AI系列伺服放大器的连接上课讲义.ppt

单击此处编辑母版标题样式,单击此处编辑母版文本样式,第二级,第三级,第四级,第五级,*,TRAINING-LZW,*,放大器结构,BEIJING,-,FANUC,伺服放大器和伺服电机之间的连接与配置,放大器结构,接口说明,放大器连接,放大器和电机配置,1/20/2025,1,TRAINING-LZW,放大器结构,BEIJING,-,FANUC,1/20/2025,2,TRAINING-LZW,i,放大器规格,BEIJING,-,FANUC,1/20/2025,3,TRAINING-LZW,i,放大器,BEIJING,-,FANUC,1/20/2025,4,TRAINING-LZW,i,放大器,BEIJING,-,FANUC,1/20/2025,5,TRAINING-LZW,130,放大器结构,BEIJING,-,FANUC,1/20/2025,6,TRAINING-LZW,130,放大器结构,BEIJING,-,FANUC,断路 器2,主轴电机,伺服电机,3,风扇电机,断路 器1,电磁接触器,交流电抗器,浪涌吸收器,浪涌吸收器,机床厂提供,1/20/2025,7,TRAINING-LZW,PSM,BEIJING,-,FANUC,电源模块(PSM)给驱动电机提供主电源,并且给其它模块提供控制电源.,PSM的规格根据使用的伺服电机和主轴电机选择.,模块名称:PSM=Power supply module,额定输出:代表连续额定输出功率值,单位kw,1/20/2025,8,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,1/20/2025,9,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,200VAC 输入连接器,CX1A,6,PSM接口输出连接器,CXA2A,24VDC电源,8,MCC控制信号连接器,CX3,9,ESP信号连接器,CX4,10,电机电源连接器,CZ1,11,地线孔,PSM-5.5i连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,10,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,1/20/2025,11,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,PSM-11i,PSM-15i连接器和接线端子名称,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,200VAC 输入连接器,CX1A,6,PSM接口输出连接器,CXA2A,24VDC电源,8,MCC控制信号连接器,CX3,9,ESP信号连接器,CX4,10,电机电源端子,TB2,11,地线孔,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,12,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,1/20/2025,13,TRAINING-LZW,PSM结构,BEIJING,-,FANUC,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,200VAC 输入连接器,CX1A,6,PSM接口输出连接器,CXA2A,24VDC电源,8,MCC控制信号连接器,CX3,9,ESP信号连接器,CX4,10,电机电源端子,TB2,11,地线孔,PSM-26i,PSM-30i,PSM-37i连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,14,TRAINING-LZW,SVM结构,BEIJING,-,FANUC,1/20/2025,15,TRAINING-LZW,SVM结构,BEIJING,-,FANUC,序号,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,SVM内装型绝对编码器电池位置,电池,5,SVM内装型绝对编码器电池插头,CX5X,6,来自PSM的输入连接器,CXA2B,24VDC电源,7,输出连接器,CXA2A,8,FSSB光缆输入连接器,COP10B,9,FSSB光缆输出连接器,COP10A,10,信号检测连接器,JX5,未用,11,脉冲编码器连接器:L轴,ENC1/JF1,12,脉冲编码器连接器:M轴,ENC2/JF2,13,脉冲编码器连接器:N轴,ENC3/JF3,14,电机电源线连接器:L轴,CZ2L,SVM1,CZ2,15,电机电源线连接器:M轴,CZ2M,16,电机电源线连接器:N轴,CZ2N,17,地线孔,连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,16,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,1/20/2025,17,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,序号,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,来自PSM的