acr9000培训课件英文版 （下）

ACR9000 Programmers Course,Parker ACR9000产品培训（下）,英文版,ACR9000 Training Agenda,IntroHardwareSoftware ArchitectureACR-View NavigationACR-View PracticalMotionProgrammingAdvanced programmingMotion-contPLCTuning,（中）,（上）,（下）,Higher Level Motion,Contoured (Tiered) Profiles,Utilize combination of VEL, DEC, FVEL, and STP to create contoured profilesHow could we graph these to see the differences? Try it!,PROGRAMMULT X4PPU X8000ACC 50 DEC 50VEL 5 STP 0 X/3.0VEL 3 STP 0 X/2.0VEL 7 STP 30 X/3.5ENDP,PROGRAMMULT X4PPU X8000ACC 50 DEC 50VEL 7 FVEL 1 STP 50 X/3.0VEL 7 FVEL 1 STP 0 X/2.0VEL 5 FVEL 0 STP 30 X/3.5ENDP,Contoured (Tiered) Profiles,ACC 50 DEC 50VEL 5 STP 0 X/3.0VEL 3 STP 0 X/2.0VEL 7 STP 30 X/3.5,ACC 50 DEC 50VEL 7 FVEL 1 STP 50 X/3.0VEL 7 FVEL 1 STP 0 X/2.0VEL 5 FVEL 0 STP 30 X/3.5,Lock Function,Gantry Lock featureMap control of axis to anothers Primary Setpoint.Both axes are controlled from a single axis identifier,LOCK Example with Lock Feedback Gains:P12376 = 0.5 : REM set lock gain axis 0 P12632 = 0.5 : REM set lock gain axis 1 LOCK XR XL : REM lock axis X-right to axis X-lefts primary setpoint XL /20 : REM start motion axis XL, axis XR also moves due to lock UNLOCK XR : REM unlock axis XR,Add “Lock Feedback Gain” for skew compensation of gantry systemsAssures perfect coordinationIf one of the locked axes binds, the other will compensatePrevents mechanical damage,LOCK Example with Lock Feedback Gains:P12376 = 0.5 : REM set lock gain axis 0 P12632 = 0.5 : REM set lock gain axis 1 LOCK XR XL : REM lock axis X-right to axis X-lefts primary setpoint XL /20 : REM start motion axis XL, axis XR also moves due to lock UNLOCK XR : REM unlock axis XR,Lock Function,Rotary Axis Functionality,Configures Axis as RotaryShortest Path to TargetAutomatic Rollover of PositionROTARY axislength in unitsExample:ROTARY X360PPU X(8000/360)RES XEXC X90VEL360 ACC3600 DEC3600 STP3600X10X195X0In this example set PPU X(8000/360) otherwise we have set the Rotary length to 360 revsTo cancel ROTARY function, set length to 0.0ROTARY X0,External Time Base,SRC sourcedefExample:SRC ENC2This command specifies the timebase for trajectory motionDefault velocity profile source is CLOCKOptions:NONECLOCKENC encoder #RATCH ratchet #Pnnnnn = System ParameterOnly POSITIVE encoder counts will be used for velocity profile,External Time Base,Use ENC8 as time source for motionSet your SRC back to CLOCK when finished!,PROGRAMSRC P6272ACC 10 DEC 10 STP 10 VEL 1X5Y5X0Y0INH 516SRC CLOCKENDP,Gearing Instructions,Electronic Gearing Basic Instruction ListGEAR command axisdataGEAR SRCSet electronic gearing source inputGEAR PPUScale electronic gearing source inputGEAR RATIOSet electronic gearing ratio (floating point #)For more accuracy, use (1/3) vs. 0.3333 to prevent driftExample:GEAR RATIO X5 Y(1/10)GEAR ACCSet gearing accelerationGEAR DECSet gearing deceleration,Gearing Instructions,GEAR ONTurn gearing on for specified axisGEAR ON XAXIS0 GEAR ONGEAR OFFTurn gearing off for specified axisGEAR OFF XGEAR RESClear or preload the Gear offset register andadd the difference to the Current PositionGEAR CLEARClear electronic gearing settingsGEAR axisTo view the current setting for a geared axis,Electronic Gearing,Block Diagram,Gearing,Gearing Program,PROGRAMRES X YREM This program will gear X axis to ENC8 with a ratio of 5:1REM and Y axis to ENC8 with a ratio of 2.5:1REM Set the electronic gearing source for X