PMAC 技术培训(高级).ppt

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(缺省)正常模式(跟随时位置变化;nextprogrammedmovecancelseffectoffollowing),Ix05主位置地址,Ixx06bit1,Ixx06bit1,101,位置跟随参数,EncoderTable,$0720-$0739,Ix07,Ix05,D,+,-,PI,FE,CP,AP,Ix05手轮(跟随)位置地址/跟随模式,Ix06跟随使能,Ix07MasterScaleFactor,Ix08PositionLoop(Load)ScaleFactor,Ix09VelocityLoop(Motor)ScaleFactor,+,-,HW,Ix06,+,Ix08,Ix09,Ix08,轨迹,指令,不能在运行时改变,ToDAC,可以在运行时改变,ActualMotorPosition,ActualLoadPosition,跟随开关,102,PMACPositionFollowing(ElectronicGearing),Ix07,Ix08,DMPn,DCPn,MechanicalAnalogy,Master,Follower,103,PMACPositionFollowing,MotorCommandedPosition,follows,MasterPosition,DCPn=*DMPn,Ix07,Ix08,Ix08*DCPn=Ix07*DMPn,32*Ix08*DCPn=32*Ix07*DMPn,With1/T:,104,CoordinationConcept,Axis#2ActualAction,Axis#2DesiredAction,Axis#1DesiredAction,Axis#1ActualAction,CoordinationAlgorithm,DesiredRelation,FeedbackAlgorithm,FeedbackAlgorithm,105,主从概念,主指令运动,SlaveDesiredAction,从动运算,FeedbackAlgorithm,DesiredRelation,主实际运动,SlaveActualAction,106,UseCoordinationwhen:,HavegoodcontrolofallaxesNoaxisispredominantinfunctionIfyoucannotdecidewhichshouldbemaster,coordinate!Easytodescribesimultaneousmotioni.e.start,stop,turntogether,107,UseMaster-Slavewhen:,Tooexpensivefortightcontrolofanaxise.g.highpowerspindleorconveyormotorToodifficultfortightcontrolofanaxisWritingamaster/slavemotionprogramissubstantiallyeasier(slavingtocommandedpositionrecommendedhere)Examples:coilwinding,threadcutting,108,5,0,1,0,1,2,0,0,0,1,C,0,1,0,1,0,0,0,0,0,0,4,0,0,0,0,0,Hex($),Binary,Modes,PMACaddressofflags,Ix25-MotorxFlagAddressandModes,0,0,1,Diagram:Ix25AddressandModes,=1FlaginterfacethruMACRO,=0DirectFlagInterface,Ixx25FlagAddress/Ixx24FlagModes,109,Ix10-MotorAbsolutePower-OnPositionAddress,Diagram:Ix10AddressandModes,Note:IfIx10=0,power-onpositionissetto0,Ixx10Address/Ixx95Format,110,读取上电绝对位置,通过Ix10读取上电伺服位置旋转变压器绝对编码器模拟输入单元通过I9xandI8x连接旋变各级I9xIxx99是第二级旋变的齿轮比I8xIxx98是第三级旋变的齿轮比通过Ix81读取上电相位旋转变压器绝对编码器Ix75上电相位偏移量,111,PMAC指令寄存器,Ix03Ix04Ix83,Ix25,OutputA,OutputB,OutputC,Control,Status,ADCA,ADCB,Encoder,DAC,PWM,AMPEnable,Flags,CurrentFeedbackSignals,PositionFeedbackSignal,编码器转换表,DAC,PWM,PFM,PWM,MotorX运算寄存器,Ix25,Ix82,Ix02,112,PMAC/MACROStation寄存器,Motorx运算寄存器,PMACMACRONodenRegisters,MACROStationNodenRegisters,MACROStationMachineInterfaceChannelxRegisters,ChannelInterfaceSignals,StationSW1Setting,ConversionTable,MI10 x,Servofloatingpoint)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:电机到位范围(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,170,为什么要用矢量控制?,Inductionmotorsareasubstantialcostbenefit,especiallyinlargesizesInductionmotorsareavailableinverylargesizesInductionmotorsareveryruggedInductionmotorscannotbedemagnetizedTechniqueeliminatesmostpossiblerunawayconditionsFieldstrengthcontrolpermitsflexibletorque/speedrange,171,PMAC的换向算法,I.计算转子场方位A.同步电机1.读取编码器位置2.转换成原始位置(上电或绝对)B.异步(感应)电机1.读取编码器位置2.计算滑差率3.Addslipadvancetorotorposition,N,S,Stator,Rotor,172,PMAC的换向算法,II.分配定子电流A.