MotionBasicTraining

伺服編程（1）基礎(chǔ)課

1ppt課件.伺服運(yùn)動基礎(chǔ)編程10StepstoDevelopingControlLogixMotion:伺服運(yùn)動基礎(chǔ)編程包含以下10個步驟Createnewprogram創(chuàng)建一個新程序Enabletimesynchronization使能時間同步Createmotiongrouptag創(chuàng)建運(yùn)動組標(biāo)簽CreateAxistag創(chuàng)建軸標(biāo)簽Addmotionmodule添加伺服驅(qū)動器Assignaxestomotionmodule分配軸到伺服驅(qū)動器Configuremotiongroup配置運(yùn)動組屬性Configureaxes配置軸的屬性Performhookuptestandtuneaxes執(zhí)行測試和整定軸Writelogictoperformmotion寫執(zhí)行運(yùn)動的邏輯程序2ppt課件.1.CreatingaProject

1.創(chuàng)建一個項目程序1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動組3.ConfiguretheMotionGroup配置運(yùn)動組4.MotionControlTags運(yùn)動控制標(biāo)簽3ppt課件.CreatingaProject

TimeMasterInallControlLogixchassis(singleandmultiplecontrollers),oneofthecontrollersneedstobesetasthereferenceclock.Thiswillsynchroniseallthemotionmodules,otherLogixcontrollersandI/Ocardsinthechassistoasinglemasterclock.Theprocessofsettingupacontrollertobethereferenceclockiscalled“Makingthiscontrollerthemaster”.在所有的ControlLogix機(jī)架上（單個或多個控制器），控制器中的其中一個需要設(shè)定參考時鐘，這將使所有的運(yùn)動模塊同步，其他機(jī)架上的Logix控制器和I/O卡使用單獨(dú)的主時鐘，設(shè)定控制器參考時鐘的過程被稱為“確定主控制”Note:Therecanonlybeonemastercontrollerperchassis.

注意：每個機(jī)架上只能有一個主控制器TechnoFact:

Ifyouhavemorethanonecontrollerinthechassis,chooseoneofthecontrollerstobethetimemaster.Youcan’thavemorethanonetimemasterforthechassis.InaControlLogixmotionapplication,youmustdefineacontrollerasthetimemaster.技術(shù)事實(shí)：如果機(jī)架上你有超過1個控制器的，選擇其中一個為主時鐘，在機(jī)架上你不能有超過1個的主時鐘，在ControlLogix運(yùn)動應(yīng)用中，你必須定義一個控制器作主時鐘4ppt課件.CreatingaProject

CST&PTPCoordinatedSystemTime(CST)Master協(xié)調(diào)系統(tǒng)主時鐘RSLogix5000v17andearlier.

RSLogix5000v17版本及之前WhenthereisaCSTmasterinthechassis,allofthemotionmodules,I/Omodules,andcontrollersinthatchassiscankeeptheirCSTclockssynchronized.當(dāng)機(jī)架上有協(xié)調(diào)系統(tǒng)主時鐘時，所有機(jī)架上的的運(yùn)動模塊，I/O模塊，和控制器能夠保持時鐘同步。PrecisionTimeProtocol(PTP)GrandmasterClock精度時間協(xié)議（PTP)RSLogix5000v18andlaterRSLogix5000v18版本及以后版本TheGrandmasterClockisusedtosynchronizemotionmodules,I/Omodules,communicationmodules,andcontrollerswithinaControlLogixchassis.頂級時鐘被用在ControlLogix機(jī)架上的運(yùn)動模塊，I/O模塊，通訊模塊，和控制器Startinginv17,thereisanoptiontosettheCSTMaster/EnableTimeSynchronizationinthedownloaddialogifitisnotalreadyset從V17版本開始，如果沒有被設(shè)定，在下載對話框里可以選擇設(shè)定CST主/使能時間同步TimeSynchronizationisrequiredformotiontooperateproperly!運(yùn)動的正常操作必須要時間同步5ppt課件.CreatingaProject

SettingtheCSTMaster,v17andearlierForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000v17和早期版本，設(shè)定協(xié)調(diào)系統(tǒng)主時鐘如下步驟IntheControllerOrganizerwindow,rightclickonthecontrollerfolderandselect‘Properties’ORclickonthecontrollericon在控制器組織窗口中，點(diǎn)控制器文件夾右鍵選擇“屬性”或者點(diǎn)擊控制器符號Clickhere點(diǎn)這里Orright-clickandselectProperties或者右鍵選擇屬性6ppt課件.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingthemastercoordinatedsystemtime:設(shè)定主協(xié)調(diào)系統(tǒng)時間Clickonthe‘Date/Time’taboftheControllerPropertiesdialogbox.點(diǎn)擊控制器屬性對話箱的“日期/時間”標(biāo)簽Clickhere7ppt課件.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingtheMasterCoordinatedSystemTime設(shè)定主協(xié)調(diào)系統(tǒng)時間AfterselectingtheMastercontroller,click‘OK’tocompletetheoperation在設(shè)定主控制器后，點(diǎn)擊OK完成操作TechnoFact:

AmotionmodulecanbeownedbyaControlLogixcontrollereventhoughthecontrollerisnottheCSTmaster.SinceanothercontrollerinthechassisistheCSTmaster(musthaveamasterinamotionapplication)youwillreceiveawarningwhiledownloadingandduringprogramverificationregardingtheCSTmaster.技術(shù)事實(shí)：一個運(yùn)動模塊可以擁有一個ControlLogix控制器，即使控制器沒有主協(xié)調(diào)時間。因?yàn)闄C(jī)架其他控制器是CST主（在運(yùn)動引用中必須有一個主），當(dāng)下載和程序核實(shí)CST主時你將收到警告Click8ppt課件.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization使能時間同步Click‘OK’tocompletetheoperation點(diǎn)擊“OK”完成操作Click9ppt課件.CreatingaProject

CreatingtheMotionGroup1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動組3.ConfiguretheMotionGroup配置運(yùn)動組4.MotionControlTags運(yùn)動控制標(biāo)簽10ppt課件.CreatingaProject

CreatingaMotionGroupCreatingaMotionGroup:創(chuàng)建運(yùn)動組Allusedaxesmustbepartofthemotiongroup所有軸必須是運(yùn)動組的一部分OnlyonemotiongroupisallowedperControlLogixprocessorControlLogix處理器只能運(yùn)行一個運(yùn)動組AMotionGroupisacollectionofaxesthatcanbecontrolledbyasinglegroupinstruction.Therearefivemotiongroupinstructions.一個運(yùn)動組是一個軸的集合，能被單獨(dú)的組指令控制，這里有5個運(yùn)動組指令Therearemultiplewaystocreateanewmotiongroup.這里有多種方法創(chuàng)建一個新運(yùn)動組TechnoFact:

OnlyonemotiongrouptagisallowedperControlLogixcontroller.Allusedaxesmustbeassignedtoamotiongroup.技術(shù)要點(diǎn)：只有一個運(yùn)動組標(biāo)簽允許在每個ControlLogix控制器中，所有的軸必須被分配至運(yùn)動組中。11ppt課件.CreatingaProject

CreatingaMotionGroupRight-clickonthe‘MotionGroups’folderintheControllerOrganizer在控制器組織中‘MotionGroups’文件夾上右鍵點(diǎn)擊Select‘NewMotionGroup’選擇“新運(yùn)動組”Givethemotiongroupaname給運(yùn)動組取個名字12ppt課件.CreatingaProject

ConfiguretheMotionGroup1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動組3.ConfiguretheMotionGroup配置運(yùn)動組4.MotionControlTags運(yùn)動控制標(biāo)簽13ppt課件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動組屬性Right-clickontheMotionGroupfolder右鍵點(diǎn)擊運(yùn)動組文件夾Select‘Properties’選擇“屬性”Select‘Properties’14ppt課件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動組屬性AxisAssignmentTab軸分配標(biāo)簽AddorRemoveaxesfromtheMotionGroupasnecessary根據(jù)需要從運(yùn)動組中添加或移除軸15ppt課件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動組屬性AttributeTab屬性標(biāo)簽SettheCoarseUpdatePeriod設(shè)置大致更新周期EnableorDisableAutoTagUpdate,asdesired根據(jù)需要激活或禁止自動更新標(biāo)簽Enabledbydefault,thisisOKforthemajorityofapplications默認(rèn)是激活，對大多數(shù)應(yīng)用是OK的ViewMotionPlannerScanTimes查看運(yùn)動規(guī)劃掃描時間(readOnly)ScantimemustbelessthantheCUP