and Y (Use Encoder 8)GEAR SRC X P6272 Y P6272REM Scale the master for electronic gearingGEAR PPU X4000 Y4000REM Set gearing ratio at 5:1 for X (X axis will move 5 times ENC8 move)REM and gearing ratio at 2.5:1 for Y (Y axis will move 2.5 times ENC8 move)GEAR RATIO X5 Y(-(2+1/2)REM Turn on electronic gearingGEAR ON X YENDP,Ratchet Functionality,There are 8 Ratchets available (RATCH0 RATCH7)Used as master for Gearing/Camming/etc.Ratchet CommandsRATCH SRCDefine Ratchet SourceRATCH0 SRC ENC8RATCH MODEDefine Ratchet ModeRATCH0 MODE 1,Ratchet,Gearing from Ratchet Program,PROGRAMPPU X8000 Y25000REM This program will gear X axis to RATCH0 with a ratio of 5:1REM and Y axis to RATCH1 with a ratio of 2.5:1REM Set the electronic gearing source for X and Y (Use Encoder 8)GEAR SRC X RATCH0 Y RATCH1RATCH0 SRC P6272RATCH0 MODE 3RATCH1 SRC P6272RATCH1 MODE 3REM Scale the master for electronic gearingGEAR PPU X4000 Y4000REM Set gearing ratio at 5:1 for X (X axis will move 5 times ENC8 move)REM and gearing ratio at 2.5:1 for Y (Y axis will move -2 times ENC8 move)GEAR RATIO X5 Y-2.5REM Turn on electronic gearingGEAR ON X YENDP,Segmented CAM,Powerful and flexible CAM functionalityLinear interpolation between points, regardless of densityCAMs are not compiled (changes are real time)Far fewer points when building an electronic CAMMany points for complex segmentsFew points for simple segments,Camming Instructions,Electronic CAM Basic Instruction ListCAM command axisdataCAM DIMAllocate cam segmentsCAM SEGDefine cam segmentCAM SRCSet cam sourceCAM ONEnable camCAM ON XAXIS0 CAM ONCAM OFFDisable camCAM OFF X,Camming Instructions,CAM POFFDisable CAM at End of Current CAM CycleCAM RESClear or preload the Cam Offset register andadd the difference to the command positionCAM axisTo view the current setting for a geared axisCAM Parameter ListCAM Cycle The default value is 0. However, this value can be set to any positive number.CAM Segment ActiveIndicates the current CAM segment,Rotary Cam,CAM Example code:,PROGRAMRES X YCLEARDIM LA(2)DIM LA0(9)DIM LA1(5)REM - Enter data for array 0LA0(0) = 0LA0(1) = 73LA0(2) = 250LA0(3) = 427LA0(4) = 500LA0(5) = 427LA0(6) = 250LA0(7) = 73LA0(8) = 0REM - Enter data for array 1LA1(0) = 0LA1(1) = 0LA1(2) = -500LA1(3) = -500LA1(4) = 0REM continues in next column ,REM - Allocate two cam segments for X axisCAM DIM X2CAM SCALE X(1/P12375)REM - Define CAM segment 0 for a length of 500 unitsREM and use LA0 for its dataCAM SEG X(0,500,LA0)REM - Define CAM segment 1 for a length of 1000 unitsREM and use LA1 for its dataCAM SEG X(1,1000,LA1)REM - Set pointer to the memory area for encoder 2CAM SRC X P6272REM - Reset counters before turning on CAMP6272 = 0CAM RES XCAM SRC X RESCAM ON XENDP,Camming on-the-fly,Using CAM ON or CAM ON TRG when the cam source input is continuously moving, you will need to issue the CAM SRC axis RES to prevent the cammed axis from jumping.Example:REM - Turn cam on after resetting the cam source offsetCAM SRC X RESCAM RES XCAM ON X-or-CAM SRC X RESCAM RES XCAM ON X TRG(0,0),Backlash and Ballscrew Compensation,Automatic compensation for backlash in mechanical system when changing directionCompensation for pre-mapped inaccuracy of ballscrew along the length of travelSet for units, not counts,Programmable Limit Switch,PLS Basic Instruction ListPLS0 PLS7 available for usePLSindex command dataPLSn SRCSet PLS input sourcePLSn BASEAttach array to PLSPLSn RESReset