PMAC插补技术ppt课件

,E-MOTION,PMAC多轴运动控制卡（中级培训）,1,LINEAR插补方式,对PMAC用户直线插补是最通用的方式.直线插补轨迹包括加减速时间和运动时间.,需要学习:什么是直线插补模式的轨迹如何改变轨迹的特征如何实现多个运动的速度混合,2,Linear模式的轨迹小Acceleration时间,3,Linear模式的轨迹(continued)小Acceleration时间,4,Linear模式的轨迹(continued)加速时间等于运动时间,5,Linear模式的轨迹(continued)加速时间等于运动时间,6,Linear模式的轨迹大(速度限制)加速时间,7,Linear模式的轨迹大(速度限制)加速时间,8,加速参数,TA编程加速时间(单位:msec);整数TS编程S-曲线时间(单位:msec);整数,9,加速参数(continued),10,例3:一个复杂的运动,Thisexampleintroducesincrementalandtime-specificationofmoves,loopinglogic,usingvariables,scalingofaxes,andsimplearithmetic.Notethatlogicalandmathematicaloperationsdonotdelaymoves.,;*Set-upandDefinitions*坐标系1,指向运动程序2,运行,11,例3:一个复杂的运动,12,直线插补测验,曲线的水平和垂直轴的含义?什么是TS,TA,TMandF?TM和F的关系是什么?以100msTA时间和20ms的TS时间，TM为500ms的时间外成一个运动，总的运动时间是多少?如果程序表达TS100TA100TM100，完成3个混合运动的总时间是多少?,13,PMAC运动速度混合,PMAC在如下情况下速度无法混合:两个运动指令中间有DWELL指令2个向后跳转指令(GOTO,ENDW)速度混合功能无效设定(Ix92=1),14,DWELLVs.DELAY,DWELL总使用固定的时基(I10)暂停时间不包括减速过程直到DWELL结束才执行下面运动的计算(addI11time),15,DWELLVs.DELAY(continued),DELAY使用可变的时基(%value)暂停时间包括减速过程最小暂停时间是当前TA时间下面运动时间开始于DELAY指令,16,例4:速度混合有效的例程,ThisexampleshowshowtoprogramablendedmoveonthePMACandthefunctionofIx92.Firsttheprogramspecifieshowtodothemove,thencommandsthemove.,*Set-upandDefinitions*DELGAT;EraseanydefinedgatherbufferGATHER,CS.1,pointtoBeginningofProgram1,Run,17,例4:速度混合有效的例程,18,例5:速度混合无效的例程,ThisexampleshowshowtoprogrammovesonthePMACandthefunctionofIx92.Firsttheprogramspecifieshowtodothemove,thencommandsthemove.,*Set-upandDefinitions*DELGAT;EraseanydefinedgatherbufferGATHER,CS.1,pointtoBeginningofProgram1,Run,19,例5:速度混合无效的例程,20,速度混合测验,使用速度指令(F)在增量方式(INC)，指令X1000和指令X100X400X500如果Ix92=0,TATMor(TAX:$0806,0,24,sforfeedrateoverridecontrol.,29,Exercise3:ConditionalBranching,Problem:,TheEuropeanCompanyishavingalotofsuccesswithyourmachineandyourbossnowhassomeextraRMoveSegmentationTimeNORMALK-1;XYplaneINC;IncrementalEndPointdefinitionINC(R);IncrementalCenterVectordefinitionCIRCLE1;ClockwisecircleX20Y0I10J0;Arcmove,Start(0,0),Center(10,0),End(20,0),33,34,35,圆弧插补例程,;SetupanddefinitionsMotionProgramTextopenprog4clearnormalK-1rapidx1y4f5lineary13circle1x2y14i1j0linearx3circle1x4y13i0j-1lineary7circle2x7y4i3j0linearx13circle1x14y3i0j-1lineary2circle1x13y1i-1j0linearx4circle1x1y4i0j4dwell100rapidx0y0close,36,提前运算（前瞻功能）PRECALCULATION,前瞻功能做了些什么？怎样停止前瞻功能？如何使用同步变量？,在blend和spline运动中,运动程序必须将当前运动后几步的运动指令提前进行运算.根据不同的运动模式，在程序运行中将进行0，1，或2段运动指令的前瞻计算.,我们将要学习:,37,PRECALCULATION,Allprogramcalculationsandassignments,exceptforsynchronousM-variableassignments,betweenthemoveinprogressandthemovebeingcalculatedareperformedonelineatatimeduringthelook-ahead.ThismaybeaproblemwithM-variables,particularlyoutputs,astheactionwilltakeplacesoonerthanexpected.Example:LINEAR;linearmovemodeX10;moveX-axisto10X20;moveX-axisto20M1=1;turnonoutput#1X50;moveX-axisto50,TheoutputM1willbeturnedonatthebeginningoftheX10moveduetoPMACsprecalculationoftheprogram,38,PMACMotionProgramPrecalculation,39,PMACMotionProgramPrecalculation,40,PMACMotionProgramPrecalculation,41,同步M-变量,SynchronousM-Variablesassignmentsareasolutiontothesynchronizationproblemscausedbymoveprecalculation.WhenaSynchronousM-variableassignmentisencountered,itisnotexecutedimmediately;butputonastackforexecutionatthestartofthenextmoveintheprogram.OutputactionsarethussynchronizedwiththemotionactionExample:LINEAR;linearmovemodeX10;moveX-axisto10X20;moveX-axisto20M1=1;turnonoutput#1X50;moveX-axisto50,ThestatementM1=1isencounteredatthebeginningofthemovetoX10,buttheactionisnotperformeduntilthestartofblendingintothemoveX50,42,MACROS,MacrosallowyoutoassignaspecificnametoaPMACvariableorcommandforprogrammingpurposes.Forexample,youcandefinethewordPUMP_PRESSUREtothevariableP10.Thisallowsyoutousemeaningfulnamesinyourprogramswhichsimplifiesprogrammingandmemorymanagement.MacrosareafeatureoftheExecutiveProgramandarenotaPMACfeature.WhenafilewithMacrosisdownloadedtoPMAC,theexecutiveprogramsubstitutestheappropriatePMACcommandsorvariablesinplaceoftheMacros.PMAConlyseesthePMACcommandsandvariables.,43,PMAC计算优先级,1.SinglecharacterI/O单字符I/OSerial,PC-bus,STD-bus;200ns/char2.CommutationUpdate换相更新率E29-E33set(9KHzdefault);3usec/axis3.ServoUpdate伺服更新率E3-E6setfreq(2.25KHzdefault);30usec/axis4.RealTimeInterrupt实时中断I8设定频率;循环于:A.运动程序的计算每次新运动的开始;1or2步提前B.PLC0当不执行运动程序C.PLCC0D.DualPortedRAM双端口RAMServodatabuffers伺服数据存储器,44,5.VMEmailbox处理器事件驱动6.后台任务Doneintimeleftover;rotatesbetween:A.CommunicationlineprocessingEventdrivenB.PLC1-31oneatatimeC.PLCConescanthroughallPLCCsD.GeneralHousekeepingE.DualPortedRAMDataBuffers,PMAC计算优先级,45,46,PMAC看门狗计时器,WatchdogTimerSatisfied,Frequency25Hz,DCVoltage4.75,TurnOffCard,Yes,No,No,Yes,PMACalgorithmtoassureWatchdoggets25Hzsignalandcheckforaminimumof4.75Vtothememorychips.,47,PMAC看门狗计时器(续.),RealTimeInterrupt,ReadW.DRegister,IsRegister0,DecrementW.D.TimerRegister,BackgroundTasksarenotoccurringoftenenough,there-forestopupdatingtimer,PMACalgorithmtoassureWatchdoggets25Hzsignal.Thisensuresbothbackgroundandforegroundtasksaredonereasonablyoften.,48,通讯控制I-变量,I1:串口模式=0,2:HostCShandshakeused=1,3:HostCShandshakedisabled=2,3:MultiplecarddaisychainenabledI3:握手字符控制=1:senttoacknowledgevalidcommand=2,3:senttoacknowledgevalidcommand=1,3:precedesdataresponselineI4:通讯完整性模式=0,2:Checksumdisabled=1,3:Checksumenabled=0,1:Serialerrorsreportedimmediately=2,3:SerialerrorsreportedatendoflineI6:错误报告模式=0,2:Returnscharacter=1,3:Reportserrornumber,49,CommunicationsControlI-Variables,I9:DataReportingForm=1,3:Longformdatareporting=2,3:HexadecimaladdressI-variablereportingI58:DPRAMASCIICommunications=0:DisablesDPRAMcommunication=1:EnablesDPRAMcommunicationI56:DPRAMASCIICommunicationsInterruptEnable=0:Disablescommunicationsinterrupt=1:Enab