转矩指令(“差分”)currentMagnitudefromservofilteroropenloop正交于转子磁场B.Magnetization(“direct”)currentUsedmainlyforinductionmotorsAlignedparalleltorotorfieldC.Componentsaddedvectorially,N,S,Stator,Rotor,A,C,B,173,B,PMAC的换向算法,III.AlignCurrenttoPhasesA.Graphically,dropperpendiculartoeachphaselinefromnetcurrentvectorB.Mathematically,takedotproductofnetcurrentvectorandeachunitphasevectorC.Onlycompute2phases;3rd(Ix74控制寻相时间,186,无刷电机的定(寻)相,II.上电绝对值定相A.组合定相两种以上方式寻相(在定相周期零位结束)读取绝对位置传感器设定Ix75=-Pos/Ix70(偏移)B.上电不移动方式定相上电时PMAC自动读取绝对位置传感器定相Ix81制定传感器地址Ix75的偏移量加上传感器位置得出相位,187,PMAC定相方式,重复精度,需要修正,Notes,霍尔传感器,+/-30e,Yes,在1stHall信号边沿或index处修正,方式,旋变,+/-3cts,No,步进或对称方式定相,绝对编码器,+/-1ct,No,步进或对称方式定相,+/-5-10e,Maybe,TwoGuess方式,+/-5-10e,步进方式,+/-1-2e,Maybe,低载荷情况下,微运动方式定相,对称方式,+/-1ct,No,“理想定相”-Notfeasibleinactualapplications;onlytoestablishreference,大于1/2-周期寻相运动,188,PMAC补偿表,标准螺距补偿e.g.Dx=f(x)用旋转编码器得到直线编码器的精度误差输入到PMAC,DEFINECOMP200,#1,#1,100000,E,M,补偿表长度,源电机,补偿表计数跨度,目标电机,189,PMACCompensationTables,交叉轴补偿e.g.Dy=f(x)UsefulforbowedleadscrewsCanbeusedtobuildelectroniccamtables,DEFINECOMP100,#1,#2,100000,TableLength,SourceMotor,TableSpaninCounts,TargetMotor,190,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:,191,PMAC补偿表应用于激光打标系统,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,192,PMAC电机间隙(齿隙)补偿参数,Ix86:间隙补偿大小(1/16count)电机反相时补偿Ix85:补偿收缩率(1/16count/backgroundcycle)电机反相时补偿的速率尽可能设大I99:间隙滞后(1/16count)(global)Ixx87Requiredsizeofreversalbeforebacklashchange设成非零,防止抖动,193,PMAC电机间隙(齿隙)补偿表,#xDEFINEBLCOMP#entries,countspanPosition-dependentbacklashAddedtoIx86constantbacklashTablebacklashiszeroatmotorzero双向间隙补偿,194,CoordinateSystemConcept,AcoordinatesystemisasetofmotorsgroupedtogethertoachievecoordinatedmotionMotorsrequiringindependentmotionshouldbeinseparatecoordinatesystemsCoordinatesystemsexecutemotionprogramsMotorsassignedtocoordinatesystemby“axisdefinitionstatement”,195,PMACAxisDefinitionStatement,CalculationresumesafternextBlockRequestflag)2)Twojumpsbackinprogramarefounda)ENDWHILES(includingimplied)and/orb)GOTOstohigherlines(BlockRequestflagisleftset;Blendingisdisabled;Calculationsresumeaftermovestops;ifstoppedalready,resumeatnextRTI),218,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),219,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),220,PMAC运动程序执行,X5Y5LINEARF10TA50M1=1P1=P2*SIN(P3)M2=1SEND”P1=“CMD”P1”X(P1)Y10F20,运动方程队列,输出队列,指令队列,响应队列,插补寄存器,运动执行时,运动执行时,执行下一个后台周期,上位机任意读取,动态寄存器,程序计算时,程序计算时,程序计算时,程序计算时,程序计算时,计算暂停,221,“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,222,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,223,Thisexampleshowshowtoprogramasimplemoveontheprogramspecifieshowtodothemove,thencommandsthemove.,*Set-upandDefinitions*DELGAT;EraseanydefinedgatherbufferCoord.System1,pointtoBeginningofProgram1,Run,Example1:ASimpleMove,224,Example1:ASimpleMoveGraph,Motor1CMDVelocity,Velocity(counts/sec),225,Example2:AMoreComplexMove,Thisexampleintroducesincrementalandtime-specificationofmoves,loopinglogic,usingvariables,scalingofaxes,andsimplearithmetic.Notethatlogicalandmathematicaloperationsdonotdelaymoves.;*Set-upandDefinitions*1unit(cm)ofXis1000countsofmotor5,226,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;Frac