or preload counterPLSn ROTARYSet PLS rotary lengthPLSn MASKSet PLS output bit maskPLSn RATIOSet PLS scaling ratioPLSn ONEnable PLS updatePLSn OFFDisable PLS update,PLS,PLS exampleBest to put as ratio because of 64bit floating point,PROGRAMCLEARDIM LA(1)DIM LA0(8)PLS0 BASE LA0PLS0 SRC P6272 : REM use ENC8 for SRCPLS0 MASK 63 : REM use first 6 outputsPLS0 Ratio (1/250) : REM 1/250 change per increment of SRCPLS0 ROTARY 4000 : REM pattern repeats every 4000 SRC cnts : REM Outputs will be off for second half : REM rev.LA0(0) = 0LA0(1) = 33LA0(2) = 51LA0(3) = 63LA0(4) = 30LA0(5) = 12LA0(6) = 45LA0(7) = 18PLS0 ONENDP,Hardware Position Capture,INTCAP axismode = Interrupt CaptureExample:INTCAP X2ACR9000/9030 onboard triggers100ns latency z-channel 400ns latency hi-speed triggerACR9030/9040 EPL triggers50ns latency z-channel200ns latency hi-speed triggerExample:INTCAP X2 Y3 Z10 A11 one trigger input which captures each respective encoder position.Which Input?Example: INTCAP X2 CAP1 P12292Which Input? Which Capture complete flag?,INTCAP X2INH 777PRINT P12292,Hardware Position Capture,Capture RegistersACR9000, Total of 8 Capture Registers.Capture Register 0 3 can only be used for Axis 0 3 and ENC8Capture Register 4 7 can only be used for Axis 4 7 and ENC9Note: ENC8 and 9 needs to be attached to an Axis as Position Feedback to use INTCAP MSEEK axis(incmove, mode) capture registerMarker Seek OperationExample:MSEEK X(200, 2) : REM looking for INP24MSEEK X(200, 2) CAP2 P12804 : REM looking for INP26Start an incremental move and begin looking for marker.When marker is located, decelerate to stop.Reverse direction and move back to where marker was located.Reset encoder to zero and terminate MSEEK mode,Hardware Position Capture,High-speed Interruptible Move (Registration Moves) HSINT axis (mode,target,incmove,window,wstart,abortbit) CAP capture_registerExample: HSINT X/(2,100,75,10,20,25) CAP0Intcap mode 2 (Rising Primary External, Input 24)100 unit move looking for input75 unit reg move10 unit window starting after 20 units into the moveMove aborted by input 25Store position captured in Capture register 0 (P12292),Trigger Based Gearing,GEAR ON axis TRG(mode, capture reg.) OFFSET valueEnable Gear on external source triggerExample: GEAR ON X TRG(2,0) OFFSET 1000GEAR OFF axis TRG(mode, capture reg.) OFFSET valueGEAR ON axis + IHPOS setpointEnable Gear on Source Encoder PositionExample: GEAR ON X + IHPOS 500,Trigger Based Camming,CAM ON axis TRG(mode, capture reg.)Enable Cam on external source triggerExample:CAM ON X TRG(2,0)“Cam Cycles” Parameter (Default = 0)CAM POFF Axis Disable CAM at the End of Current CycleCAM OFF Axis Will stop the CAM cycle right away.,CAM SRC Y0CAM ON Y TRG(2,0).CAM OFF Y,Data Sampling,SAMP Basic Instruction ListSAMP0 SAMP7 = Eight sample channels availableSAMPchannel command dataSAMPn SRCSet sample sourceSAMPn BASESet sample baseSAMPn CLEARClear sample channelsSAMP TRGSet sample triggerData Sampling ControlBIT 104Sample Trigger ArmedBIT 105Sample In ProgressBIT 106Sample Mode Select (Snapshot Mode or Movie Mode)BIT 107Sample Trigger Latched,Data Sampling,Data Sample Example,PROGRAMDRIVE ON XCLEARDIM LA(1)DIM LA0(500)DIM SA(1)DIM SA0(500)DIM LV(1)SAMP CLEARSAMP0 SRC P12290 : REM axis0 current positionSAMP0 BASE LA0SAMP1 SRC P12319 : REM axis0 output signalSAMP1 BASE SA0CLR 106 : REM select automatic samplingP6915 = 10 :REM set sampling rate to 10ms per sampleSAMP