DC 10% in p u vo Dng din u vo 24V DC, 24V DC, 24V DC, 5mA 7mA 5mA Chuyn i OFFON > 4.5mA > 3.5mA > 3.5mA u vo ONOFF <1.5A hin ti Thi gian p ng 10ms Thay i thi gian p ng X000-X007 0-15ms Vi mch c lp Photocoupler Hin th hot ng LED sng
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KT LUN: Qua qu trnh thc hin n nhm tm hiu thm c nhiu kin thc trong qu
trnh nghin cu ti ,hiu thm v m hnh v iu khin ng c SERVO AC . Nhm cm thy y l mt ti hay v tht s l cng ngh mi cn phi tip thu phc v cho mnh sau khi ra trng. Qu trnh thc hin ti cng rn luyn cho tng thnh vin trong nhm kh nng hot ng nhm lm vic tp th phng php v k nng hc tp. ng thi y cng l c hi cho tng thnh vin ca nhm th hin kin thc hc tp sau kha hc ti trng. Trong qu trnh thc hin ti d rt c gng nhng nhm khng trnh khi nhng Thiu st rt mong c thy c v cc bn gp kin thm ti c hon chnh.
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Ph lc
1. Tham s Th loi Chc nng la chn tham s S tham Tn s Pn000* Chc nng la chn cng tc c bn Pn001* Chc nng la chn Cng tc ng dng 1 ** Pn002* Chc nng la chn Cng tc ng dng Pn003 Chc nng la chn Cng tc ng dng 3 Pn100 Tng tc vng Pn101 Tich phn tc vng,hng s thi gian Pn102 Tng v tr vng Pn103 T l qun tnh Pn104 Pn105 Tham s tng Pn106 Pn107 Pn108 Tc tng 2nd vng Tch phn tc 2nd vng,hng s thi gian Tng v tr vng 2nd Bias Bias Width Addition n v Hz 0.01ms s-1 % Hz 0.01ms s-1 rpm ref. units % 0.01ms Thit lp range 1 to 2000 15 to 51200 1 to 2000 0 to 10000 1 to 2000 15 to 51200 1 to 2000 0 to 450 0 to 250 0 to 100 0 to 6400 0 to 800 0 to 10000 0 to 3000 0 to 10000 1 to 500 Thit lp mc nh 0000 0000 0000 0002 40 2000 40 0 40 2000 40 0 7 0 0 0000 200 0 0 0 0010 100
Pn109 Feed-Forward Pn10A Feed-Forward thi gian Pn10B* Chuyn sang ch tham chiu momen xon. Pn10C Chuyn sang ch tham % chiu tc Pn10D Chuyn sang ch tng tc rpm Pn10E Pn11F Pn110* Pn111 Chuyn sang ch xung li Online Autotuning Switches
10rpm / s ref. units Thng tin phn hi b tc *** Tham s quay ngc %
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(Khng thay i.) Pn112 Pn113 Pn114 Pn115 Pn116 Pn117 % % 0 to 1000 0 to 10000 0 to 400 0 to 1000 0 to 1000 20 to 100 100 1000 200 32 16 100
* Sau khi thay i tham s ny, chu k mch chnh v ngun cung cp nng lng kim sot cho php cc mi ci t. ** Hn nhiu ln lt l hp l khi c tham s Pn002.2 Encoder tuyt i s dng c thit lp n "2". Cc gi tr s c x l trong phm vi ca "32.767--32.768" cho cc ci t khc ngay c khi gi tr c thay i. Khng c cn phi thay i gii hn nhiu ln lt tr trng hp c bit. Hy cn thn khng thay i thit lp, tr khi cn thit. *** Cc thit lp ca tham s Pn111 l hp l khi c tham s Pn110.1 c thit lp 0. Th loi S tham Tn n v Thit Thit lp s lp mc nh range Pn118 % 20 to 100 100 Pn119 s-1 1 to 50 2000 Tham s quay ngc Pn11A 0.1% 1 to 1000 Tham s (Khng thay i.) 2000 tng Pn11B Hz 1 to 150 50 Pn11C Hz 1 to 150 70 Pn11D % 1 to 150 100 Pn11E % 1 to 150 100 Pn11F ms 1 to 0 2000 Pn120 0.01ms 1 to 0 51200 Pn121 Hz 10 to 50 250 Pn122 Hz 0 to 250 0 Pn123 % 0 to100 0 Pn200 * Cng tc la chn tham 0000 chiu kim sot v tr Tham s Pn201 * PG Divider p/r 16 to 16384
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v tr Pn202 * Pn203 * Pn204 Electronic Gear Ratio (Numerator) Electronic Gear Ratio (Denominator) Thng s tham chiu v tr Accel / Decel Thit lp gii hn MultiTurn ** Tham s quay ngc (Khng thay i.) Cng tc chc nng kim sot v tr * Thi gian trung bnh tham chiu momen v tr. Tham chiu ng vo tc tng 0.01ms
16384 1 to 65535 1 to 65535 0 to 6400 0 to 65535 513 to 65535 6 to 6400 150 to 3000
4 1 0
Pn205 * Pn206 * Pn207 * Pn208 * Pn300
rev P/rev 0.01ms 0.01V / tc nh gi cao rpm rpm rpm rpm ms ms 0.01ms 0.01ms
