AB伺服编程基础

南区GOTC(全球OEM技术参谋)李金otionBasicTraining

伺服编程〔1〕根底课伺服运动根底编程10StepstoDevelopingControlLogixMotion:伺服运动根底编程包含以下10个步骤Createnewprogram创立一个新程序Enabletimesynchronization使能时间同步Createmotiongrouptag创立运动组标签CreateAxistag创立轴标签Addmotionmodule添加伺服驱动器Assignaxestomotionmodule分配轴到伺服驱动器Configuremotiongroup配置运动组属性Configureaxes配置轴的属性Performhookuptestandtuneaxes执行测试和整定轴Writelogictoperformmotion写执行运动的逻辑程序2(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.31.CreatingaProject

1.创立一个工程程序1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创立运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProject

TimeMasterInallControlLogixchassis(singleandmultiplecontrollers),oneofthecontrollersneedstobesetasthereferenceclock.Thiswillsynchroniseallthemotionmodules,otherLogixcontrollersandI/Ocardsinthechassistoasinglemasterclock.Theprocessofsettingupacontrollertobethereferenceclockiscalled“Makingthiscontrollerthemaster”.在所有的ControlLogix机架上〔单个或多个控制器〕，控制器中的其中一个需要设定参考时钟，这将使所有的运动模块同步，其他机架上的Logix控制器和I/O卡使用单独的主时钟，设定控制器参考时钟的过程被称为“确定主控制”Note:Therecanonlybeonemastercontrollerperchassis.注意：每个机架上只能有一个主控制器TechnoFact:

Ifyouhavemorethanonecontrollerinthechassis,chooseoneofthecontrollerstobethetimemaster.Youcan’thavemorethanonetimemasterforthechassis.InaControlLogixmotionapplication,youmustdefineacontrollerasthetimemaster.技术事实：如果机架上你有超过1个控制器的，选择其中一个为主时钟，在机架上你不能有超过1个的主时钟，在ControlLogix运动应用中，你必须定义一个控制器作主时钟4(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CST&PTPCoordinatedSystemTime(CST)Master协调系统主时钟RSLogix5000v17andearlier.RSLogix5000v17版本及之前WhenthereisaCSTmasterinthechassis,allofthemotionmodules,I/Omodules,andcontrollersinthatchassiscankeeptheirCSTclockssynchronized.当机架上有协调系统主时钟时，所有机架上的的运动模块，I/O模块，和控制器能够保持时钟同步。PrecisionTimeProtocol(PTP)GrandmasterClock精度时间协议〔PTP)RSLogix5000v18andlaterRSLogix5000v18版本及以后版本TheGrandmasterClockisusedtosynchronizemotionmodules,I/Omodules,communicationmodules,andcontrollerswithinaControlLogixchassis.顶级时钟被用在ControlLogix机架上的运动模块，I/O模块，通讯模块，和控制器Startinginv17,thereisanoptiontosettheCSTMaster/EnableTimeSynchronizationinthedownloaddialogifitisnotalreadyset从V17版本开始，如果没有被设定，在下载对话框里可以选择设定CST主/使能时间同步TimeSynchronizationisrequiredformotiontooperateproperly!运动的正常操作必须要时间同步5(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000v17和早期版本，设定协调系统主时钟如下步骤IntheControllerOrganizerwindow,rightclickonthecontrollerfolderandselect‘Properties’ORclickonthecontrollericon在控制器组织窗口中，点控制器文件夹右键选择“属性”或者点击控制器符号Clickhere点这里Orright-clickandselectProperties或者右键选择属性6(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingthemastercoordinatedsystemtime:设定主协调系统时间Clickonthe‘Date/Time’taboftheControllerPropertiesdialogbox.点击控制器属性对话箱的“日期/时间”标签Clickhere7(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingtheMasterCoordinatedSystemTime设定主协调系统时间AfterselectingtheMastercontroller,click‘OK’tocompletetheoperation在设定主控制器后，点击OK完成操作TechnoFact:

AmotionmodulecanbeownedbyaControlLogixcontrollereventhoughthecontrollerisnottheCSTmaster.SinceanothercontrollerinthechassisistheCSTmaster(musthaveamasterinamotionapplication)youwillreceiveawarningwhiledownloadingandduringprogramverificationregardingtheCSTmaster.技术事实：一个运动模块可以拥有一个ControlLogix控制器，即使控制器没有主协调时间。因为机架其他控制器是CST主（在运动引用中必须有一个主），当下载和程序核实CST主时你将收到警告Click8(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization使能时间同步Click‘OK’tocompletetheoperation点击“OK”完成操作Click9(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.10CreatingaProject

