acr9000培训课件 英文版（上）

ACR9000 Programmers Course,Parker ACR9000产品培训 （上）,英文版,ACR9000 Training Agenda,IntroHardwareSoftware ArchitectureACR-View NavigationACR-View PracticalMotionProgrammingAdvanced programmingMotion-contPLCTuning,（中）,（上）,（下）,ACR9000 Part Numbering,Part Number Nomenclature:,P0 RS232/485 P1 RS232/485 /Ethernet /USBP2 RS232/485 with CANopen I/OP3 All of the above,U2 2 Axes, 3 Encoder inputsU4 4 Axes, 5 Encoder inputs U6 6 Axes, 8 Encoder inputsU8 8 Axes, 10 Encoder inputs,M Std Flash memoryB-Battery Backed RAM,0-no option cards1-12 bit ANI,P3,U4,M,0,9000P3U4M0 4-axis controller with RS232/485 , Ethernet/USB, ExpansionI/0,P1 and P3 are the current communication options available,ACR9030 P/Ns,ACR9040 - P/Ns,9030 vs. 9040 EPL controllers,9030“The EPL Hybrid”120/240 VAC 2 EPL portsUp to 8 servo/steppersOnboard I/O1 or 2 Aux encoders,9040“EPL Slim” 24 VDC2 EPL portsNo servo/steppers I/O thru Drives or CANopen only,Aries EPL - P/Ns,Aries EPL,Based on existing Aries platformPosition ModeAuto-Tuning !AR-04, AR-08, and AR-133A, 4.5A, 6.3A RMS continuous120/240VAC input2 Powerlink ports7 inputs (4 General / 3 Triggers), 4 outputsConfiguration via ACR-View,Compax3 EPL P/Ns,Your Text Here,Compax3 EPL,Based on existing Compax3 platformPosition ModeTuning is done in Compax3Integrated 2-port Ethernet hubFrom 2.5 to 155 A RMS continuous current120/240/480 VAC single and three phase power inputBuilt-in regeneration and line filtering Quadrature encoder, absolute encoder and resolver feedbackCE (EMC & LVD), UL and cUL recognized,ETHERNET Powerlink System,CANopen,4 inputs3 high speed inputs4 outputs,4 i3 HS i4 o,4 i3 HS i4 o,12 inputs8 high speed inputs4 outputs,Master Encoder,9030 system with master encoder, available now,ETHERNET Powerlink System,4 inputs3 high speed inputs4 outputs,4 i3 HS i4 o,4 i1 HS I*4 o*Master encoder input uses 2 high speed inputs5VDC is NOT available for encoder power on this connector,Master Encoder,Master Encoder (coming soon),ACR9040 with Master Encoder,ETHERNET Powerlink Digital Motion Bus,ETHERNET PowerLinkDigital motion bus High speed digital ethernet replaces analog +/- 10V controller to drive signalsDeterministic, real-time motion solution,Powerlink-Just that Simple,ETHERNET Powerlink is an open standard,ETHERNET Powerlink Standardization GroupNo single company owns or dominates the technology,,EPL MotionBus,Controller (MN - Managing Node)Motion Program Trajectory generation Synchronization I/O supervisionExpansion I/O,Drive (CN - Controlled Node)Servo Loop ControlLocal I/O (limits and home)High speed inputs,ETHERNET Powerlink What you get.,500usec Cycle TimeFLASH RES ! WARNING ! This will clear/reset everything on the controller. Continue (y/n)? All programs and user settings will be lost. Continue (y/n)? Busy Press Enter key twice and then recycle power,Start Configuration,Click on Configuration Wizard to start controller setupFirmware level should be 1.18.15 or higher,Configure Axis Zero,Alias “X”Using DAC0Aries DriveBE motor w/ “J” enc.Units as RevolutionsInput _ as POS Hard LimitPOS/NEG Hard Limits are _ Switches,Tune the Servo Axis,Each servo axis will have its own tuning window.Only does step movesTune your axes:Set Derivative Gain up one clickEnable DriveCheck that drive is enabledClick on “Pos Step Move” and “Neg Step Move”Adjust Gains to tasteValues for this class may vary, but try:Derivative of 0.00005Proportional of 0.01,Test Axis Setup,Use commissioning screen to test setup of axisConfigure homing and jogging parametersTest motion and I/OView Commanded and Actual PositionView Status Bits,Configure Axis One,Alias “Y”Using Stepper1E-AC driveUnits as RevolutionsTransmission “None”Input _ as POS Hard LimitPOS/NEG Hard Limits are N.C./N.O. Switches,Configure Axis Two and Three,Set Command Output to “NOT USED”ACR9000s DSP no longer wastes time updating the servo loop on unused axes.,Wizard Generated Code:ATTACH AXIS0 ENC0 DAC0 ENC0AXIS0 PPU 8000SET BIT8468SET BIT8469ENC0 SRC 0ENC0 MULT 4DAC0 GAIN 3276.8AXIS0 ONATTACH AXIS1 STEPPER1 STEPPER1AXIS1 PPU 25000SET BIT8500CLR BIT8496SET BIT8502CLR BIT8501AXIS1 ON,Configuration wizard generates the ATTACH AXIS command to configure the axes for servo or stepper controlEach ACR9000 axis has circuitry to be used for servo or stepper drive control Encoders cannot be attached to a stepper axis using ACR-View For legacy (non-ACR9000) controllers, it will invert the DAC GAINConfiguration wizard also generates SET/CLR for appropriate flags to control Parker stepper drives,What it does,SET 8500 : REM Enable Drive I/OCLR 8496 : REM stepper output is Step & DirectionCLR 8502 : REM drive enable serves as shutdown outputCLR 8501 : REM Enable EXC response (EER),Coordinate Systems,ACR capable of handling up to 8 coordinate systems-known as MASTERs (16 for 9030/9040)A single system can have up to 8 axes, aka-SLAVEs (16 for 9030/9040)Coordinated axes should be grouped togetherMASTER is the motion generator SLAVE depend on MASTER for the profile VEL, ACC, DECEach MASTER is automatically assigned to program by ACR-View,Coordinate Systems,Multiple Coordinate system can be can controlled separately. Allows associated axes to be locked together to be commanded as a single axisDifferent motion profiles for different axes groupsLinear interpolation, by default,Program Axis Attachments,Attachments Using ACR-ViewSelect AxesSelect Master“Move Axes To Master”A limitation of ACR-View is that axes must have same units to be assigned to the same Master.,Interpolated Motion Settings,Set Master Profile ParametersACC/DEC/STPVELJRK,Interpolated Motion Settings,MASTER profiling commandsACCAcceleration Rate for Master, units/sec/secExample:ACC 10DECDeceleration Rate for Master, units/sec/secUsed for tiered move profilesONLY used if STP is zeroExample:DEC 10STPDeceleration Rate to attain FVEL at end of current move.Motor will “stop” using this rate, units/sec/secExample:STP 10VELTarget Velocity for Master, units/secExample:VEL 1JRKControls the slope of the acceleration vs time profile.Useful for S-curve profiling.,Memory Allocation,Allocate Memory250,000 for Program 0*10,000 for Program 110,000 for Program 21000 for PLC 01