[运动控制] FESTO Motor controller CMMB-AS-0x 维护和安装手册 英文版

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CMMB-AS-0x 维护和安装手册 英文版.pdf (3.41 MB, 售价: 10 工控币)

Contents
Chapter 1 Safety and requirements for product use ..........................................................1
1.1 Safety................................................................................................................................. 1
1.1.1 Safety instructions for commissioning, repair and de-commissioning ................................... 1
1.1.2 Protection against electric shock through protective extra-low voltage (PELV)...................... 1
1.1.3 Intended use ................................................................................................................... 2
1.2 Requirements for product use.................................................................................................. 2
1.2.1 Transport and storage conditions ...................................................................................... 2
1.2.2 Technical requirements..................................................................................................... 2
1.2.3 Qualification of the specialists (requirements for personnel) ............................................... 3
1.2.4 Range of application and certifications .............................................................................. 3
Chapter 2 Introduction .......................................................................................................3
2.1 Product overview .................................................................................................................... 3
2.1.1 CMMB Motor controller..................................................................................................... 3
2.1.2 EMMB Servo motor .......................................................................................................... 4
2.1.3 NEBM cables.................................................................................................................... 4
2.2 Device view............................................................................................................................ 6
Chapter 3 Installation of the CMMB motor controller ........................................................7
3.1 Mechanical installation ............................................................................................................ 7
3.1.1 Environment requirements................................................................................................ 7
3.1.2 Mounting conditions......................................................................................................... 7
3.2 Electrical installation ............................................................................................................... 8
3.2.1 Front view of CMMB series motor controller....................................................................... 8
3.2.2 Power connector (X2)....................................................................................................... 9
3.2.3 RS232 port( X3) ............................................................................................................ 9
3.2.4 Multi-function connector(X4) ...................................................................................... 10
3.2.5 Encoder input( X5) ...................................................................................................... 12
3.3 Wiring of the CMMB servo system.......................................................................................... 12
3.3.1 Selection of fuses, braking resistors and circuit breakers .................................................. 13
Chapter 4 Controller setup with LED panel ......................................................................14
4.1 Panel operation..................................................................................................................... 144.2 Panel menu structure and navigation ..................................................................................... 15
4.3 Easy Use function ................................................................................................................. 16
4.3.1 Setup process with Easy Use function ............................................................................. 16
4.3.2 Flowchart and description of the EASY menu ................................................................... 17
4.3.3 Flowchart and description of the tunE menu .................................................................... 23
4.3.4 Jog mode (F006) ........................................................................................................... 26
4.3.5 Error History (F007) ....................................................................................................... 26
Chapter 5 CMMB configurator, user guide........................................................................27
5.1 Getting started ..................................................................................................................... 27
5.1.1 Language ...................................................................................................................... 27
5.1.2 Opening and saving project files ..................................................................................... 27
5.1.3 Starting communication.................................................................................................. 28
5.1.4 Node ID and baud rate................................................................................................... 28
5.1.5 Objects (add, delete, help) ............................................................................................. 28
5.2 Init save reboot .................................................................................................................... 29
5.3 Firmware update .................................................................................................................. 29
5.4 Read/write controller configuration ........................................................................................ 30
5.4.1 Read settings from controller.......................................................................................... 30
5.4.2 Write settings to controller ............................................................................................. 30
5.5 Digital IO functions ............................................................................................................... 31
5.5.1 Digital inputs ................................................................................................................. 32
5.5.2 Digital outputs ............................................................................................................... 34
5.5.3 Gear ratio switch (expert only)........................................................................................ 35
5.5.4 Gain switch (expert only)................................................................................................ 36
5.5.5 Fast Capture.................................................................................................................. 38
5.6 Scope .................................................................................................................................. 39
5.7 Error display and error history ............................................................................................... 40
Chapter 6 Operation modes and control modes ................................................................43
6.1 General steps for starting a control mode............................................................................... 43
6.2 Velocity mode (-3, 3) ............................................................................................................ 46
6.2.1 Analog speed mode ....................................................................................................... 46
6.2.2 DIN speed mode............................................................................................................ 48
6.3 Torque mode (4)................................................................................................................... 49
6.3.1 Analog torque mode....................................................................................................... 49
6.4 Position mode (1) ................................................................................................................. 506.4.1 Position Table mode ....................................................................................................... 50
6.5 Pulse Train mode (-4)............................................................................................................ 54
6.5.1 Master-slave mode......................................................................................................... 55
6.6 Homing mode (6) ................................................................................................................. 55
Chapter 7 Tuning of the servo system control..................................................................65
7.1 Auto-tuning .......................................................................................................................... 65
7.1.1 Parameters for auto-tuning ............................................................................................. 66
7.1.2 Start of auto-tuning........................................................................................................ 66
7.1.3 Problems with auto-tuning.............................................................................................. 67
7.1.4 Adjustment after auto-tuning.......................................................................................... 67
7.2 Manual tuning....................................................................................................................... 68
7.2.1 Tuning of the velocity loop.............................................................................................. 68
7.2.2 Tuning of the position loop ............................................................................................. 70
7.3 Factors which influence tuning results .................................................................................... 72
Chapter 8 Alarms and troubleshooting..............................................................................73
Chapter 9 List of CMMB series motor controller parameters............................................75
9.1 F001 .................................................................................................................................... 75
9.2 F002 .................................................................................................................................... 76
9.3 F003 .................................................................................................................................... 78
9.4 F004 .................................................................................................................................... 81
9.5 F005 .................................................................................................................................... 82
Chapter 10 Communication .............................................................................................83
10.1 RS232 wiring ...................................................................................................................... 83
10.1.1 Point to point connection.............................................................................................. 83
10.1.2 Multi-point connection .................................................................................................. 83
10.2 Transport protocol............................................................................................................... 83
10.2.1 Point to point protocol .................................................................................................. 84
10.2.2 Multi-point protocol ...................................................................................................... 84
10.3 Data protocol...................................................................................................................... 84
10.3.1 Download (from host to slave)...................................................................................... 85
10.3.2 Upload (from slave to host) .......................................................................................... 85
10.4 RS232 telegram example..................................................................................................... 86

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