输入连接器,CXA2B,24VDC电源,5,输出连接器,CXA2A,6,位置编码器和SPM间通讯的连接器,JX4,检测板输出信号,7,连接负载表和速度表的连接器,JY1,检测板输出信号,8,串行输入接口的连接器,JA7B,9,串行输出接口的连接器,JA7A,10,电机传感器的连接器,JYA2,Mi,MZi,BZi,11,脉冲编码器和一转信号的连接器,JYA3,12,分离型主轴传感器的连接器,JYA4,仅B型,13,电机电源的连接器,CZ2,14,地线孔,SPM-2.2i,SPM-5.5i(A,B型)连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,18,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,1/20/2025,19,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,序号,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,来自PSM的输入连接器,CXA2B,24VDC电源,5,输出连接器,CXA2A,6,位置编码器和SPM间通讯的连接器,JX4,检测板输出信号,7,连接负载表和速度表的连接器,JY1,检测板输出信号,8,串行输入接口的连接器,JA7B,9,串行输出接口的连接器,JA7A,10,电机传感器的连接器,JYA2,Mi,MZi,BZi,11,脉冲编码器和一转信号的连接器,JYA3,12,分离型主轴传感器的连接器,JYA4,仅B型,13,电机电源的连接器,TB2,14,地线孔,SPM-11i,SPM-15i(A,B型)连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,20,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,1/20/2025,21,TRAINING-LZW,SPM结构,BEIJING,-,FANUC,序号,名称,显示,备注,1,DC link端子,TB1,2,DC link放电指示LED,(警告),3,状态指示LED,状态,4,来自PSM的输入连接器,CXA2B,24VDC电源,5,输出连接器,CXA2A,6,位置编码器和SPM间通讯的连接器,JX4,检测板输出信号,7,连接负载表和速度表的连接器,JY1,检测板输出信号,8,串行输入接口的连接器,JA7B,9,串行输出接口的连接器,JA7A,10,电机传感器的连接器,JYA2,Mi,MZi,BZi,11,脉冲编码器和一转信号的连接器,JYA3,12,分离型主轴传感器的连接器,JYA4,仅B型,13,电机电源的连接器,TB2,14,地线孔,SPM-22i,SPM-26i,SPM-30i(A,B型)连接器和接线端子名称,警告:当LED灯亮的时候,不要碰模块部件或连接电缆.电气元件的振动有危险.,1/20/2025,22,TRAINING-LZW,PSM规格,BEIJING,-,FANUC,1/20/2025,23,TRAINING-LZW,130,放大器电源规格,BEIJING,-,FANUC,变压器规格,1/20/2025,24,TRAINING-LZW,SVM,BEIJING,-,FANUC,伺服放大器模块(SVM)用于驱动伺服电机.根据使用的电机选择SVM.,模块名称:SVM=Servo amplifier module,轴号:1=1轴放大器,2=2轴放大器,3=3轴放大器,L-轴最大电流输出 峰值,M-轴最大电流输出峰值,N-轴最大电流输出峰值,1/20/2025,25,TRAINING-LZW,130,SVM 规格,BEIJING,-,FANUC,1/20/2025,26,TRAINING-LZW,130,对应,i,放大器规格表,BEIJING,-,FANUC,1/20/2025,27,TRAINING-LZW,130,SVM 电池,BEIJING,-,FANUC,1/20/2025,28,TRAINING-LZW,SVM 电池,BEIJING,-,FANUC,连接类型1,一个电池提供多个SVM的电源,种类,订货号,名称,备注,选择,A06B-6050-K061,电池,4块D电池,A06B-6050-K060,电池盒,A06B-6110-K211,连接器,连接类型2,一个电池提供对应的SVM的电源,种类,订货号,名称,备注,选择,A06B-6073-K001,内装电池,1对锂电池,A06B-6050-K060,电池盒,1/20/2025,29,TRAINING-LZW,SPM,BEIJING,-,FANUC,主轴放大器模块(SPM)用于驱动主轴电机.