PMAC_技术培训(高级)

1,E-MOTION,PMAC多轴运动控制卡（高级培训）,2,PMAC卡主体结构,串行通讯接口,RS-232and/orRS-422,I/O接口电路,PMAC(1)-stylePMAC2-style,CPU,Non-Turbo:DSP5600 x(16-bitaddressing)Turbo:DSP5630 x(24-bitaddressing),总线通讯接口,ISA/VME/PCIPC104/STDUSBETHERNET(OptionalDPRAM),MACRO光缆接口,PMAC2UltraliteACC-42PACC-5E(UMAC),伺服接口电路,PMAC(1)-styleICsPMAC2-styleICsPMAC(1)-styleconnectorsPMAC2-styleconnectorsMini/Lite/(full),3,机器接口2,光隔I/O,机器接口1,扩展,编码器接收,光隔16-bitDACs,标志信号隔离,SRAM128kx24ActiveMemory,CPU24-Bit20/40/60/80MHzDSP56002,Watchdog定时器,“DSPGATE”4-Channel伺服电路,光隔16-bitDACs,BusComm.Interface,ADCPort,Bus总线接口,StandardCPUonly,Option16,标志信号隔离,“DSPGATE”4-Channel伺服电路,ADCPort,编码器接收,Option4A,5A,5B,5C,Option2,StandardCPUonly,Option1,FLASH512kx8Firmware“Pulseswallower”forslowdrives,ACC8FP,DirectPWMcopyinputsintoimageM902=M1002;copyimagetooutputs,55,ACC-35MultiplexerPortExtenders,Forusewith:ACC-34familyofI/OinputACC-18thumbwheelinputACC-8DOpt7R/DconverterACC-8DOpt9Yaskawaabsoluteencoderboard,56,ProvidesOpticalIsolationforRS422/232,ControlPanelNumericInput24Char.Display6FunctionKeys,ACC-20,ACC-26,Diagram:PMACAccessoriesACC-20andACC-26,57,PMAC/PMAC2A/DConverterChoices,#ofChannels,Resolution(bits),Repeatability(bits),VoltageRange,Mounting,OpticalIsolation?,ACC28A,4,15,12,10V,DINRail,Yes,ACC28B,2,4,16,15,10V,DINRail,Yes,ACC36P,16,12,11,0-10V,5V,ISABus,No,ACC36V,16,12,11,0-10V,5V,VMEBus,No,Opt.12,12A,8/16,12,11,0-5V,2.5V,OnboardOption,No,Opt.15(V/F),12onMini,11,10,0-10V(10VonLite),OnboardOption,Type,PMACFamilyCompatibility,1,1,2,1,2,1,2,2,1,NoYesonMini,58,Diagram:ACC-28A4channel,16Bit,Opto-IsolatedA/DConverter,ACC-28A,59,3UStackBoards,ACC-1E2-AxisServoInterfaceBoard*ACC-2E4-AxisServoInterfaceBoardACC-3E48/96/144TTLI/OBoardACC-4E24-In/24-OutIsolatedI/OBoardACC-6E16-Channel12-BitADCBoard,*ForusewithMACROInterface/CPUBoardonly,60,UMACServoICBoards,3PhasePWM,DualAnalogPulsePointstoP0M10-Y:$BC00,0,12;PointstoM0definitionAction:M10=P100+3;selectP(P100+3)M0=P0;SameasP(P100+3)=P0,72,PPointstoC.S.1Q0M11-Y:$BC01,0,12;PointstoM1definitionAction:M11=1024+Q0+P10;selectC.S.1Q(Q0+P10)M1=Q99;SameasQ(Q0+P10)=Q99Writing(Turbo):P(P100+3)=P0Q(Q0+P10)=Q99,73,$0000,$00FF,$0100,$17FF,$1800,$BBFF,$BC00,$BFFF,$C000,$C03F,$D000,$DFFF,$E000,$F000,$FFFF,InternalDSP,Memory,DSP-Gate,Registers,Dual-Ported,RAM,VMEbus,registers,I/O,Registers,External,Static,RAM,(Battery/FlashBacked),X-Memory,Y-Memory,23,16,15,8,7,0,23,16,15,8,7,0,Fixed-UseCalculationRegisters,UserBufferStorageSpace,User-WrittenServoStorage,M-VariableDefinitions,MailboxRegisters,VMESetupRegisters,PMACMemorycansuperimposeonprogrammedmoves)Bit16=0(default)specifiesnormalmode(reportedpositionchangeswithfollowing;nextprogrammedmovecancelseffectoffollowing),Ix05Master(Position)Address,Ixx06bit1,Ixx06bit1,101,PositionFollowingParameters,EncoderTable,$0720-$0739,Ix07,Ix05,D,+,-,PI,FE,CP,AP,Ix05Master(HW)PositionAddressfloatingpoint)Forlinearblendedprogrammovesonly(withI13=0)Limitscaleswithfeedrateoverride(%value)AlsoservesasRAPIDvelocityifI50=1,120,MotorxSafetyVariables(continued).,Ix17:MaximumPermittedProgramAcceleration(Units:cts/msec2;floatingpoint)Forlinearblendedprogrammovesonly(withI13=0)Limitscaleswithfeedrateoverride(%value)Oflimitedeffectiveness(withoutspeciallookahead)whenacceleration/decelerationrequiresmorethanoneprogrammedmove,121,MotorxSafetyVariables(continued),Ix19:MaximumPermittedJog/Home/RapidAcceleration(Units:cts/msec2;floatingpoint)CanoverrideTA(Ix20)andTS(Ix21)UsedalwaysifIx200andIx210,122,Ix20AccelerationTime(Jog,Home)Ix21S-CurveTime(Jog,Home),Case1:Ix21=0,Ix20,Ix20,V,T,MotorxMotionVariables,123,Ix20AccelerationTime(Jog,Home)Ix21S-CurveTime(Jog,Home),Case3:Ix202*Ix21,Ix21,Ix21,Ix21,Ix21,Ix20,Ix20,T,V,MotorxMotionVariables,124,MotorxMotionVariables,Ix20AccelerationTime(Jog,Home)Ix21S-CurveTime(Jog,Home),Case2:Ix200,axiswillmakeshortmovewithinrangeforABSmoves(=Ix27/2counts),180,45,315,2,0,1,ABS.A315A45,Withoutrollover,2,1,Withrollover,135,MotorxMotionVariables(continued),Ix28:InPositionBand(Units:1/16ct)ForindicatorpurposesonlyAmotoris“in-position”if:ClosedloopDesiredvel=0Progtimeroff|FE|0Providesstifferservowhennearin-position,n=0disablesanydeadbandeffect,nslip=motortorque,Closedloop:DesiredMotortorque=slip=motortorque,ws=we-wm(Hz),wm(rpm),Lineartorque/sliprelationship,171,为什么要用矢量控制?,Inductionmotorsareasubstantialcostbenefit,especiallyinlargesizesInductionmotorsareavailableinverylargesizesInductionmotorsareveryruggedInductionmotorscannotbedemagnetizedTechniqueeliminatesmostpossiblerunawayconditionsFieldstrengthcontrolpermitsflexibletorque/speedrange,172,PMACCommutationAlgorithm,I.ComputerotorfieldorientationA.Synchronousmotor1.Readencoderposition2.Comparetoreferenceposition(power-onorabsolute)B.Asynchronousmotor1.Readencoderposition2.Computeslipfrequency3.Addslipadvancetorotorposition,N,S,Stator,Rotor,173,PMACCommutationAlgorithm,II.分配定子电流A.Torquecommand(“quadrature”)currentMagnitudefromservofilteroropenloopAlignedperpendiculartorotorfieldB.Magnetization(“direct”)currentUsedmainlyforinductionmotorsAlignedparalleltorotorfieldC.Componentsaddedvectorially,N,S,Stator,Rotor,A,C,B,174,B,PMACCommutationAlgorithm,III.AlignCurrenttoPhasesA.Graphically,dropperpendiculartoeachphaselinefromnetcurrentvectorB.Mathematically,takedotproductofnetcurrentvectorandeachunitphasevectorC.Onlycompute2phases;