CreatingtheMotionGroup1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创立运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProject

CreatingaMotionGroupCreatingaMotionGroup:创立运动组Allusedaxesmustbepartofthemotiongroup所有轴必须是运动组的一局部OnlyonemotiongroupisallowedperControlLogixprocessorControlLogix处理器只能运行一个运动组AMotionGroupisacollectionofaxesthatcanbecontrolledbyasinglegroupinstruction.Therearefivemotiongroupinstructions.一个运动组是一个轴的集合，能被单独的组指令控制，这里有5个运动组指令Therearemultiplewaystocreateanewmotiongroup.这里有多种方法创立一个新运动组TechnoFact:

OnlyonemotiongrouptagisallowedperControlLogixcontroller.Allusedaxesmustbeassignedtoamotiongroup.技术要点：只有一个运动组标签允许在每个ControlLogix控制器中，所有的轴必须被分配至运动组中。11(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CreatingaMotionGroupRight-clickonthe‘MotionGroups’folderintheControllerOrganizer在控制器组织中‘MotionGroups’文件夹上右键点击Select‘NewMotionGroup’选择“新运动组”Givethemotiongroupaname给运动组取个名字12(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.13CreatingaProject

ConfiguretheMotionGroup1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创立运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性Right-clickontheMotionGroupfolder右键点击运动组文件夹Select‘Properties’选择“属性”Select‘Properties’14(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性AxisAssignmentTab轴分配标签AddorRemoveaxesfromtheMotionGroupasnecessary根据需要从运动组中添加或移除轴15(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性AttributeTab属性标签SettheCoarseUpdatePeriod设置大致更新周期EnableorDisableAutoTagUpdate,asdesired根据需要激活或禁止自动更新标签Enabledbydefault,thisisOKforthemajorityofapplications默认是激活，对大多数应用是OK的ViewMotionPlannerScanTimes查看运动规划扫描时间(readOnly)ScantimemustbelessthantheCUP

扫描时间必须小于CUP16(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriodCoarseUpdatePeriod伺服更新周期Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmotioninstructions.选择运动规划执行的周期，执行运动指令时，计算伺服命令被发送到模拟运动模块，SERCOS的驱动器，或CIP驱动器的位置和速度信息Ifthecoarseupdateperiodistoosmall,thecontrollermaynothavetimetoexecutenon-motionrelatedladderlogic.如果伺服更新周期太小，控制器可能没时间执行运动和梯形逻辑的关联Thenumberofaxesintheprojectsetsthelowerlimitonthecoarseupdateperiod.工程中轴的数量的设定低于更新周期限制17(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriodCoarseUpdatePeriod伺服更新周期Rangeofvalues:0.5msec–32msec值范围：0.5毫秒–32毫秒General“ruleofthumb:”1.0msecperaxisasastartingpoint常用的“经验法”：1毫秒每轴为出发点·Lessthan11axes—Setthecoarseupdateperiodto10ms.·11axesormore—Setthecoarseupdateperiodto1msperaxis.MinimumrecommendationsbasedonLogixprocessor:Logix处理器为根底的最低建议1756-L55:1.5msecperaxis(onlyavailablethroughv16)1.5毫秒每轴1756-L6x:0.25msecperaxis0.25毫秒每轴1768-L4x:0.25msecperaxis0.25毫秒每轴1756-L7x:0.125msecperaxis0.125毫秒每轴Onceconfigured,themotionplannerscantimesshouldbemonitoredwiththeapplicationrunningandmodifiedasneeded一旦配置好后，运动规划的扫描时间应与正在运行的应用程序进行监测，并根据需要进行修改Ifthecycletimeis2ms,setthecoarseupdateperiodto8ms,10ms,12ms,andsoon.18(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.19CreatingaProject

MotionControlTags1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创立运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProject

MotionControlTagsAMotionControltagmustbedefinedforeachmotioninstructionused一个运动控制标签必须定义每一个使用的运动指令Data-type:MOTION_INSTRUCTION数据类型：MOTION_INSTRUCTIONTagstoresstatusinformationabouttheinstruction标签存储关于指令的状态信息Eachmotioninstructionmustuseauniquecontroltag每一个运动指令必须使用唯一的控制标签Examples(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.20MotionModules&AxisTags