65535 16384 0000 0 600
Tham s tc Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Tc 1 Tc 2 Tc 3 Tc chy Thi gian khi ng bt u tng tc Thi gian khi ng bt u gim tc La chn hng s thi gian tham chiu tc La chn hng s thi gian tc phn hi
0 to 10000 0 to 10000 0 to 10000 0 to 10000 0 to 10000 0 to 10000 0 to 65535 0 to 65535
100 200 300 500 0 0 40 0
Sau khi thay i cc tham s ny, chu k mch chnh v kim sot ngun cung cp nng lng cho php cc ci t mi.
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** Hn ch nhiu ln lt l hp l khi c tham s Pn002.2 Encoder tuyt i s dng c thit lp n "2". Cc gi tr s c x l trong phm vi ca "32.767--32.768" cho cc ci t khc ngay c khi gi tr c thay i. Khng cn phi thay i gii hn nhiu ln lt tr trng hp c bit. Hy cn thn khng thay i thit lp, tr khi cn thit. Th loi S tham Tn n v Thit lp Thit lp s range mc nh Tham s Pn400 Tham chiu M-men 0.1V/rated 10 to 30 momen xon u vo tng torque 100 xon Pn401 La chn hng s thi 0.01ms 0 to 100 gian tham chiu M-men 65535 xon Pn402 Gii hn momen xon % 0 to 800 800 thun Pn403 Gii hn momen xon % 0 to 800 800 ngc Pn404 Gii hn momen xon % 0 to 800 100 thun ngoi Pn405 Gii hn momen xon % 0 to 800 100 ngc ngoi Pn406 Dng khn cp momen % 0 to 800 800 xon Pn407 iu khin hn ch tc rpm 0 to 10000 momen xon ni. 10000 Pn408 Cng tc chc nng m0000 men xon Pn409 Mc lc tn s Hz 50 to 2000 2000 Tham s Pn500 nh v kh hon ref. units 0 to 250 7 th t thnh Pn501 Cp Zero Clamp rpm 0 to 10 10000 Pn502 Cp pht hin chuyn rpm 1 to 20 ng 10000 Pn503 Chiu rng tn hiu tc rpm 0 to 100 7 u ra trng hp ngu nhin Pn504 Chiu rng tn hiu ref. units 1 to 250 1024 NEAR Pn505 Cp trn 256 ref. 1 to 0 units 32767 Pn506 Thi gian Delay tham 10ms 0 to 50 100
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chiu phanh Servo OFF Pn507 Tham s th t Pn508 Cp phanh tham chiu tc rpm u ra Thi gian cho ra tham 10ms chiu phanh trong khi Motor hot ng Thi gian gi tm thi ms 10W 0 to 10000 10 to 100 50 20
Pn509
Tham s khc
Pn50A La chn tn hiu u vo * 1 Pn50B* La chn tn hiu u vo 2 Pn50C La chn tn hiu u vo * 3 Pn50D La chn tn hiu u vo * 4 Pn50E La chn tn hiu u ra 1 * Pn50F La chn tn hiu u ra 2 * Pn510 * La chn tn hiu u ra 3 Pn511 * Tham s ngc (Khng thay i). Pn512 * Ci t tn hiu u ra ngc Pn600 Nng lc in tr ti to ** Pn601 Tham s ngc (Khng thay i).
20 to 1000 0 n ti a*** 0 n ti a***
2100 6543 8888 8888 3211 0000 0000 8888 8888 0000 0
* Sau khi thay i cc tham s ny, chu k mch chnh v kim sot ngun cung cp nng lng cho php cc ci t mi. ** Thng thng thit lp n "0". Khi s dng mt in tr bn ngoi ti to, thit lp cng sut (W) ca in tr ti sinh. *** Cc gii hn trn l Cng sut ti a (W) ca b khuch i servo.
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2.La chn tn hiu u vo Thng S th Tn s t 0 Ch phn b tn hiu u vo
Ci t M t
Thit lp mc nh
1 Pn50A 0
1 Tn hiu / S-ON (Servo ON khi thp.)
7 8 9
A
GVHD: Ths CH PHI
Thit lp trnh t 0 phn b tn hiu u vo tng t nh cho mt SGDB servo amplifier. C th t do phn b tn hiu u vo. u vo t SI0 0: SI0 (CN1-40) u vo k hiu u cui. u vo t SI1 (CN1-41) u vo k hiu u cui. u vo t SI02(CN1-42) u vo k hiu u cui. u vo t SI3 (CN1-43) u vo k hiu u cui. u vo t SI4 (CN1-44) u vo k hiu u cui. u vo t SI5 (CN1-45) u vo k hiu u cui. u vo t SI6 (CN1-46) u vo k hiu u cui. B tn hiu ON. B tn hiu OFF. u vo tn hiu o ngc t cc SI0 (CN1-40) u vo k hiu u cui. u vo tn hiu
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0 Pn50B 1
Tn hiu / P-CON (iu khinP khi thp.) Tn hiu P-OT (Ovetravel khi cao.) Tn hiu N-OT (Overtravel khi cao.) Tn hiu / ALMRST (Bo ng thit lp li khi thp.)
0 n F 0 n F 0 n F 0 n F