3rd(Ix74controlstime,187,PhaseReferencingofBrushlessMotors(continued),II.AbsolutePower-OnReferencingA.PhaseSearchonAssemblyUsesecondsearchmethodabove(endatzeropositionofphasecycle)ReadabsolutesensoratthispositionSetIx75=-Pos/Ix70(offsetterm)B.No-MovementReferencingatPower-OnPMACautomaticallyreadsabsolutesensortodophasereferencingatpower-onIx81specifiesaddressofsensorIx75addedtosensorpositiontogetphaseposition,188,PMACPhaseReferencingMethods,Repeatability,CorrectionRequired,Notes,HallSensorRead,+/-30e,Yes,Correcton1stHalledgeorindex,Method,ResolverRead,+/-3cts,No,Referenceestablishedbystepperorsymmetrysearch,AbsEncoderRead,+/-1ct,No,Referenceestablishedbystepperorsymmetrysearch,TwoGuessSearch,+/-5-10e,Maybe,TwoGuessSearch,+/-5-10e,StepperSearch,+/-1-2e,Maybe,RequireslowexternalloadsSlightmovement,SymmetrySearch,+/-1ct,No,“FinePhasing”-Notfeasibleinactualapplications;onlytoestablishreference,Upto1/2-cyclemovement,189,PMAC补偿表,标准螺距补偿e.g.Dx=f(x)Getlinearencoderaccuracy(almost!)withrotaryencoderCharacterizesystemwithlinearsensorEntererrorsintoPMAC,DEFINECOMP200,#1,#1,100000,E,M,TableLength,源电机,TableSpaninCounts,目标电机,190,PMACCompensationTables,Cross-axiscompensatione.g.Dy=f(x)UsefulforbowedleadscrewsCanbeusedtobuildelectroniccamtables,DEFINECOMP100,#1,#2,100000,TableLength,SourceMotor,TableSpaninCounts,TargetMotor,191,Dz,Dz,e.g.Dz=f(x,y),DEFINECOMP20.15,#1,#2,#3,20000,15000,Tablecolumns,Tablerows,1stsourcemotor,2ndsourcemotor,2ndmotorspanincounts,1stmotorspanincounts,Targetmotor,PMAC补偿表2D(平面)转换表:,192,PMACCompensationTablesUsedforlasermarkingsystems,Table1:Dy=f(y)=arctan(y/L2)-(y/L2),Table2:Dx=f(x,y)=arctanx/(L1+L22-y2)-x/(L1+L2),X,Y,L1,L2,uncompensated,compensated,193,PMACMotorBacklashParameters,Ix86:BacklashSize(1/16count)AddedhiddenpositionchangeonreversalIx85:BacklashTake-UpRate(1/16count/backgroundcycle)RateofchangeofbacklashonreversalSetashighaspossiblewithoutroughtransitionI99:BacklashHysteresis(1/16count)(global)Ixx87RequiredsizeofreversalbeforebacklashchangeSetnon-zerotopreventdithering,194,PMACMotorBacklashTables,#xDEFINEBLCOMP#entries,countspanPosition-dependentbacklashAddedtoIx86constantbacklashTablebacklashiszeroatmotorzeroUsedwithCOMPtableforbidirectionalcompensation,195,CoordinateSystemConcept,AcoordinatesystemisasetofmotorsgroupedtogethertoachievecoordinatedmotionMotorsrequiringindependentmotionshouldbeinseparatecoordinatesystemsCoordinatesystemsexecutemotionprogramsMotorsassignedtocoordinatesystemby“axisdefinitionstatement”,196,PMACAxisDefinitionStatement,CalculationresumesafternextBlockRequestflag)2)Twojumpsbackinprogramarefounda)ENDWHILES(includingimplied)and/orb)GOTOstohigherlines