根据使用的电机选择SPM.,模块名称:SPM=Spindle amplifier module,输出:表示电机30分钟额定输出功率,单位kw,1/20/2025,30,TRAINING-LZW,130,SPM,BEIJING,-,FANUC,1/20/2025,31,TRAINING-LZW,SPM,BEIJING,-,FANUC,1/20/2025,32,TRAINING-LZW,主轴传感器,BEIJING,-,FANUC,1/20/2025,33,TRAINING-LZW,主轴传感器,BEIJING,-,FANUC,主轴检测器分别对应类型A和类型B两种放大器类型,类型A使用的主轴检测器(1主轴传感器输入),Mi传感器(电机),MZi传感器(电机),BZi传感器(内装电机),Mi传感器(电机)+,位置编码器,Mi,传感器(电机)+外部一转信号,(b),类型,B,使用的主轴检测器(2主轴传感器输入),Mi,传感器(电机)+,BZi,传感器(主轴),Mi,传感器(电机)+,位置编码器,S,Mi,传感器(电机)+磁性传感器(定向),MZi,传感器(电机)+,CZi传感器(主轴),1/20/2025,34,TRAINING-LZW,130,主轴传感器,BEIJING,-,FANUC,1/20/2025,35,TRAINING-LZW,BZi的分辨精度,BEIJING,-,FANUC,1/20/2025,36,TRAINING-LZW,Cs 轮廓控制,主轴,带,MZ,i,传感器的,a,i,主轴电机,a,i,SPM,A型,直接耦合或调速比为,1:1,a,i,内装主轴电机,a,i,SPM,A型,Case 1:电机和主轴直接相连或是调速比为,1:1,系统框图,分辨率,:,BZ,i,传感器,360,000/rev.,MZ,i,传感器,360,000/rev.,CZ,i,传感器,3,600,000/rev.,BZ,i,传感器,(标准用途),CZ,i,传感器,(高精度用途),1/20/2025,37,TRAINING-LZW,Cs 轮廓控制,主轴,带Mi传感器的,a,i,主轴电机,a,i,SPM,B型,皮带或齿轮,调速比,1:1,皮带或齿轮,主轴,带,M,i,传感器的,a,i,主轴电机,a,S位置编码器,a,i,SPM,B型,Case 2:电机和主轴,(带传感器)用皮带连接,系统框图,BZ,i,传感器,(标准用途),CZ,i,传感器,(高精度用途),分辨率,:,主轴用,BZ,i,传感器,360,000/rev.,主轴用,CZ,i,传感器,3,600,000/rev.,用,a,S位置编码器,360,000/rev（JYA4）。,1/20/2025,38,TRAINING-LZW,Cs 轮廓控制,b,i,主轴系统Cs轮廓控制,Cs 轮廓控制也适用于,b,i,主轴系统,适用系统结构,:,Case 1,:电机和主轴直接耦合或调速比为,1:1,Case 2,:电机和带位置编码器的主轴,(4096p/rev)用皮带连接,主轴,主轴,带,MZ,i,传感器的,b,i,主轴电机,带,M,i,传感器的,b,i,主轴电机,a,位置编码器,(4096 p/rev),b,i,SVPM,(A型),b,i,SVPM,(A型),直接耦合或调,速比为,1:1,调速比,1:1,皮带或齿轮,Case 1,Case 2,分辨率,:,MZ,i,传感器,360,000/rev.,a,位置编码器,4,096/rev.,1/20/2025,39,TRAINING-LZW,Cs 轮廓控制,位置反馈,(0.1deg/div),速度,控制,位置,控制,补偿,转换,主轴,a,位置编码器,+,+,+,-,-,-,速度反馈,位置反馈,(4096p/rev),运动指令,360,000 p/rev,主轴电机,位置编码,器的反馈,电机传感,器的反馈,位置编码,器的反馈,电机传感,器的反馈,不带补偿,带补偿,1个脉冲,(4096 p/rev),b,i,主轴系统Cs轮廓控制,带位置编码器的,(4096 p/rev)Cs轮廓控制具有位置编码器反馈插补功能,利用电机传感器反馈进行位置编码器反馈脉冲间的插补可以使转动更平稳,定位更精确,并且降低停止时的波动,1/20/2025,40,TRAINING-LZW,主轴电机 放大器,BEIJING,-,FANUC,1/20/2025,41,TRAINING-LZW,放大器规格,BEIJING,-,FANUC,1/20/2025,42,TRAINING-LZW,130,放大器电源规格,BEIJING,-,FANUC,变压器规格,1/20/2025,43,TRAINING-LZW,连接主轴和伺服放大器的最多数量,BEIJING,-,FANUC,1/20/2025,44,TRAINING-LZW,连接主轴和伺服放大器的最多数量,BEIJING,-,FANUC,各模块最多连接电机数量,注意,当不同类型的伺服放大器模块连接时,必须满足下列条件:,6,SVM1s的数量,1,+,SVM2s的数量1.5,+SVM3s的数量2,当不使用主轴放大器时可以连接的伺服放大器模块的最大数量不变.,1/20/2025,45,TRAINING-LZW,130,伺服放大器的连接,BEIJING,-,FANUC,1/20/2025,46,TRAINING-LZW,130,伺服放大器的连接,BEIJING,-,FANUC,1/20/2025,47,TRAINING-LZW,PSM的接线,BEIJING,-,FANUC,1/20/2025,48,TRAINING-LZW,PSM的接线,BEIJING,-,FANUC,1/20/2025,49,TRAINING-LZW,PSM的K1接线,BEIJING,-,FANUC,1/20/2025,50,TRAINING-LZW,130,放大器电源规格,BEIJING,-,FANUC,变压器规格,1/20/2025,51,TRAINING-LZW,PSM的K1接线,BEIJING,-,FANUC,1/20/2025,52,TRAINING-LZW,PSM的K1接线,BEIJING,-,FANUC,1/20/2025,53,TRAINING-LZW,PSM的K2 