掃描時間必須小于CUP16ppt課件.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmotioninstructions.選擇運(yùn)動規(guī)劃執(zhí)行的周期，執(zhí)行運(yùn)動指令時，計算伺服命令被發(fā)送到模擬運(yùn)動模塊，SERCOS的驅(qū)動器，或CIP驅(qū)動器的位置和速度信息Ifthecoarseupdateperiodistoosmall,thecontrollermaynothavetimetoexecutenon-motionrelatedladderlogic.如果伺服更新周期太小，控制器可能沒時間執(zhí)行運(yùn)動和梯形邏輯的關(guān)聯(lián)Thenumberofaxesintheprojectsetsthelowerlimitonthecoarseupdateperiod.項目中軸的數(shù)量的設(shè)定低于更新周期限制17ppt課件.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Rangeofvalues:0.5msec–32msec值范圍：0.5毫秒–32毫秒General“ruleofthumb:”1.0msecperaxisasastartingpoint常用的“經(jīng)驗(yàn)法”：1毫秒每軸為出發(fā)點(diǎn)·Lessthan11axes—Setthecoarseupdateperiodto10ms.·11axesormore—Setthecoarseupdateperiodto1msperaxis.MinimumrecommendationsbasedonLogixprocessor:Logix處理器為基礎(chǔ)的最低建議1756-L55:1.5msecperaxis(onlyavailablethroughv16)1.5毫秒每軸1756-L6x:0.25msecperaxis0.25毫秒每軸1768-L4x:0.25msecperaxis0.25毫秒每軸1756-L7x:0.125msecperaxis0.125毫秒每軸Onceconfigured,themotionplannerscantimesshouldbemonitoredwiththeapplicationrunningandmodifiedasneeded一旦配置好后，運(yùn)動規(guī)劃的掃描時間應(yīng)與正在運(yùn)行的應(yīng)用程序進(jìn)行監(jiān)測，并根據(jù)需要進(jìn)行修改Ifthecycletimeis2ms,setthecoarseupdateperiodto8ms,10ms,12ms,andsoon.18ppt課件.CreatingaProject

MotionControlTags1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動組3.ConfiguretheMotionGroup配置運(yùn)動組4.MotionControlTags運(yùn)動控制標(biāo)簽19ppt課件.CreatingaProject

MotionControlTagsAMotionControltagmustbedefinedforeachmotioninstructionused一個運(yùn)動控制標(biāo)簽必須定義每一個使用的運(yùn)動指令Data-type:MOTION_INSTRUCTION數(shù)據(jù)類型：MOTION_INSTRUCTIONTagstoresstatusinformationabouttheinstruction標(biāo)簽存儲關(guān)于指令的狀態(tài)信息Eachmotioninstructionmustuseauniquecontroltag每一個運(yùn)動指令必須使用唯一的控制標(biāo)簽Examples20ppt課件.MotionModules&AxisTags

AxisTagsMotionAxisTypes:運(yùn)動軸類型：Axis_Servo:aphysicalaxiswhichisconnectedtoanAnalogmotionmodule(1756-M02AE,1756-M02AS,or1756-HYD02).Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).連接到擬運(yùn)動模塊的一個物理軸（1756-M02AE,1756-M02AS,or1756-HYD02）。這些軸能有電機(jī)和反饋設(shè)備或僅僅反饋設(shè)備（只反饋）Axis_Servo_Drive:aphysicalaxiswhichisconnectedtoaSERCOSDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸伺服驅(qū)動：連接到SERCOS驅(qū)動的物理軸，這些軸能有電機(jī)和反饋裝置或僅僅反饋設(shè)備（只反饋）Axis_CIP_Drive:

aphysicalaxiswhichisconnectedtoaCIPDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸CIP驅(qū)動：連接到CIP驅(qū)動的物理軸。這個軸能有電機(jī)和反饋設(shè)備或僅僅反饋設(shè)備（只反饋）Axis_Virtual:atheoretical(imaginary)axiswhichisexistsintheControlLogixprocessor.Thereisnohardwareassociatedwithavirtualaxis.虛軸：一個存在于ControlLogix處理器中的理想軸，沒有硬件關(guān)聯(lián)一個虛軸21ppt課件.MotionModules&AxisTags

AxisTagsMotionAxisTypes:運(yùn)動軸類型Axis_Consumed:aphysicalorvirtualaxiswhichisownedbyanotherControlLogixprocessorwithinthesamerack.OneControlLogixprocessorproducestheaxisinformationtobeconsumedbyotherControlLogixprocessors.ProducedandconsumedaxisareusedtoshareaxisinformationbetweenmultipleControlLogixprocessors軸消費(fèi)者：一個物理或虛擬軸被其他在同一個機(jī)架里的ControlLogix處理器擁有。一個ControlLogix處理器產(chǎn)生軸信息被其他處理器所消費(fèi)。軸的生產(chǎn)者和消費(fèi)者被用來在多ControlLogix處理器及之間共享軸信息Axis_Generic:agenericaxisobjectrepresentsanaxiswithfullmotionplannerfunctionality,butnotassociatedwithanydevicethatrequiresmotionconfigurationsupport(e.g.,DriveLogixor1756-DM).軸_通用：一個通用的軸對象代表一個完整的運(yùn)動規(guī)劃功能軸，但是不關(guān)聯(lián)任何需要運(yùn)動配置支持的設(shè)備Axis_Generic_Drive:ThirdpartySERCOSdrive;i.e.Indramat,Bosch,etc.軸_通用_驅(qū)動：三方SERCOS驅(qū)動；如，Indramat，博士等等22ppt課件.AxisProperties

