acr9000培训课件英文版 （中）

ACR9000 Programmers Course,Parker ACR9000产品培训 （中）,英文版,ACR9000 Training Agenda,IntroHardwareSoftware ArchitectureACR-View NavigationACR-View PracticalMotionProgrammingAdvanced programmingMotion-contPLCTuning,（中）,（上）,（下）,Drive Control,ACR9000-only Drive Commands,New commands added to support drive I/ODRIVE ON X YPerforms encoder fault checkAutomatically RENs respective axisTurns on output to enable driveIndicates the axis status and drive fault input via Axis LEDsGreen = Enabled, Red = Faulted, Off = Disabled with no faultDRIVE OFF X YDisables drive and sets Axis LED appropriatelyDRIVE RES X YPerforms RESET on axis drive (Aries, Dynaserv G2, Gemini, E-AC)DRIVE X YDisplays status of Drive Enable Outputs,Once axes properly configured you can then enable the drive by simple commands:Or If drive LED does not change to green (drive enabled) check encoder signal lost or drive fault input bitsIf encoder fault, correct problem and issue ENC index RESIf drive faulted issue DRIVE RES X or AXIS0 DRIVE RES command,ACR9000 Drive Enable,PROG0DRIVE ON X Y,AXIS0 DRIVE ONAXIS1 DRIVE ON,Direct Axis Access,Axis names may only be used within Program attachedExample:P00 PPU X4000P00 PGAIN X0.002Direct access to Axis parameters may be accomplished using the AXIS command from any other ProgramExample:P03 AXIS0 PPU 4000P12 AXIS0 PGAIN 0.002(assuming that X is Axis0),Direct Master Access,Master parameters such as ACC, DEC, VEL, etc may only be referenced from within Program attachedExample:P00 ACC 4000P00 STP 200Direct access to Master parameters may be accomplished using the MASTER command from any other ProgramExample:P03 MASTER0 ACC 4000P12 MASTER0 STP 200,Making Motion,Making Motion,Four different methods of making motion with ACR9000Multi-axis profiling Incremental or Absolute movesLinear Interpolation - MOVCircular Interpolation - CIRCW, CIRCCW, SINE, TARCTrajectory Values are “Path” valuesSimilar to 6Ks “GOL” and “PARCOM/PARCM” commandsSingle-axis profilingJogging JOGIncremental, Absolute, or ContinuousEach axis has its own trajectory values Can be used to do super imposed moves. “like phase shift”Similar to 6Ks “GO” commandElectronic Gearing (GEAR)Similar to 6Ks Following featureElectronic Cam (CAM),Making Motion “Setpoint Summation”,The ability to superimpose Cams, Gears, and Jogs in real timeVery easy to program complex functions,Basic Motion,MASTER profiling commandsACC, DEC, STP, and VEL apply to MASTER vector pathAll axes are linearly interpolated by defaultValues entered are USER units (mm, inches, rev, etc.) set by PPUACC Set Acceleration Ramp sets the master acceleration used to ramp from lower to higher speedsunits/second2VEL Set Target Velocity For A Move sets the target velocity for subsequent movesUnits/secondIssuing an ACC, DEC, STP or VEL commands with no argument will display the current setting,PROG0ACC 10 VEL 1or on a single lineACC 10 VEL 1set Master0 velocity from another ProgramMASTER0 VEL1,Basic Motion,MASTER profiling commandsDEC Set Deceleration Ramp Used if STP is zero (when blending moves), or if BIT523 is used to stop motion.deceleration used to ramp from higher to lower path speedsunits/second2 scaled by PPUSTP Set Stop Rampsets the master deceleration ramp to be used at the end of the next moveunits/second2 scaled by PPUSetting STP to zero will end the move without ramping down.allows back-to-back moves to be merged together. The final velocity of the first move will then be the initial velocity of the second move.,PROG0ACC 10 DEC 10STP 10VEL 1or on a single lineACC10 DEC10 VEL1 STP10,Basic Motion,Move commandsACC, DEC, STP, and VEL apply to MASTER vector pathAll axes are linearly interpolated by defaultValues entered are USER units (mm, inches, rev, etc.)MOV Define A Linear MoveActivates the linear interpolation modeSince this is the default axis data input mode, the MOV command can be omittedDefault is absolute Adds backlash for relativeAbsolute PositioningAxisNameValueRelative PositioningAxisName/values,PROG0MOV command is optionalMOV X50absolute move X axis 50mmX50relative move X axis 25mmX/25,Basic Motion,Move commandsAbsolute & Relative positioning,PROG0REM absolute movesX0 X100X200X300X400REM relative movesX/-400X/500X/200X/100REM combo absolute & relativeX/-400 