AxisTagsMotionAxisTypes:运动轴类型：Axis_Servo:aphysicalaxiswhichisconnectedtoanAnalogmotionmodule(1756-M02AE,1756-M02AS,or1756-HYD02).Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).连接到拟运动模块的一个物理轴〔1756-M02AE,1756-M02AS,or1756-HYD02〕。这些轴能有电机和反响设备或仅仅反响设备〔只反响〕Axis_Servo_Drive:aphysicalaxiswhichisconnectedtoaSERCOSDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).轴伺服驱动：连接到SERCOS驱动的物理轴，这些轴能有电机和反响装置或仅仅反响设备〔只反响〕Axis_CIP_Drive:aphysicalaxiswhichisconnectedtoaCIPDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).轴CIP驱动：连接到CIP驱动的物理轴。这个轴能有电机和反响设备或仅仅反响设备〔只反响〕Axis_Virtual:atheoretical(imaginary)axiswhichisexistsintheControlLogixprocessor.Thereisnohardwareassociatedwithavirtualaxis.虚轴：一个存在于ControlLogix处理器中的理想轴，没有硬件关联一个虚轴21(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisTagsMotionAxisTypes:运动轴类型Axis_Consumed:aphysicalorvirtualaxiswhichisownedbyanotherControlLogixprocessorwithinthesamerack.OneControlLogixprocessorproducestheaxisinformationtobeconsumedbyotherControlLogixprocessors.ProducedandconsumedaxisareusedtoshareaxisinformationbetweenmultipleControlLogixprocessors轴消费者：一个物理或虚拟轴被其他在同一个机架里的ControlLogix处理器拥有。一个ControlLogix处理器产生轴信息被其他处理器所消费。轴的生产者和消费者被用来在多ControlLogix处理器及之间共享轴信息Axis_Generic:agenericaxisobjectrepresentsanaxiswithfullmotionplannerfunctionality,butnotassociatedwithanydevicethatrequiresmotionconfigurationsupport(e.g.,DriveLogixor1756-DM).轴_通用：一个通用的轴对象代表一个完整的运动规划功能轴，但是不关联任何需要运动配置支持的设备Axis_Generic_Drive:ThirdpartySERCOSdrive;i.e.Indramat,Bosch,etc.轴_通用_驱动：三方SERCOS驱动；如，Indramat，博士等等22(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.AxisProperties

CIPAxisDialogCIPAxisCIP轴UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_CIP_DRIVE:使用这个对话框配置数据类型是AXIS_CIP_DRIVE的轴属性CIPaxeshavethefollowing“Categories”:CIP轴如下“类别”General常规Motor(SubModel)电机〔替代模式〕MotorFeedback电机反响Scaling比例HookupTests连接测试Polarity极性Autotune自整定Load(SubsBacklashCompliance,Friction)负载〔替代间隙，统一，对立〕PositionLoop位置闭环VelocityLoop速度闭环AccelerationLoop加速闭环Torque/CurrentLoop力矩/电流闭环Planner规划Homing回零Actions激活DriveParameters驱动参数Status状态FaultsandAlarms故障和报警Tag标签(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.23CIPAxisAxisProperties

CIPAxisDialogCIPAxisParameterPageCIP轴参数页面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup:除了上页中得到的参数外，在组里参数页面显示所有的驱动参数(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.24CIPAxisVirtualAxes

Whatyouwilllearn:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.Animaginaryaxiswhichresidesinthecontroller.在控制器中一个虚构的轴Providescommandpositionupdatecapabilitywithoutrequiringaphysicalaxis.提供命令位置更新能力不依赖于物理轴Actualpositiontracksthecommandexactly.命令没有实际位置轨迹Nolimitswithrespecttovelocity,acceleration,ordeceleration.没有速度，加速度，或减速度限制Virtualaxesdonotrequiretuningorhookuptests.虚轴不要求自整定或hookup测试Virtualaxesdonotfault.虚轴没有错误VirtualAxes

