PMAC(Clipper或IMAC)连接驱动器速度模式配置实例.doc

PMAC(Clipper或IMAC)连接驱动器速度模式配置实例CloseD_elete Gather (把“_”删去)I7000 = 1001 ;PWM frequency 29.4kHz, PWM 1-4I7001 = 5 ;Phase Clock 9.8kHzI7002 = 3 ;Servo frequency 2.45kHzI7003 = 1746 ;ADC frequencyI10 = 3421867 ;Servo interrupt time; Velocity Loop;/I101=0 ;Disable the commutationI102 = $78002 ;Command Output AddressI124=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI130=1500 ;P gain = defaultI131=2200 ;D gain, It can change P gain in velocity loopI132=2200 ;Same function as I131I133=3500 ;StabilityI7010 = 3 ;Closed loop, X4 CCWI7016 = 0 ;Output mode: PWMI169 = 1001 ;DAC limit 10VdcI100=1 ; Activate Motor;/I201=0 ;Disable the commutationI202 = $7800A ;Command Output AddressI224=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI230=1500 ;P gain = defaultI231=2200 ;D gain, It can change P gain in velocity loopI232=2200 ;Same function as I131I233=3500 ;StabilityI7020 = 3 ;Closed loop, X4 CCWI7026 = 0 ;Output mode: PWMI269 = 1001 ;DAC limit 10VdcI200=1 ; Activate Motor;/I301=0 ;Disable the commutationI302 = $78012 ;Command Output AddressI324=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI330=1500 ;P gain = defaultI331=2200 ;D gain, It can change P gain in velocity loopI332=2200 ;Same function as I131I333=3500 ;StabilityI7030 = 3 ;Closed loop, X4 CCWI7036 = 0 ;Output mode: PWMI369 = 1001 ;DAC limit 10VdcI300=1 ; Activate Motor;/I401=0 ;Disable the commutationI402 = $7801A ;Command Output AddressI424=$120001 ; Enable Amp Fault, disable hardware limits;Example PID Gains for Velocity LoopI430=1500 ;P gain = defaultI431=2200 ;D gain, It can change P gain in velocity loopI432=2200 ;Same function as I131I433=3500 ;StabilityI7040 = 3 ;Closed loop, X4 CCWI7046 = 0 ;Output mode: PWMI469 = 1001 ;DAC limit 10VdcI400=1 ; Activate Motor;/#1hmz #2hmz #3hmz #4hmzopen plc2 clearcmd#1j/cmd#2j/cmd#3j/cmd#4j/displc2close&1#1-1000X ;定义电机1为X轴#2-1000Y ;定义电机2为Y轴#3-1000X ;定义电机3为X轴#4-1000Y ;定义电机4为Y轴OPEN PROG 2 CLEARRAPID X-10 Y0DWE1000ABSCIRCLE1F100N 100X-10 Y0 I10 J0GOTO 100CLOSEI5113=10此例子展示如何使用PLC程序操作PMAC的通用I/O；程序开始时把变量M1M14映射到对应的机器I/O的地址；实际应用中用户只需选择对应的PMAC卡并下载缺省的M变量映射既可以，不需要这样一个一个定义M变量。注意：不同的PMAC卡对应的I/O地址不一样，错误的M变量映射可能导致不可知的后果。;* 设置和定义*CLOSE ; To ensure these are on-lineM1-Y:$FFC2,8,1 ; Machine Output 1M2-Y:$FFC2,9,1 ; Machine Output 2M3-Y:$FFC2,10,1 ; Machine Output 3M4-Y:$FFC2,11,1 ; Machine Output 4M11-Y:$FFC2,0,1 ; Machine Input 1M12-Y:$FFC2,1,1 ; Machine Input 2M13-Y:$FFC2,2,1 ; Machine Input 3M14-Y:$FFC2,3,1 ; Machine Input 4M20.39-* ; Self-referenced flag variables;* PLC Program *CLOSE ; Make sure other buffers closedOPEN PLC 5 ; Open buffer for editingCLEAR ; Erase existing contents;第一个分支基于1号输入，对应的P1000变量被设置，它可以是位置、速度或时间等等.IF (M11=1) ; Machine Input 1 true?P1000=5000 ; If so, set to this valueELSEP1000=500 ; If not set to this valueENDIF; 此分支基于2号输入， 当其值为真时，P8计数值增加一位IF (M12=1) ; Machine Input 2 true?IF (M22=0) ; Not true last time thru?P8=P8+1 ; Have rise edge, so incrementM22=1 ; Note as true for next time thruENDIFELSE ; MI2 is not trueM22=0 ; Note as not true for next time thruENDIF;标志位满足一定条件时，对应的输出被设置，运行对应的电机IF (M23=1 AND M24=1) ; First two flags true?AND (M25=1 AND M26=1) ; Second two flags true?M1=1 ; Then set outputCOMMAND#1J+ ;手动