B&R 7DM465.7 為大家講解的是關(guān)于PLC控制伺服電機(jī)三種方式：
一、轉(zhuǎn)矩控制
二、位置控制
三、速度模式
一、轉(zhuǎn)矩控制
轉(zhuǎn)矩控制方式是通過(guò)外部模擬量的輸入或直接的地址的賦值來(lái)設(shè)定電機(jī)軸對(duì)外的輸出轉(zhuǎn)矩的大小，具體表現(xiàn)為例如10V對(duì)應(yīng)5Nm的話，當(dāng)外部模擬量設(shè)定為5V時(shí)電機(jī)軸輸出為2.5Nm：如果電機(jī)軸負(fù)載低于2.5Nm時(shí)電機(jī)正轉(zhuǎn)，外部負(fù)載等于2.5Nm時(shí)電機(jī)不轉(zhuǎn)，大于2.5Nm時(shí)電機(jī)反轉(zhuǎn)（通常在有重力負(fù)載情況下產(chǎn)生）。
可以通過(guò)即時(shí)的改變模擬量的設(shè)定來(lái)改變?cè)O(shè)定的力矩大小，也可通過(guò)通訊方式改變對(duì)應(yīng)的地址的數(shù)值來(lái)實(shí)現(xiàn)。
二、位置控制
位置控制模式一般是通過(guò)外部輸入的脈沖的頻率來(lái)確定轉(zhuǎn)動(dòng)速度的大小，通過(guò)脈沖的個(gè)數(shù)來(lái)確定轉(zhuǎn)動(dòng)的角度，也有些伺服可以通過(guò)通訊方式直接對(duì)速度和位移進(jìn)行賦值。
由于位置模式可以對(duì)速度和位置都有很嚴(yán)格的控制，所以一般應(yīng)用于定位裝置。
3、速度模式
通過(guò)模擬量的輸入或脈沖的頻率都可以進(jìn)行轉(zhuǎn)動(dòng)速度的控制，在有上位控制裝置的外環(huán)PID控制時(shí)速度模式也可以進(jìn)行定位，但必須把電機(jī)的位置信號(hào)或直接負(fù)載的位置信號(hào)給上位反饋以做運(yùn)算用。
以SINAMICS V90系統(tǒng)為例說(shuō)明
SINAMICS V90 根據(jù)不同的應(yīng)用分為兩個(gè)版本：
1. 脈沖序列版本（集成了脈沖，模擬量，USS/MODBUS）
2. PROFINET通訊版本
SINAMICS V90 脈沖版本可以實(shí)現(xiàn)內(nèi)部定位塊功能，同時(shí)具有脈沖位置控制，速度控制，力矩控制模式。
下圖所示為脈沖串指令速度控制模式（PTI）下的默認(rèn)接口定義，符合標(biāo)準(zhǔn)的應(yīng)用習(xí)慣。
同時(shí)只允許使用一個(gè)脈沖輸入通道，其他控制信號(hào)也可以自由分配到數(shù)字量輸入和輸出端子上，請(qǐng)參見操作手冊(cè)。
數(shù)字量輸入，支持NPN和PNP兩種類型。接線圖中的24V電源如下：
（1）用于SINAMICS V90的24V電源。所有的PTO信號(hào)都必須連接至使用同一24V電源的控制器，如SINAMICS V90。
（2）隔離的數(shù)字量輸入電源，可使用控制器電源。
（3）隔離的數(shù)字量輸出電源，可使用控制器電源。
SINAMICS V90 伺服驅(qū)動(dòng)
電機(jī)抱閘信號(hào)（僅用于 SINAMICS V90 200 V 驅(qū)動(dòng)）。SINAMICS V90 200 V 驅(qū)動(dòng)需要使用外部繼電器來(lái)連接電機(jī)抱閘。
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