TRG 516 : REM define master 0 in motion flag as triggerSET 104 : REM arm the sample triggerX/100 : REM move axis / start sampleINH 104 : REM wait for sample to finishPRINT “AXIS0 CURRENT POSITION DATA”FOR LV0 = 0 TO 499 STEP 1 PRINT “Position = “;LA0(LV0);” , DAC = “; SA0(LV0); “ volts” DWL 0.01NEXTENDP,Time-Based Moves,Controller automatically calculates master profile to perform moves in specified time.TMOV Basic Instruction ListTMOVSet time-based move time, secondsTMOV ONActivates time-based movesTMOV OFFDisables time-based movesUser settings of ACC, DEC, STP, VEL will be maximum allowable calculated values,Time-Based Moves,TMOV Example,PROGRAMPPU X4000 Y25000ACC 50 DEC 50 STP 50 VEL 7TMOV ONTMOV 0.5X1X/4TMOV 1.0X/4X7TMOV OFFX0ENDP,SPLINES,Cubic Spline InterpolationController calculates smoothest path through pointsInterpolation can be time based or velocity basedIntersects every point definedAllows complex path with very few points,NURBS,Non Uniform Rational Bezeir SplineMethod of defining free form curves with few control pointsInterpolation modes can be time based, smooth, or dynamicPath does not intersect every pointUsed in high speed machining for better surface finish,3 Point Arcs,2D and 3D arc generationJust specify start point, end point, and intermediate point,Automatic Tangential Orientation,Orients Theta axis to user selected angle along any X-Y pathWill delay next move to allow theta axis to orientExample:TANG Z X Y ANG 90,Inverse Kinematics,Non-linear mechanical system controlAllows programming in cartesian coordinates for systemUseful for robotic arms,A Different Method of Axis Tuning Using the Scopes,Axis Tuning,Axis tuning commandsPGAINProportional Gain, V/Count ErrorDGAINDerivative Gain, V/Count/SecIGAINIntegral Gain, V/Sec/CountILIMITIntegral Windup LimitFFVELVelocity Feed ForwardFFACCAcceleration Feed Forward,Axis Tuning,Default GainsProportional Gain (PGAIN) = 0.0024414Equals 10 Volts 4096 Counts of ErrorTorque Limit (TLM) = 10All other gain settings = 0NOTE:When using STEPPER for axis command, DO NOT change default axis gains! (#1 cause of stepper application startup problems.),Servo Tuner,Open from Project Tree,Servo Tuner Setup,Setting up the Servo Tuner Click on the “MOTION” button to set up the desired motion to be used in tuning process.Enter the code shown at right. Be sure to check the “Download Commands to” boxClick on “OK”,Servo Tuner Setup contd,Click on the SAMPLING buttonSelect “Onboard Sampling”“Servo Period”Click on “” in “Trigger Source” box,Servo Tuner Setup contd,Select a bitUsing the dropdown menus select Master0 In Motion flag, bit 516,Servo Tuner Setup contd,Set up ScopeTime Scale 500 ms/divCH1Axis 0 Secondary Setpoint2Ku/divCH2Axis 0Actual Position2Ku/divCH3Axis 0Following Error2Ku/div,Running Servo Tuner,RUNSets up SAMP channels onceContinuously runs code and uploads samplesClick STOP to quit samplingSINGLESets up SAMP channels each timeRuns once and stops samplingTry clicking on RUN,Running Servo Tuner,ONBOARD SAMPLINGAdjust the timebase to give a reasonable resolution of the trace. (20 ms/div)“Timebase” selection at RUN or SINGLE dictates how many samples the controller captures*. Start at 500 ms/div for the most sample.Use ZERO to recenter the waveform if you have adjusted the slider bars* Onboard sampling only,Extra Information and Additional Features,Axis Limits,ALM axisvalue or axis(high, low)Set stroke limit ACommand