K3接线,BEIJING,-,FANUC,1/20/2025,54,TRAINING-LZW,PSM的K3控制电源接线,BEIJING,-,FANUC,1/20/2025,55,TRAINING-LZW,PSM的K6,K7接线,BEIJING,-,FANUC,1/20/2025,56,TRAINING-LZW,PSM的K6,K7接线,BEIJING,-,FANUC,1/20/2025,57,TRAINING-LZW,PSM的K69接线,BEIJING,-,FANUC,1/20/2025,58,TRAINING-LZW,PSM的K69接线,BEIJING,-,FANUC,1/20/2025,59,TRAINING-LZW,SVM的接线,BEIJING,-,FANUC,1/20/2025,60,TRAINING-LZW,130,SVM的接线,BEIJING,-,FANUC,1/20/2025,61,TRAINING-LZW,SVM的动力电缆K21,BEIJING,-,FANUC,1/20/2025,62,TRAINING-LZW,130,SVM的动力接线,BEIJING,-,FANUC,1/20/2025,63,TRAINING-LZW,SVM的反馈接线,BEIJING,-,FANUC,1/20/2025,64,TRAINING-LZW,SVM的反馈接线,BEIJING,-,FANUC,1/20/2025,65,TRAINING-LZW,SVM的光缆接线K27,BEIJING,-,FANUC,1/20/2025,66,TRAINING-LZW,SVM的APC用电池接线,BEIJING,-,FANUC,1/20/2025,67,TRAINING-LZW,SVM的APC用电池接线,BEIJING,-,FANUC,1/20/2025,68,TRAINING-LZW,SVM的APC用电池接线,BEIJING,-,FANUC,1/20/2025,69,TRAINING-LZW,SVM的APC用内装电池接线K28,BEIJING,-,FANUC,1/20/2025,70,TRAINING-LZW,SPM的接线,BEIJING,-,FANUC,1/20/2025,71,TRAINING-LZW,130,SPM的接线,BEIJING,-,FANUC,1/20/2025,72,TRAINING-LZW,SPM的动力接线K10,BEIJING,-,FANUC,1/20/2025,73,TRAINING-LZW,SPM的动力接线,BEIJING,-,FANUC,1/20/2025,74,TRAINING-LZW,SPM的主轴指令接线K12,BEIJING,-,FANUC,1/20/2025,75,TRAINING-LZW,SPM的主轴指令接线,BEIJING,-,FANUC,1/20/2025,76,TRAINING-LZW,SPM的反馈接线K14,BEIJING,-,FANUC,1/20/2025,77,TRAINING-LZW,SPM的反馈接线K17,BEIJING,-,FANUC,1/20/2025,78,TRAINING-LZW,SPM的反馈接线,BEIJING,-,FANUC,1/20/2025,79,TRAINING-LZW,SPM的位置编码器接线K16,BEIJING,-,FANUC,1/20/2025,80,TRAINING-LZW,130,SPM的位置编码器接线,BEIJING,-,FANUC,1/20/2025,81,TRAINING-LZW,K33主轴模拟倍率 速度表 负载表的连接,BEIJING,-,FANUC,1/20/2025,82,TRAINING-LZW,K71接近开关连接,BEIJING,-,FANUC,1/20/2025,83,TRAINING-LZW,K89是CZi传感器的连接,BEIJING,-,FANUC,1/20/2025,84,TRAINING-LZW,K90双安检功能使用,BEIJING,-,FANUC,1/20/2025,85,TRAINING-LZW,电机型号,BEIJING,-,FANUC,A06B-XXXX-BXXX或,、,XXX/XXX,注:X代表数字或字母,电机标牌,1/20/2025,86,TRAINING-LZW,伺服电机规格,BEIJING,-,FANUC,电机规格:,规定了电机的型号/轴类型/检测器,1/20/2025,87,TRAINING-LZW,伺服电机检测器规格,BEIJING,-,FANUC,1/20/2025,88,TRAINING-LZW,130,分离型检测器,BEIJING,-,FANUC,1/20/2025,89,TRAINING-LZW,串行分离式检测器,BEIJING,-,FANUC,1/20/2025,90,TRAINING-LZW,串行输出旋转编码器,BEIJING,-,FANUC,1/20/2025,91,TRAINING-LZW,130,对应,i,放大器规格表,BEIJING,-,FANUC,1/20/2025,92,TRAINING-LZW,130,常用,i,放大器规格表,BEIJING,-,FANUC,1/20/2025,93,TRAINING-LZW,130,常用,i,放大器规格表,BEIJING,-,FANUC,1/20/2025,94,TRAINING-LZW,常用,i,放大器规格表,BEIJING,-,FANUC,1/20/2025,95,TRAINING-LZW,