CIPAxisDialogCIPAxisCIP軸UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_CIP_DRIVE:使用這個對話框配置數(shù)據(jù)類型是AXIS_CIP_DRIVE的軸屬性CIPaxeshavethefollowing“Categories”:CIP軸如下“類別”General常規(guī)Motor(SubModel)電機(jī)（替代模式）MotorFeedback電機(jī)反饋Scaling比例HookupTests連接測試Polarity極性Autotune自整定Load(SubsBacklashCompliance,Friction)負(fù)載（替代間隙，統(tǒng)一，對立）PositionLoop位置閉環(huán)VelocityLoop速度閉環(huán)AccelerationLoop加速閉環(huán)Torque/CurrentLoop力矩/電流閉環(huán)Planner規(guī)劃Homing回零Actions激活DriveParameters驅(qū)動參數(shù)Status狀態(tài)FaultsandAlarms故障和報警Tag標(biāo)簽CIPAxis23ppt課件.AxisProperties

CIPAxisDialogCIPAxisParameterPageCIP軸參數(shù)頁面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup:除了上頁中得到的參數(shù)外，在組里參數(shù)頁面顯示所有的驅(qū)動參數(shù)CIPAxis24ppt課件.VirtualAxes

Whatyouwilllearn:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸25ppt課件.(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.Animaginaryaxiswhichresidesinthecontroller.在控制器中一個虛構(gòu)的軸Providescommandpositionupdatecapabilitywithoutrequiringaphysicalaxis.提供命令位置更新能力不依賴于物理軸Actualpositiontracksthecommandexactly.命令沒有實(shí)際位置軌跡Nolimitswithrespecttovelocity,acceleration,ordeceleration.沒有速度，加速度，或減速度限制Virtualaxesdonotrequiretuningorhookuptests.虛軸不要求自整定或hookup測試Virtualaxesdonotfault.虛軸沒有錯誤VirtualAxes

WhatisaVirtualAxis:2626ppt課件.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸27ppt課件.VirtualAxes

ConfiguringaVirtualAxis:28ppt課件.VirtualAxes

ConfiguringaVirtualAxis:29ppt課件.VirtualAxes

ConfiguringaVirtualAxis:30ppt課件.VirtualAxes

ConfiguringaVirtualAxis:31ppt課件.VirtualAxes

ConfiguringaVirtualAxis:32ppt課件.VirtualAxes

ConfiguringaVirtualAxis:33ppt課件.VirtualAxes

ConfiguringaVirtualAxis:34ppt課件.VirtualAxes

UsingaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸35ppt課件.VirtualAxes

UsingaVirtualAxis:Programmingforavirtualaxisisthesameasforanyphysicalaxis.設(shè)計一個虛軸是和物理軸一樣的DoesnotrequireMSO,MSF,orMAFR不需要MSO,MSF或MAFRAvirtualaxiscountstowardthemaximumaxiscountforyourprocessor.一個虛軸的數(shù)量占用處理器的軸數(shù)量Whenusingavirtualaxis,youneedtoconsideritwhenspecifyingthemotiongroupupdaterate.當(dāng)使用虛軸時，你需要考慮指定運(yùn)動組更新率Asastartingpoint,agoodruleofthumbis1msecpervirtualaxis作為一個起點(diǎn)，一個好的經(jīng)驗(yàn)法則是每虛擬軸1毫秒Whenfollowingavirtualaxis(gearorcam)thereisnodifferenceinspecifying“actual”or“command”fortheMasterReference.當(dāng)一個虛擬軸（齒輪或凸輪）沒有指定主參考“實(shí)際”或“命令”的區(qū)別36ppt課件.MotionStateandFaultHandlingInstructions

Agenda1.MotionInstructionOverview運(yùn)動指令概述2.MotionInstructionErrors運(yùn)動指令錯誤3.MotionStateInstructions運(yùn)動狀態(tài)指令4.FaultHandlingInstructions故障處理指令37ppt課件.MotionStateandFaultHandlingInstructions

MotionInstructionsOverview運(yùn)行狀態(tài)和故障處理指令運(yùn)行指令概述AsofRSLogix5000v16,thereare40motioninstructions從RSLogix5000v16起，總共有40個運(yùn)動指令Only36motioninstructionsavailableforCompactLogix僅36個運(yùn)動指令對CompactLogix有效1newinstructioninv19isforthePowerFlex755onCIPonly在v19中有1個新指令僅對CIP上的PowerFlex755有效Themotioninstructionsetconsistsofsixgroupsofinstructions:運(yùn)動指令集包含6組指令Motionstateinstructions運(yùn)動狀態(tài)指令Motionmoveinstructions運(yùn)動位移指令Motiongroupinstructions*運(yùn)動組指令Motioneventinstructions*運(yùn)動事件指令Motionconfigurationinstructions*運(yùn)動配置指令Motioncoordinatedinstruction*協(xié)調(diào)運(yùn)動指令38ppt課件.