X200X/50X400,Master Profiling,ACC 750 DEC 750 VEL 75 STP 750absolute move X axis 25mmX25,Move commandsACC, DEC, STP, and VEL apply to MASTER vector pathAll axes are linearly interpolated by defaultIf only one axis is moving, that axis VEL, ACC, STP will be the same as the master,Master Profiling,ACC 750 DEC 750 VEL 75 STP 750X25 Y15absolute move X 25mm & Y 15mm,Move commandsAll axes are linearly interpolated If multiple axes are movingVector path is calculated based on axes target pointsVector “moves” at VEL, ACC, etcAxes vel, acc are scaled so that all start, accelerate,decelerate and stop at the same time.,Motion,REM Jerk zero Trap profileACC 100 DEC 100 VEL 10 STP 100JRK 0X4,Move commandsS-curvesJRK Set Jerk Parameter controls the slope of the acceleration versus time profileIf jerk is zero, the acceleration profile is rectangularunits/second3 scaled by PPU,Motion,ACC 100 DEC 100 VEL 10 STP 100REM Pure S-curveJRK 1000X4PURE S-Curve CalculationJRK = (ACC*2)/ VEL,Move commandsS-curves,Input into the terminal (P00 Prompt)Where might we determine “why” we did not have motion and what would we look for?Are drives enabled?Is motion allowed?,Making Motion - MOV,ACC20 DEC20 STP20 VEL5X10Y10X15 Y5X0 Y0X/15 Y/5X/10 Y/5X0 Y0,Basic Motion,JoggingSingle Axis Velocity Profile Non-interpolated movesValues entered are USER units (mm, inches, rev, etc.) scaled by PPUJOG ACC Set Jog AccelerationUnits/second2JOG DEC Set Jog Deceleration Units/second2JOG VEL Set Jog VelocityUnits/secondDefaults are ZERO. Values used in Wizard will be ESAVEd on project download,Code SamplesJOG ACC X750JOG DEC X750 JOG VEL X50JOG VEL X50 Y100-or-AXIS0 JOG VEL50AXIS1 JOG VEL100,Basic Motion,Jogging profiling commandsJOG FWD Jog Axis ForwardContinuous motion at JOG VEL in Positive direction Can also be activated using “Jog Fwd” control bitJOG REV Jog Axis ReverseContinuous motion at JOG VEL in Negative direction Can also be activated using “Jog Rev” control bitJOG OFF Stop Axis JoggingInitiates ramp down to zero jog speedCould also CLR appropriate jog control bit,Code SamplesJOG ACC X750 Y100JOG DEC X750 Y100JOG VEL X50 Y10JOG FWD X YJOG OFF YAXIS0 JOG OFF,Basic Motion,Jogging profiling commandsJOG ABSJog To Absolute PositionJogs axis to absolute “jog offset” positionIndependent of MASTER moves, and can be run on top of master profileJOG INCJog Axis IncrementalJogs axis to incremental distance from current jog offset position Independent of MASTER moves, and can be run on top of master profileJOG JRKSet Jog Jerk (S-curve)controls the slope of the acceleration versus time profileIf jerk is zero, the acceleration profile is rectangular (linear acceleration). Jog moves are independent of Interpolated moves and use their own zero point and moves are considered OFFSETS,Code SamplesJOG VEL X50 Y10JOG ABS X10 Y5INH -792 INH -824JOG INC X5 Y5-or-AXIS0 JOG VEL 50AXIS1 JOG VEL 10AXIS0 JOG INC 5AXIS1 JOG INC 5,Input into the terminal (P00 Prompt)What if we forget to set JOG VEL?How can we determine why it is not jogging?,Lets Make Motion!,JOG ACC X10 Y20JOG DEC X10 Y20JOG VEL X5 Y10JOG FWD XJOG REV YJOG OFF X YJOG ABS X0 Y0JOG INC X10 Y-10JOG INC X10 Y-10JOG ABS X0 Y0,Axis Homing,Utilizes JOGGING feature of ACR controllersAllows simultaneous homing of multiple axesCommandsJOG HOMEPolarity dictates homing directionExample: JOG HOME X-1 Y1JOG HOMVFHoming final approach velocityJOG ACC/DEC/VELHoming acceleration/deceleration/initial velocityHLBITSet EOT/Home input bitsControl/Status Flags (P4600 P4615)Home Limit Level Invert Home Backup EnableHome Negative Edge SelectHome Negative Final DirectionHome Move Found HomeHoming to Z-channel via MSEEK command,Axis Homing,Homing commandsJOG HOME Go Homeinstructs the controller to search for the home position in the direction and on the axes specified by the commandWith a successful homing operation, the controller sets the absolute position register to zero. “1” indicates positive, “-1” negative directionJOG HOMVF Home Final Velocityspecifies the velocity to use when the homing operation makes the final approachJog HOME moves use the current JOG VEL, ACC, DEC settings.There is a more complete homing sample later in training.,Code SampleJOG VEL X5JOG ACC X50 JOG DEC X50 JOG HOMVF X1SET 16152 : REM enable backup to homeJOG HOME X1: REM Home x positive direction,Killing Motion -Terminal Shortcut Keys,KILL ALL MOTION via keyboard controlUseful for initial application designCTRL-XKill all Master motionSet KAMR flagsKAMR and Kill All Moves Request flags are not the sameHalts all programsCTRL-YClear all KAMR flagsMotion must be restarted manually or by programsCTRL-ZSame as CTRL-XDisables all drives* * If Enable Drive I/O bits are set,Resetting Position Counters,Command Position Control,REN Match Position With Encoder Loads the command position register with the actual encoder position. Basically, sets the current position to the commanded positionNOTE: automatically performed with DRIVE ON commandRES Reset Or Preload Encoders Zeros out the command position register and the encoder position of the specified axis. Can be used to preload axis to user defined position if applicable.NOTE: automatically performed with JOG HOME command,REN X YRES X Y250X Axis current position set to zeroY Axis current position set to 250mm,Important Feedback Position Control commands,Jog Offset Control,Important Feedback Position Control commandsJOG RESClear or preload the jog offset register of the axis and adds the difference to the current position register of that axis.JOG RES axisoffset axisoffsetExample: JOG RES X YJOG RENClear or preload the current position register of the axis and adds the difference to the jog offset register of that axisJOG REN axisoffset axisoffsetExample: JOG REN X Y,What are we actually doing?,We are modifying the setpoint registers of the servo loop,What are we actually doing?,Servo loop utility actively displays these parametersTry some assorted combinations of standard and jog moves and view effect on command registers.Try the RES, REN, JOG RES, JOG REN and view effect on registersTry a standard move while jogging (super-imposition),Hardware End-Of-Travel Checking,CommandsHLIMEnable limit checking (0 3)HLBITAssign limit (and home) inputs for axisOnboard or Expansion I/OHLBIT X5Sets bits 5= +EOT, 6= -EOT, 7= home inputsHLDECAssign axis deceleration upon limitDefault is zero (infinite deceleration rate)Axis Status/Control Flags (P4600-4615)Pos/Neg EOT Limit Current StatePos/Neg EOT Limit EncounteredPos/Neg EOT Limit Level InvertCLR bits to resume motion,Excessive Position Error Checking,EXC axisvalue or axis(value1, value2)Command sets the following error limits monitored by the “not excess error” flagsDisables drive on affected axis*Stops all motion on assigned Coordinate System (Master) axes* interpolated motionCammingGearingJoggingBe sure to set EXC to a non-zero value, a value of zero will cause axis to fault on 1 count of position error*If Enable Drive I/O bits are set,Firmware Architecture,Communicating,Communication PromptsSYSSystem configurationProgram memory dimensionPnnnn = 00-15Program interfaceExecution of motionGeneration of motion codePLCnn = 0-7PLC program interfaceGeneration of PLC code,Pre-Emptive Multi-Tasker,Multi-Tasking Kernel capabilities:16 PROG programs8 Motion programs8 Non-motion programs8 PLC programsUp to 4 communication portsUSBSerialEthernet (4)CANopen (I/O only),Program Timing,Up to 16 PROGs and 8 PLCs running simultaneouslyPROG0 PROG7“Motion Programs”Each has its own 1 ms time sliceEach has its own set of local variables (Longs, Floats, Strings, Arrays)Equivalent to a “Task” on a 6K controllerEach can have its own coordinate group of axes for motionPROG8 PROG15“Non-motion Programs” (NMP)All Share 1 ms time sliceInhibit one NMP, and all NMPs are inhibitedPLC0 PLC7, 1 program executed every servo periodOne period reserved for I/O update One period reserved for Timer/Counter update (if used),Programming AcroBASIC PROG Programs,AcroBASIC is the programming language used by the controllerSimilar to QBASICIF/ELSE/ENDIF (IF/THEN)WHILE/WENDFOR/NEXTGOTO/GOSUBPRINT/INKEY$Similar to 6K programmingArcsInterpolated motionHigh level math functionsACOSH, MOD, CEIL, FLOOR, SQRT, and more,Programming - AcroBASIC PLC Programs,The ACRs PLCs are programmed using standard logic commands compiled to Machine code on-the-fly.Up to eight PLC programs can run at one timeThe programs can be developed in either text or ladder format.,10 LD 020 OR 130 OR 3240 AND NOT 3350 OUT 3260 LD 570 AND