(BlockRequestflagisleftset;Blendingisdisabled;Calculationsresumeaftermovestops;ifstoppedalready,resumeatnextRTI),219,MotionProgramSequencingExample,X0Y0,Q1=Q10*COS(Q20)Q2=Q10*SIN(Q20)X(Q1)Y(Q2),WHILE(M11=0)ENDWHILEX(-Q1)Y(-Q2),IF(M12=1)Q3=100ELSEQ3=50ENDIFDWELL(Q3),220,ObservingthePMAC“DoubleJumpBack”Rule,P1=1WHILE(P111)P2=0WHILE(P2360)P3=10+P1*COS(P2)X(P3)P2=P2+10ENDWHILEP1=P1+1ENDWHILE,P1=1WHILE(P111)P2=0WHILE(P2350)P3=10+P1*COS(P2)X(P3)P2=P2+10ENDWHILEP3=10+P1*COS(P2)X(P3)P1=P1+1ENDWHILE,(Blendingstopseachtimeinnerloopisexited:twoEndwhileencounteredbeforenextmove),(Blendingiscontinuousthruentireexample),221,PMACMotionProgramExecution,X5Y5LINEARF10TA50M1=1P1=P2*SIN(P3)M2=1SEND”P1=“CMD”P1”X(P1)Y10F20,MotionEquationQueue,OutputQueue,CommandQueue,ResponseQueue,InterpolationRegisters,AtMoveExecutionTime,AtMoveExecutionTime,ExecutednextBackgroundcycle,ReadbyHostComputeratwill,ActiveRegisters,AtProgramCalculationTime,AtProgramCalculationTime,AtProgramCalculationTime,AtProgramCalculationTime,CalculatingSuspendedHere,222,“n”movesaheadforBlendedMoves,1,n+1,n+2,1,2,3,4,time,R,Execute,Calculate,PMACMotionProgramPrecalculation,n,n+3,n+4,Howbigis“n”?0forpoint-to-pointmoves,noradiuscompensationAdd1forblendingAdd1forbasicaccelerationcontrolAdd1forCutterradiuscompensationAsbigasnecessarytocoverstoppingdistanceforrobustaccelerationcontrol,223,NomovesaheadIx92=1,RAPID,HOME,DWELL,“S”,I11,1,2,3,1,2,3,time,S,R,Execute,Calculate,I11,DWELL,time,I11,2,a,2a,PMACMotionProgramPrecalculation,224,Thisexampleshowshowtoprogramasimplemoveontheprogramspecifieshowtodothemove,thencommandsthemove.,*Set-upandDefinitions*DELGAT;EraseanydefinedgatherbufferCoord.System1,pointtoBeginningofProgram1,Run,Example1:ASimpleMove,225,Example1:ASimpleMoveGraph,Motor1CMDVelocity,Velocity(counts/sec),226,Example2:AMoreComplexMove,Thisexampleintroducesincrementalandtime-specificationofmoves,loopinglogic,usingvariables,scalingofaxes,andsimplearithmetic.Notethatlogicalandmathematicaloperationsdonotdelaymoves.;*Set-upandDefinitions*1unit(cm)ofXis1000countsofmotor5,227,Example2:AMoreComplexMove(continued),;*MotionProgramText*OPENPROG2;Openbufferforentry,Program#2CLEAR;EraseexistingcontentsofbufferLINEAR;BlendedlinearinterpolationmovemodeINC;Incrementalmode-movesspecifiedbydistanceTA500;1/2sec(500msec)accelerationtimeTS250;1/4secineachhalfofS-curveP1=0;InitializealoopcountervariableWHILE(P1P9);IflongerthanincrementP0=P9/P0;FractionofdistanceP11=P11+P21*P0;XincrementP12=P12+P22*P0;YincrementELSE;Distance0)istruewhen“E”(5thletter)hasbeenpassed(1=25-1),0,293,G,M,TandDCodes,ForRS-274compatiblemotionprogramsCALL1000.73000CALL1001.03000CALL1002.0100