MSO(MotionServoOn)（運(yùn)動伺服使能）MSO(MotionServoOn)MSO（運(yùn)動伺服使能）Directlyactivatesthedriveandenablestheconfiguredservoloopsassociatedwithaphysicalservoaxis直接激活驅(qū)動，并使配置伺服回路與一個物理伺服軸聯(lián)結(jié)Mostcommonuseofthisinstructionistoactivatetheservoloopforthespecifiedaxisinitscurrentpositioninpreparationforcommandingmotion該指令最常見的用途是在備用于指揮運(yùn)動的當(dāng)前位置為指定軸激活伺服回路。LookforbitAxis.ServoActionStatustoindicatetheservoloopsweresuccessfully查找位元Axis.ServoActionStatus，顯示伺服回路ServoActionStatus成功啟用39ppt課件.MotionStateandFaultHandlingInstructions

MSO(MotionServoOn)運(yùn)行狀態(tài)和故障處理指令MSO（運(yùn)行伺服使能）MSO(MotionServoOn)MSO（運(yùn)動伺服使能）40ppt課件.MSF(MotionServoOff)（運(yùn)動伺服關(guān)閉使能）MSF(MotionServoOff)MSF（運(yùn)動伺服關(guān)閉使能）Directlyandimmediatelyturnsoffdriveoutputanddisablestheservolooponanyphysicalservoaxis.直接即時關(guān)閉驅(qū)動輸出，禁止任何物理伺服軸上的伺服回路Disablesanymotionplannersthatmaybeactiveatthetimeofexecution禁止任何可能在執(zhí)行時活動的運(yùn)行規(guī)劃Positioncontinuestobetrackedwhenaxisisdisabled當(dāng)軸被禁用時位置繼續(xù)進(jìn)行跟蹤Axisstoppingbehavior(ifaxisisinmotionwhenMSFisexecuted)dependsontypeofdrive41ppt課件.MotionStateandFaultHandlingInstructionsMSF(MotionServoOff)MSF(MotionServoOff）（關(guān)閉伺服使能)TechnoFact:IfyouexecuteanMSFinstructionwhiletheaxisismoving,theaxiscancoasttoanuncontrolledstop.Thisinstructionisnotrecommendedfornormalstopping.UsetheMotionAxisStop(MAS)instructionforthatpurpose.當(dāng)軸在運(yùn)動中執(zhí)行關(guān)閉伺服指令，軸將不受控的停止，這條指令不建議作為通常停止指令，使用運(yùn)動軸停止停止指令42ppt課件.MotionStateandFaultHandlingInstructions

