华中数控8型数控系统连接调试与PLC编程5

260附录一HSV-180U/HSV-160U伺服驱动器多摩川绝对值电机编码器调零多摩川绝对值电机编码器在伺服电机出厂时一般都进行了电气调零（即绝对值编码器第0圈0位需要对应伺服电机U、V、W三相驱动电流磁场的空间零电角度）。如果没有进行调零，则驱动器无法正确的进行位置控制。下面介绍HSV-180U/HSV-160U伺服驱动器多摩川绝对值电机编码器进行调零的方法：1、首先保证电机在运行过程中没有负载，电机转起来没有安全隐患。2、调零方法：3、如进行以上操作后，电机运行正常。则将PA23=0，STA0=1，STA6=0，PA34=1230，执行保存操作，断电重启。4、通过HNC-8型数控系统控制驱动器带电机运行。261附录二HNC-8数控系统软件结构HNC-8数控系统软件结构从功能上划分，HNC-8平台分为HMI，NCAPI以及NCU三个层次，其结构如图所示。HMI层为人机交互界面，用户通过HMI完成数控机床的操作。API层为接口层，为HMI提供访问NC功能及其他功能的接口。NCU为数控核心层，实现NC各种控制功能。HNC-8数控系统软件GUI结构262附录三HSV-180UD/160U参数一览表1、PA运动参数说明HSV-180UD系列伺服驱动单元提供了44种运动参数,定义如附录表4-1PA运动参数一览表所示。适用方法中，P：位置控制方式；S：速度方式；T：转矩方式。◆修改此参数，必须先将PA--34号参数修改为2003，否则修改无效。附录表4-1PA运动参数一览表2632642、PB运动参数附录表4-2PB扩展运动控制参数一览表2652662673、控制参数附录表4-3控制参数一览表（状态控制字1）2684、扩展控制参数在运动参数中选择PA--34，将其值设为2003，即可打开扩展控制参数模式。附录表4-4扩展控制参数一览表（状态控制字2）269270附录四HSV-180US参数一览表1、HSV-180US系列主轴驱动单元提供了60种运动参数,定义如附录表5-1参数一览表所示。适用方法中，P：位置控制方式（适用于主轴位置控制和主轴定向）；S：速度方式。◆修改此参数，必须先将PA--34号参数修改为2003，否则修改无效。附录表5-1运动参数一览表2712722732742、控制参数一附录表5-2控制参数一说明（状态控制字1）2753、控制参数二附录表5-3控制参数二说明（状态控制字2）276277附录五伺服电机规格登奇电机1、登奇GK6伺服电机类型代码：伺服电机型号额定转速(rpm)静转矩（Nm）相电流(A)电机类型代码适配驱动单元GK6073-6AC612000115.600HSV-180UD-035GK6080-6AC612000166.801GK6081-6AC612000211002HSV-180UD-050GK6083-6AC6120002713.303GK6085-6AC6120003316.504HSV-180UD-075GK6087-6AC6120003718.505GK6089-6AC612000422106HSV-180UD-100GK6105-8AC6120004519.507GK6107-8AB6115005517.908GK6109-8AB6115007023.1092、登奇GK6伺服电机规格型号：2.1自然冷却：伺服电机型号额定转速r/min静转矩M0Nm相电流I0A转动惯量10¯4Kgm2重量KgGK6040-6AC61200030001.60.91.41.873.7GK6040-6AF61GK6041-6AC61200030002.51.42.22.674.3GK6041-6AF61GK6042-6AC61200030003.21.92.83.475.0GK6042-6AF61GK6060-6AC612000300031.52.34.48.5GK6060-6AF61GK6061-6AC612000300063.04.58.710.6GK6061-6AF61GK6062-6AC61200030007.53.85.712.912.8GK6062-6AF61GK6063-6AC6120003000115.68.31714.5GK6063-6AF61278GK6064-6AC61200030004.52.23.26.79GK6064-6AF61GK6070-6AC612000300031.52.34.48.5GK6070-6AF61GK6071-6AC612000300063.04.58.710.6GK6071-6AF61GK6072-6AC61200030007.53.85.712.912.8GK6072-6AF61GK6073-6AC6120003000115.68.31714.5GK6073-6AF61GK6074-6AC61200030004.52.23.26.79GK6074-6AF61GK6080-6AC6120003000166.810.226.716.5GK6080-6AF61GK6081-6AA61120020003000216.1101535.719.5GK6081-6AC61GK6081-6AF61GK6083-6AA6112002000278.113.344.622.5GK6083-6AC61GK6085-6AA6112002000339.916.553.525.5GK6085-6AC61GK6087-6AA61120020003711.118.562.428.5GK6087-6AC61GK6089-6AA6112004212.671.331.5GK6100-8AA611200150020003000184.75.97.811.757.221GK6100-8AB61GK6100-8AC61GK6100-8AF61GK6101-8AA611200150020003000277.08.811.717.589.526GK6101-8AB61GK6101-8AC61GK6101-8AF61GK6103-8AA61120015002000369.411.815.7121.530GK6103-8AB61GK6103-8AC61GK6105-8AA61120015004511.714.5153.534GK6105-8AB61GK6107-8AA6112005514.3185.538279150017.9GK6107-8AB61GK6109-8AA6112007018.5233.5452.2强迫冷却：伺服电机型号额定转速r/min静转矩M0Nm相电流I0A转动惯量10¯4Kgm2重量KgGK6130-8SW6150075010001200757.511151845153GK6130-8SV61GK6130-8SE61GK6130-8SA61GK6131-8SW615007501000909141850960GK6131-8SV61GK6131-8SE61GK6132-8SW61500750120121866479GK6132-8SV61GK6133-8SW615001501581998GK6135-8SW61500180189751173、GK8伺服电机规格型号：型号额定转速r/min静转矩M0Nm相电流I0A电压常数KEv/1000r/min转动惯量10¯4Kgm2重量KgGK8051-6AB61GK8051-6AC61GK8051-6AF61GK8051-6AJ61150020003000450020.70.91.42.118013590601.734.5GK8052-6AB61GK8052-6AC61GK8052-6AF61GK8052-6AJ61150020003000450031.11.42.13.218013590603.05.5GK8053-6AB61GK8053-6AC61GK8053-6AF61GK8053-6AJ61150020003000450041.41.92.84.218013590604.276.5GK8054-6AB61GK8054-6AC61GK8054-6AF61GK8054-6AJ61150020003000450051.82.43.55.318013590605.557.5280GK8055-6AB61GK8055-6AC61GK8055-6AF61GK8055-6AJ61150020003000450062.12.84.26.318013590606.838.5GK8060-6AB61GK8060-6AC61GK8060-6AF61GK8060-6AJ61150020003000450031.21.52.33.518013590604.48.5GK8061-6AB61GK8061-6AC61GK8061-6AF61GK8061-6AJ61150020003000450062.33.04.56.818013590608.710.6GK8062-6AB61GK8062-6AC61GK8062-6AF61GK8062-6AJ6115002000300045007.52.93.85.78.6180135906012.912.8GK8063-6AB61GK8063-6AC61GK8063-6AF61GK8063-6AJ611500200030004500114.25.58.312.518013590601714.5GK8064-6AB61GK8064-6AC61GK8064-6AF61GK8064-6AJ6115002000300045004.51.72.23.35.018013590606.79.5GK8065-6AB61GK8065-6AC61GK8065-6AF61GK8065-6AJ611500200030004500155.57.311.016.5180135906022.217.8GK8070-6AB61GK8070-6AC61GK8070-6AF61GK8070-6AJ61150020003000450031.21.52.33.518013590604.48.5GK8071-6AB61GK8071-6AC61GK8071-6AF61GK8071-6AJ61150020003000450062.33.04.56.818013590608.710.6GK8072-6AB61GK8072-6AC61GK8072-6AF611500200030007.52.93.85.71801359012.912.8281GK8072-6AJ6145008.660GK8073-6AB61GK8073-6AC61GK8073-6AF61GK8073-6AJ611500200030004500114.25.58.312.518013590601714.5GK8074-6AB61GK8074-6AC61GK8074-6AF61GK8074-6AJ6115002000300045004.51.72.23.35.018013590606.79.5GK8075-6AB61GK8075-6AC61GK8075-6AF61GK8075-6AJ611500200030004500155.57.311.016.5180135906022.217.8GK8080-6AB61GK8080-6AC61GK8080-6AF61GK8080-6AJ611500200030004500165.47.110.716.12001501006726.716.5GK8081-6AB61GK8081-6AC61GK8081-6AF61GK8081-6AJ611500200030004500217.19.414.121.22001501006735.719.5GK8083-6AB61GK8083-6AC61GK8083-6AF61GK8083-6AJ611500200030004500279.112.018.227.32001501006744.622.5GK8085-6AB61GK8085-6A