sets the command position limits monitored by the “A limit” flagsWhen command position for axis is within these limits, the appropriate flag is setBLM axisvalue or axis(high, low)Set stroke limit BCommand sets the command position limits monitored by the “Not B limit” flagsWhen command position for axis is outside these limits, the appropriate flag is set,Axis Limits,JLM axisvalue or axis(plus, minus)Set jog limitsMust set “Jog Limit Check” bit for limits to functionDoes not affect JOG INC or JOG ABS moves,Axis Limits,So, how should we handle software and hardware limits in OUR applications?We must kill all motionCammingJoggingGearingInterpolated motionOn ALL axes?Stop the program (?)Depends upon your application,ACR Serial Communication,For standalone applications, the ACR Card has built in commands to facilitate talking to a “dumb” terminal and getting keystrokes.OPEN - Opens a communication port for use in a programKBHIT - Checks if there is a character in the buffer waiting to be readINKEY$ - Returns a waiting Key in the buffer. Returns a null if buffer is empty.PRINT - Prints literal or an expression to the port.GETCH - Returns a character from the buffer. Waits if buffer is empty.CLOSE - Closes the open communication port.INSTR - Allows string manipulation.LCASE$ - Converts string expression to lower case.LEFT$ - Returns Leftmost “n” characters from a string.LEN - Returns the length of a string. wait, theres still more!,Serial Communication (contd.),More commandsMID$ - Returns characters from the middle of a string.RIGHT$ - Returns rightmost “n” characters from a string.SPACE$ - Returns a string of “n” spaces.STR$ - Converts a numerical expression to a string.STRING$ - Returns a string of specified characters.UCASE$ - Returns an upper case image of a string.VAL - Converts a string expression into a number.,Serial Communication (contd.),Example20 DIM $V(1,10)30 OPEN COM1:19200,N,8,1 AS #140 PRINT #1,50 PRINT #1, What kind of fruit do you want?60 PRINT #1, (A)pple, (B)anana, (C)oconut70 PRINT I would like to have a(an) ;100 $V0 = UCASE$(INKEY$(1)110 IF ($V0 = A) PRINT APPLE : GOTO 50120 IF ($V0 = B) PRINT BANANA : GOTO 50130 IF ($V0 = C) PRINT COCONUT : GOTO 50140 IF ($V0 = CHR$(27) GOTO 200150 IF ($V0 = X) GOTO 200160 IF ($V0 = ) GOTO 100170 PRINT #1, : PRINT #1, Not a valid choice 180 PRINT : PRINT INVALID SELECTION190 GOTO 50200 PRINT #1, PROGRAM TERMINATED”210 CLOSE #1,ACR9000 + Aries Servo Drive,DriveTalkTM Automatically maps drive status info to ACR9000 memory registersCan be used to set-up parameters in the driveUse drive data within a program (e.g., error handling, display to HMI)Drive Data ParametersDrive StatusDrive ConfigurationError logCommunicate directly to a drive, controller acts as passthrough,DriveTalkTM,ACR9000 Features (Drive Talk),Multi-drop 2-wire RS485 on Axis connectors Primarily designed with Aries drive but compatible with other RS485 devicesInterfacing to Compax3 as FAQ on websiteRequires use of Aries “dongle”Allows full setup and status checking of Aries driveNew commandsOPEN DTALKTALKTO,DTALK Sample (Aries),DTALK ExampleTry this code on the drive that is being passed around,PROGRAMCLOSE #1AXIS 2 DRIVE RES: REM Drive must be reset to autodetect RS485DWL 2: REM wait until drive is resetOPEN DTALK COM2:9600,N,8,1 AS #1 : REM open port for communicationP29184 = 1: REM set axis2 to use #1 for communicationsSET 10560: REM automatically address