FaultHandlingInstructions1.MotionInstructionOverview運(yùn)動指令概述2.MotionInstructionErrors運(yùn)動指令錯誤3.MotionStateInstructions運(yùn)動狀態(tài)指令4.FaultHandlingInstructions故障處理指令43ppt課件.MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset運(yùn)動故障復(fù)位)UsetheMAFRinstructiontoclearallmotionfaultsforanaxis使用MAFR指令清除軸的所有故障Removesthefaultstatus排除所有故障狀態(tài)DoesNOTperformanyotherrecovery,suchasenablingservoaction不要執(zhí)行重啟，比如激活伺服使能Usuallypartofafaulthandlingprogram出錯處理程序IftheconditionthatcausedthefaultstillexistswhentheMAFRinstructionisexecuted,theaxisimmediatelyfaultsagain當(dāng)運(yùn)動故障復(fù)位時，仍然錯誤存在錯誤，軸將在次報錯Thisscenariogivestheimpressionthatthefaultwasnevercleared這個方法感覺故障從來沒被清除Example:Axishitsahardwareovertravelsensorandfaults.AnMAFRcommandisexecutedwithoutmovingtheaxis.Axisimmediatelyfaultsagainduetothehardwareovertravelcondition.例如：軸的硬件采樣超過了傳感器行程引起錯誤，MAFR指令不能移動軸，軸又立刻報錯因?yàn)橛布^了行程條件44ppt課件.MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset運(yùn)動軸故障復(fù)位)45ppt課件.MotionStateandFaultHandlingInstructionsManuallyClearingAxisFaultsManuallyClearingAxisFaults手動清除軸故障Axisfaultscanbeclearlymanuallywhenonlinewiththecontroller控制器在線時，能夠手動清除軸故障Right-clickontheaxislistedintheMotionGroupfolder運(yùn)動組文件夾里的軸清單處點(diǎn)擊右鍵Select‘ClearAxisFaults’選擇“清除軸錯誤”Thismethodisonlyrecommendedwhiletroubleshootinganddebugginganapplicationprogram這種方法只在調(diào)試項目和維修時推薦使用Right-clickonthefaultedaxis,select‘ClearAxisFaults’46ppt課件.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復(fù)位)UsetheMASRInstructiontotransitionanaxisfromanexistingShutdownstatetoanAxisReadystate使用MASR指令使軸從關(guān)閉狀態(tài)到軸準(zhǔn)備狀態(tài)Anyfaultsassociatedwiththespecifiedaxisareautomaticallycleared一個指定的軸采用自動清除故障是錯誤的ThiswasnottrueforinitialreleasesofRSLogix5000這可能沒被RSLogix5000所正式發(fā)布IfthemodulesupportsanOKcontactandnoothermoduleaxisisintheShutdownstate,theOKrelaycontactisclosedOK如果模塊支持OK接觸器且沒有其他軸模塊在關(guān)閉狀態(tài)，中間接觸器閉合Norecoveryactionsaretaken,suchasenablingtheservoloops沒有恢復(fù)激活，比如伺服環(huán)處于使能47ppt課件.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復(fù)位)48ppt課件.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復(fù)位)Changestoaxisstatusbits:改變軸狀態(tài)位AxisremainsdisabledafterMASRhasbeenexecuted在軸關(guān)閉復(fù)位后軸仍然保持在禁止?fàn)顟B(tài)Axis.ServoActionStatusisFalseServoloopisinactive伺服環(huán)沒激活A(yù)xis.DriveEnableStatusisFalseDriveoutputisinactive驅(qū)動輸出沒激活49ppt課件.MotionStateandFaultHandlingInstructionsCommonFaultResetLogicCommonFaultResetLogic常用的故障復(fù)位邏輯When‘FaultReset’inputisrequested:當(dāng)故障復(fù)位輸入被請求LogicchecksforShutdownStatusonanaxis在軸上確定關(guān)斷邏輯IfanaxisisinaShutdownState,theShutdownResetinstructionclearstheshutdownconditionandanyfaultsonthataxisarecleared(assumingthecauseofthefaulthasbeencorrected)如果在在關(guān)斷狀態(tài)，關(guān)閉復(fù)位指令清除關(guān)斷條件，并且軸的故障也被清除（如果導(dǎo)致故障的條件被修正）IftheaxisisnotinaShutdownState,secondbranchoflogicisexecuted如果軸沒在關(guān)斷狀態(tài)，第二個分支邏輯將被執(zhí)行Ifanaxishasanexistingfaultcondition,theFaultResetinstructionclearstheaxisfaults(assumingthecauseofthefaulthasbeencorrected)如果軸存在錯誤條件，故障復(fù)位指令清除故障（如果導(dǎo)致故障的條件被修正）50ppt課件.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown關(guān)閉運(yùn)動軸)UsetheMASDinstructiontoforceaspecifiedaxisintotheShutdownstate使用MASD指令強(qiáng)制關(guān)閉指定軸狀態(tài)Driveoutputisdisabled驅(qū)動輸出沒使能Servoloopisdeactivated伺服環(huán)沒激活A(yù)ssociatedOKrelaycontactsopen(analogaxes)OK中間繼電器處于釋放狀態(tài)SetsbitAxis.ShutdownStatus設(shè)置軸關(guān)斷狀態(tài)位Allcurrentmotionprocessesarecancelled所有的當(dāng)前運(yùn)動處理被取消MotionstatusbitsandmotioninstructionIPbitsarecleared運(yùn)動狀態(tài)位和運(yùn)動指令I(lǐng)P位被清除MotioncommandsforthataxisareblockedfromexecutionwhileanaxisisintheShutdownstate當(dāng)軸處于關(guān)閉狀態(tài)則軸的運(yùn)動指令被封鎖，51ppt課件.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown運(yùn)動軸關(guān)閉)52ppt課件.MoveInstructions

Agenda1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并運(yùn)動指令53ppt課件.MoveInstructions