NOT 51980 OUT 52090 END,Program Execution Timing,Writing Programs,PROGRAMStart program definition for auto-numbered programENDPEnd program definition for auto-numbered programENDEnd program executionProgram can have multiple ENDsLISTUsed to list a program in the terminal.LIST list entire programLIST 100 list line 100LIST 10,100 list line 10 through 100LIST ,100 list up to line 100NEWErases current programDone automatically by ACR-View on download,Programming Basic Commands,Running a Program,Terminal Commands for troubleshooting PROGsLRUN = LISTEN + RUN“LISTEN” to program errors, needed to see PRINT statements gets out of LISTEN modeTRON/TROFF (Trace mode)Used with LRUN to display line numbers as the program executesUseful for tracing program flow/decisions madeBLK/STEP/AUT (Block, Step, Auto mode)BLK puts the program into Block Step mode, then use STEP to execute to the next command lineAUT followed by STEP puts the program into Auto Step modeBLK/AUT can be used before or during program RUN,User-assigned Names,Aliases (#DEFINE)Used for global user variables, system parameters, system flags, program local variables and array elements. Configuration Wizard is used to allocate memory for the storage of these variables. (DIM DEF command at SYS prompt)Aliases are global in nature and can be used in all programsAliases are not used in PLC programsDo not confuse with Axis Names (incorrectly referred to as Aliases in ACR-View)Type “HELP” at Terminal Emulator to see list of reserved keywords,User-assigned Names,Aliases ARE case sensitiveNumbers, spaces and special characters (such as _ and ) are NOT allowedMaximum of 24 lettersAlias Examples#DEFINE LED BIT96#DEFINE myflag BIT32#DEFINE VELfactor P10#DEFINE EncOne P6144Once aliases have been defined, the alias or the original firmware reference can refer to the parameter or flag.“SET myflag” or “SET 32”“VELfactor = 12.625” or” P10 = 12.625”“PRINT EncOne” or “Print P6144”,Program Labels,Labels are program pointers commonly used to denote subroutinesLabels are assigned by preceding the label with an underscore (“_”)Labels can have both letters and numbers unlike Aliases.Labels are case sensitive.Example:GOSUB Label1_Label1PRINT “Inside Label1 subroutine”RETURN,Program uses line numbersCan be assigned automatically or manually,Program Line Numbers,PROGRAMMULT X4PPU X4000 Y25000RES X YACC50 DEC50 STP50 VEL5_LOOP X5Y5X0Y0GOTO LOOPENDP,REM Old line numbered style1 MULT X42 PPU X4000 Y250003 RES X Y10 ACC50 DEC50 STP50 VEL520 X530 Y540 X050 Y060 GOTO 2070 END,Auto Line NumberingProgramming Style,Square Program (Program0 Editor)Download PROGRAM 0Type “LRUN” at P00 prompt in terminal to run and display errorsTry this program using Incremental movesHow could we graph the motion? TRY IT USING THE XY PLOT!,Lets Start Programming,PROGRAMRES X Y_LOOPACC 50 DEC 50 STP 50 VEL 5X5Y5X0Y0GOTO LOOPENDP,Square Program (Program0 Editor),Lets Start Programming,PROGRAM_LOOPACC 50 DEC 50 STP 50 VEL 5X5Y5X0Y0GOTO LOOPENDP,To Make the graph “pretty” I set the PPU on both axes the same,Use PC Sampling for XY Plot or use 20ms for Onboard sampling rate,Two methods of commenting codeStored Comments“REM” means remarkStored as a line in the programDSP “wastes” time processing the REMsNeeds more memory to store codeCan be on same line as ACR command linesCan be uploaded later from the controllerDO NOT PUT COMMENTS ON SAME LINE AS LABELS!Stripped CommentsApostrophe character ( )Stripped on download by the ACR controllerMUST be on its own separate line in programsThe comments are missing from the code when uploaded,Commenting Code,Use PBOOT to automatically run a PROG or PLC on powerup of the controllerEvery PROG and PLC can be a PBOOTIssue PBOOT at terminal to start all PBOOT programsPBOOT must be the first line in programAuto-NumberedManually NumberedPROGRAM10 PBOOTPBOOT20 LEG 10.ENDP100 END,Startup Programs,64-bit Global User VariablesGlobal user variables are referenced as P0.P4095The actual number of global user variables is determined by the user entered values in Configuration Wizard via “DIM P” command. Use DIM at SYS prompt to check how many are currently dimensioned.Use them to pass Local variables between programs or CTC panels or other Ethernet IP devicesUser Flags8 Groups of 32 Bi