o ngc t cc SI1 (CN1-41) u vo k hiu u cui. u vo tn hiu o ngc t cc SI2 (CN1-42) u vo k hiu u cui. u vo tn hiu o ngc t cc SI3 (CN1-43) u vo k hiu u cui. u vo tn hiu o ngc t cc SI4 (CN1-44) u vo k hiu u cui. u vo tn hiu o ngc t cc SI5 (CN1-45) u vo k hiu u cui. u vo tn hiu o ngc t cc SI6 (CN1-46) u vo k hiu u cui. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn.
1: SI1
2: SI2
3: SI3
4: SI4
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Tn hiu / P-CL 0 n (kim sot momen F xon khi thp.) tn hiu / N-CL ( kim sot momen xon khi thp.) Tn hiu / SPD-D (la chn thit lp tc ni) Tn hiu / SPD-A (la chn thit lp tc ni) Tn hiu / SPD-B (la chn thit lp tc ni) Tn hiu / C-SEL (Cng tc ch iu khin) Tn hiu /ZCLAMP (Zero kp) tn hiu / INHIBIT (V hiu ha xung tham chiu) Tn hiu /G-SEL (Gain Switching) (Reserved)
Tng t nh trn.
5: SI5
0 n 8 Tng t nh trn.
6: SI6
Pn50C
0 n F 0 n F 0 n F 0 n F 0 n F 0 n F 0 n F 0 n F
Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn.
8: OFF
8: OFF
8: OFF
8: OFF
Pn50D
8: OFF
8: OFF
2 3
Tng t nh trn. Tng t nh trn.
8: OFF 8: OFF
* Khi Pn50A.0 c thit lp l 0 cho b khuch i servo SGDH, ch c cc phng thc sau y u tng thch: Pn50A.1 = 7, Pn50A.3 = 8, v Pn50B.0 = 8.
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3.La chn tn hiu ng ra. Thng s S th Tn t Tn hiu / COIN
Ci c
M t
Pn50E
0 1
3 Tn hiu / V-CMP Tn hiu / TGON Tn hiu / S-RDY Tn hiu / CLT Tn hiu / VLT Tn hiu / BK Tn hiu / WARN Tn hiu / NEAR Reserved Khng s dng Khng s dng u ra tn hiu o ngc cho SO1 (CN-25 v 26) u ra tn hiu o ngc cho SO2 (CN-25 v 26) u ra tn hiu o ngc cho SO3 (CN-25 v 26) Khng s dng
1 2 3 Pn50F 0 1 2 3 0 1 2 3 0
0-3 0-3 0-3 0-3 0-3 0-3 0-3 0-3 0-3 0 0 0 1 0 1 0 1 -
Disabled. S lng ng ra t SO1 (CN1-25, 26) u cui ng ra. S lng ng ra t SO2 (CN1-27, 28) u cui ng ra. S lng ng ra t SO3 (CN1-29, 30) u cui ng ra. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tng t nh trn. Tn hiu u ra khng o ngc. Tn hiu u ra o ngc. Tn hiu u ra khng o ngc. Tn hiu u ra o ngc. Tn hiu u ra khng o ngc. Tn hiu u ra o ngc. -
Thit lp mc nh 1: SO1
1: SO1 2: SO2 3: SO3 0: Khng s dng
Pn510
Pn512
0 0 0: Khng s dng
3
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4.PLC FX1S c tnh v n v ca plc
1.Kch thc ca plc fx1s
Cch c k hiu:
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2.Cc u ng ra vo ca plc: Fx1s-10MT-DSS Ng ra transitor,ngun DC
3.Cch b tr sp xp khng gian ca plc
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4.Ngun cung cp Cch u dy ngun DC
Trong : 1:ngun cung cp 24VDC,+10%-15% 2:cu ch 3:dng khn cp 4:cng tc ngun 5:n bo ch th hot ng 6:ngun cung cp cho ti 7:in tr ni t 100 hoc nh hn 8.cu ch 9:n v chnh 10:CB
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Ng vo: c tnh ng vo 24V
Cch kt ni dy ng vo:
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1.Ng ra: c tnh ng ra:
2.Cch u dy ng ra transitor
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Trong : 1:khng s dng u cc ny 2:dng khn cp 3:cu ch 4:cun dy v tip im ca contactor 5:ngun cung cp dc 6:n bo 7:diode bo v chng dng ngc 8:ti cm
GVHD: Ths CH PHI
N TT NGHIP
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TI LIU THAM KHO Hng dn s dng Sigma II Series Servo System. FULLY CLOSED INTERFACE UNIT USER'S MANUAL Kt ni k thut s Yaskawa Sigma-II Series Amplifier ng c servo Bin dch: Lm Qunh Trang - L Trng Hin - Nguyn Minh Trung - on Hip i hc Bch Khoa Thnh Ph H Ch Minh - Chng trinh PFIEV Programmable Logic Controllers AC Servo Drives TIU CHUN CHC NNG SERIES SERVOMOTOR LOI: SGMAH-SGMPH-, SGMGH-, SGMSH-, SGMDHSERIES SERVOPACK LOI: SGDM-YASKAWA
GVHD: Ths CH PHI