MotionMoveInstructionsMotionMoveInstructions運(yùn)動移動指令

Thiscategoryincludesallmotioninstructionsthatcauseordirectlyaffectaxismotion.Theseinstructionsincludemoving,jogging,gearing,stopping,camming,etc.Thiscategoryalsoincludesmotioninstructionsthatdirectlymodifycurrentaxispositionthataretypicallyusedtoreferencethespecifiedaxistosomeabsolutephysicalpositionoftheaxis.Instructionstoredefineaxispositionandperformahomingsequencesfallunderthiscategory.包括所有的運(yùn)動指令，間接或直接影響軸運(yùn)動，這些指令包括，移動，點(diǎn)動，齒輪，停止，凸輪等。也包括直接修正當(dāng)前軸位置的運(yùn)動，通常用于指定的軸的軸的絕對物理位置。從新定義軸位置的指令和執(zhí)行回零序列都包含在此類中。Theseinstructionswillbetaughtindetailinadvancedtraining這些指令將在伺服高級培訓(xùn)中講到54ppt課件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)軸位移UsetheMAMinstructiontoinitiateamoveprofileforthespecifiedaxis使用軸位移指令初始化一個指定軸的運(yùn)動曲線Movestheaxistoaspecifiedposition(absolute)orbyaspecifieddistance(incremental)移動軸到指定的位置（絕對）或者一個指定的距離（增量）Thesteady-statespeedofthemoveprofileisgivenbythespeedparameter由速度參數(shù)給定運(yùn)動軌跡一個恒定的速度Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速度，減速度，加加速度，和減減速度Availableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲線：梯形，S曲線，通過編程躍度修正S曲線55ppt課件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)軸位移56ppt課件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)軸位移57ppt課件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)軸位移58ppt課件.MoveInstructions

MAJInstructionMAJ(MotionAxisJog)軸按速度運(yùn)動UsetheMAJinstructiontomoveanaxisataconstantspeedintheforwardorreversedirectionuntilyoutellittostop;jogiscommandedwithoutregardtoposition使用軸點(diǎn)動指令時一個軸以恒定速度向前或后運(yùn)動，直到你告訴他停止，寸動指令不考慮位置Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速，減速，加加速度，和減減速度值A(chǔ)vailableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲線：梯形，S曲線，通過編程躍度修正S曲線可用TheMAJinstructionmaybeusedtoconvertanycurrentaxismotionintoapurejogmotionprofilebyspecifyingthemergeoption.通過指定的吞并選擇，MAJ指令可改變當(dāng)前軸運(yùn)動到純點(diǎn)動軌跡59ppt課件.MoveInstructions

MAJInstructionMAJ(MotionAxisJog)軸點(diǎn)動60ppt課件.MoveInstructions

MAJInstructionMAJ(MotionAxisJog)軸點(diǎn)動61ppt課件.MoveInstructions

MASInstructionMAS(MotionAxisStop)運(yùn)動軸停止UsetheMASInstructiontostopaspecificmotionprocessonanaxisortostopallmotionontheaxis使用MAS指令停止一個特定的運(yùn)動流程或完全停止一個軸Usedtocommandadeceleratedstop使用加速停止命令Stopsmotionwithoutdisablingtheservoloop沒有屏蔽伺服環(huán)停止運(yùn)動Commanddefaultstousingthemaximumdecelerationconfiguredfortheaxis指令默認(rèn)使用軸最大減速度ChangeDecelandChangeDecelJerkareusedtospecifyadecelerationrateotherthan100%ofmaximumdeceleration變更慢速度和慢速度躍度被用來指定減速率超過100%的最大減速度62ppt課件.MoveInstructions

MASInstructionMAS(MotionAxisStop)運(yùn)動軸停止63ppt課件.MoveInstructions

MASInstructionMAS(MotionAxisStop)運(yùn)動軸停止64ppt課件.MoveInstructions

MASInstructionMAS (MotionAxisStop)運(yùn)動軸停止65ppt課件.MoveInstructions

MASInstructionMAS (MotionAxisStop)運(yùn)動軸停止66ppt課件.MoveInstructions

MergingMotionInstructions1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并運(yùn)動指令67ppt課件.MoveInstructions

MergingMotionInstructionsMergingoptionavailableforMAM,MAJ,MCLM,andMCCMinstructions可并可選有用的MAM,MAJ,MCLM和MCCM指令Forsingleaxisinstructions:單軸指令MergeDisabled/吞并禁止 MergeEnabled吞并使能ProgrammedSpeed/ Currentspeed編程速度/當(dāng)前速度Forcoordinatedsystem協(xié)調(diào)系統(tǒng)instructions:指令：MergeDisabled/吞并禁止 MergeCoordinatedMotion/ MergeAllMotion吞并協(xié)調(diào)運(yùn)動/吞并所有運(yùn)動ProgrammedSpeed/ CurrentSpeed編程速度/當(dāng)前速度68ppt課件.MoveInstructions

MergingMotionInstructionsMergingDisabled吞并禁止Newmotioncommandsaddtoanymotionalreadyinprocess新的運(yùn)動命令添加在存在在運(yùn)動流程中Jogs,moves,gears,cams,coordinatedmovesaddtogether寸動，移動，齒輪，凸輪一起協(xié)調(diào)運(yùn)動Totalaxisspeedisthesumofthecommandedspeedoftheindividualinstructions總的軸速度是個別命令速度的總和Maycausetheaxistoslowdownorreachzerospeed,dependingonthesumoftheindividualcommandspeeds可能會導(dǎo)致軸減速或達(dá)到零速，取決于個別命令速度的總和MAG–Axis1,master;Axis2,slaveMAJ–Axis1MAM–Axis2(afterMAGandMAJareinitiated);mergingdisabledJogProfile,Axes1&2MAMProfileActualmotion,Axis269ppt課件.MoveInstructions

MergingMotionInstructionsMergingEnabled吞并使能Allcurrentaxismotionisendedandbecomesapuremoveorpurejog,dependingonthenewcommandissued當(dāng)前軸運(yùn)動結(jié)束，變成純的運(yùn)動或寸動取決于新的指令ForMAMwithmergingenabled,axiscompletesmovesandcomestorest對于MAM吞并使能，軸完成移動或休息ForMAJwithmergingenabled,axiswilljoguntilmotionisstoppedormergedagain對MAJ吞并使能，軸將寸動直到停止或再次吞并MAG–Axis1,master;Axis2,slaveMAJ–Axis1MAM–Axis2(afterMAGandMAJareinitiated);mergingenabledJogProfile,Axes1&2MAMProfileActualmotion,Axis270ppt課件.MoveInstructions

MergingMotionInstructionsMergespeed吞并速度Programmed:axiswillusespeedindicatedinnewinstruction編程：軸將使用一個新指令速度Current:axiswillusecurrentaxisspeed當(dāng)前：軸將使用當(dāng)前的軸速度Usecautionwhensettingmergespeedtocurrent使用注意：當(dāng)設(shè)置吞并到當(dāng)前速度Iftheaxisspeedhassomehowreached0,themergedmoveorjogwillindicateitisIn-Processbutnevercomplete如果軸速度不知為何到0，吞并后的移動或點(diǎn)動將表明它在進(jìn)程中但從未完成Mergespeed=current71ppt課件.MoveInstructions

MergingMotionInstructionsFrompublicationMOTION-RM002從MOTION-RM002出版物Statementsaretrueforjogandmoveinstructionswithmergingenabled聲明寸動和移動指令吞并使能是正確的Awarningtoconsiderwhenusingmerging當(dāng)使用吞并時的一個警告72ppt課件.MoveInstructions

MergingMotionInstructionsMergingMoveInstructions吞并移動指令1stmoveisabsolute,2ndmoveisincremental一絕對運(yùn)動，二相對運(yùn)動Amountofincrementalmoveisaddedtoendpointofabsolutemove運(yùn)動增加的總數(shù)被加到絕對運(yùn)動的末端1stmoveisabsolute,2ndmoveisabsolute一絕對運(yùn)動，二絕對運(yùn)動1stmoveiscancelled,activeendpointisbasedon2ndmove運(yùn)動一被取消，在結(jié)束點(diǎn)激活運(yùn)動21stmoveisincremental,2ndmoveisincremental一相對運(yùn)動，二相對運(yùn)動Movedistancesareaddedtogether移動距離相加Movespeedformergedmove運(yùn)動速度吞并Speedof1stmoveifsettocurrent一運(yùn)動速度如果設(shè)為當(dāng)前Speedof2ndmoveifsettoprogrammed運(yùn)動速度二如果通過編程設(shè)定

73ppt課件.MoveInstructions

MergingMotionInstructionsSummary摘要Mergingisavailableforthefollowinginstructions如下指令吞并時有效的MAM,MAJ(singleaxismotion)單軸運(yùn)動MCLM,MCCM(coordinatedmotion)協(xié)調(diào)運(yùn)動Whenenabled,allcurrentmotioniscancelledandbecomesonlythemoveorjogintowhichmotionwasmerged當(dāng)使能時，當(dāng)前運(yùn)動被取消，只有運(yùn)動或寸動能夠被吞并Usermaymergeatcurrentorprogrammedspeed用戶可吞并當(dāng)前和編程速度Maycauseaxistoovershoottargetpositionif:可能導(dǎo)致目標(biāo)位置過沖如