He Thong Servo

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He Thong Servo

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Bo Dng Cng Nghip Vit Nam

u im ca c cu ny l chnh xc v p ng tc cao, c th d dng thay i v tr ich v tc ca c cu chp hnh.

GVHD: Ths CH PHI

GVHD: Ths CH PHI

H thng iu khin C ba dng : iu khin vng h:

Ngha l b iu khin v tr ch t lnh cho ng c quay m thi. iu khin na kn:

GVHD: Ths CH PHI

Cu hnh ca h thng servo:

GVHD: Ths CH PHI

S khi iu khin ng c servo vi 2 vng hi tip v tr v tc :

GVHD: Ths CH PHI

GVHD: Ths CH PHI

1.2.servomotor Hnh thc bn ngoi v tn . S lng ng ra Loi servomotor

S series Ngy sn xut S lng tc motor Mu s Tiu chun servomotor

GVHD: Ths CH PHI

Cng sut ca sevomotor

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

1.3 Servo Amplifiers Hnh thc bn ngoi

Loi servo Amplifier

S series p dng cng sut p dng ngun cung cp

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

GVHD: Ths CH PHI

2.1.3 Ba pha (400V) Thng s k thut vi mch chnh

Tn tht in nng tng cng(W)

16.5 18.2 25 29.4

16.1 17.6 19.7 26.3 33

54 68 82 152 163 198 311 317 357 390

GVHD: Ths CH PHI

2.0 3.0 5.0 6.0 7.5 11.0 15.0

SGDH20DE SGDH30DE SGDH50DE SGDH60DE SGDH75DE SGDH1ADE SGDH1EDE

8.4 11.9 16.5 20.8 25.4 28.1 37.2

83 118 192 232

243 247 279 303 407

264 288 392

GVHD: Ths CH PHI

GVHD: Ths CH PHI

Tn hiu ng ra SEN GND

/PULS Tham 7 chiu xung u vo 10 SG GND 9

K hiu tham chiu u vo Xa g

GVHD: Ths CH PHI

tham chiu cp in Xa g 41 P-CON vo

M d liu tham chiu cp in PG chia ng ra Cpha

22 BAT(- Pin (- 21 BAT(+) Pin(+) ) )

25 /VCMB Tc (/CONI) trng hp ngu nhin pht hin ng ra

/ALM -RST +24V IN SEN

Tham chiu tc Tham chiu Mmen xon Tham chiu v tr

BAT(+) 21 BAT(-) 22 V-REF 5 (6) T-REF 9 (10)

PULS /PULS SIGN /SIGN CLR /CLR P1 P2 P3

GVHD: Ths CH PHI

9 30 33(1) 34 35 36 19 20 48 49 37 38 39(1) Shell 25 26

GVHD: Ths CH PHI

Servo Amplifier 1.8k ( W) ti thiu

p dng ng-driver SN75174 sn xut bi TI, hoc tng ng

2.8V (cp cao ) - (cp thp) 3,7 V