WhatisaVirtualAxis:26VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

UsingaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴VirtualAxes

UsingaVirtualAxis:Programmingforavirtualaxisisthesameasforanyphysicalaxis.设计一个虚轴是和物理轴一样的DoesnotrequireMSO,MSF,orMAFR不需要MSO,MSF或MAFRAvirtualaxiscountstowardthemaximumaxiscountforyourprocessor.一个虚轴的数量占用处理器的轴数量Whenusingavirtualaxis,youneedtoconsideritwhenspecifyingthemotiongroupupdaterate.当使用虚轴时，你需要考虑指定运动组更新率Asastartingpoint,agoodruleofthumbis1msecpervirtualaxis作为一个起点，一个好的经验法那么是每虚拟轴1毫秒Whenfollowingavirtualaxis(gearorcam)thereisnodifferenceinspecifying“actual”or“command”fortheMasterReference.当一个虚拟轴〔齿轮或凸轮〕没有指定主参考“实际”或“命令”的区别(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.36(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.37MotionStateandFaultHandlingInstructions

Agenda1.MotionInstructionOverview运动指令概述2.MotionInstructionErrors运动指令错误3.MotionStateInstructions运动状态指令4.FaultHandlingInstructions故障处理指令MotionStateandFaultHandlingInstructions

MotionInstructionsOverview运行状态和故障处理指令运行指令概述AsofRSLogix5000v16,thereare40motioninstructions从RSLogix5000v16起，总共有40个运动指令Only36motioninstructionsavailableforCompactLogix仅36个运动指令对CompactLogix有效1newinstructioninv19isforthePowerFlex755onCIPonly在v19中有1个新指令仅对CIP上的PowerFlex755有效Themotioninstructionsetconsistsofsixgroupsofinstructions:运动指令集包含6组指令Motionstateinstructions运动状态指令Motionmoveinstructions运动位移指令Motiongroupinstructions*运动组指令Motioneventinstructions*运动事件指令Motionconfigurationinstructions*运动配置指令Motioncoordinatedinstruction*协调运动指令38(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MSO(MotionServoOn)〔运动伺服使能〕MSO(MotionServoOn)MSO〔运动伺服使能〕Directlyactivatesthedriveandenablestheconfiguredservoloopsassociatedwithaphysicalservoaxis直接激活驱动，并使配置伺服回路与一个物理伺服轴联结Mostcommonuseofthisinstructionistoactivatetheservoloopforthespecifiedaxisinitscurrentpositioninpreparationforcommandingmotion该指令最常见的用途是在备用于指挥运动的当前位置为指定轴激活伺服回路。LookforbitAxis.ServoActionStatustoindicatetheservoloopsweresuccessfully查找位元Axis.ServoActionStatus，显示伺服回路ServoActionStatus成功启用39(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructions

MSO(MotionServoOn)运行状态和故障处理指令MSO〔运行伺服使能〕MSO(MotionServoOn)MSO〔运动伺服使能〕(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.40MSF(MotionServoOff)〔运动伺服关闭使能〕MSF(MotionServoOff)MSF〔运动伺服关闭使能〕Directlyandimmediatelyturnsoffdriveoutputanddisablestheservolooponanyphysicalservoaxis.直接即时关闭驱动输出，禁止任何物理伺服轴上的伺服回路Disablesanymotionplannersthatmaybeactiveatthetimeofexecution禁止任何可能在执行时活动的运行规划Positioncontinuestobetrackedwhenaxisisdisabled当轴被禁用时位置继续进行跟踪Axisstoppingbehavior(ifaxisisinmotionwhenMSFisexecuted)dependsontypeofdrive41(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMSF(MotionServoOff)MSF(MotionServoOff〕〔关闭伺服使能)TechnoFact:IfyouexecuteanMSFinstructionwhiletheaxisismoving,theaxiscancoasttoanuncontrolledstop.Thisinstructionisnotrecommendedfornormalstopping.UsetheMotionAxisStop(MAS)instructionforthatpurpose.当轴在运动中执行关闭伺服指令，轴将不受控的停止，这条指令不建议作为通常停止指令，使用运动轴停止停止指令42(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.43MotionStateandFaultHandlingInstructions

FaultHandlingInstructions1.MotionInstructionOverview运动指令概述2.MotionInstructionErrors运动指令错误3.MotionStateInstructions运动状态指令4.FaultHandlingInstructions故障处理指令MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset运动故障复位)UsetheMAFRinstructiontoclearallmotionfaultsforanaxis使用MAFR指令去除轴的所有故障Removesthefaultstatus排除所有故障状态DoesNOTperformanyotherrecovery,suchasenablingservoaction不要执行重启，比方激活伺服使能Usuallypartofafaulthandlingprogram出错处理程序IftheconditionthatcausedthefaultstillexistswhentheMAFRinstructionisexecuted,theaxisimmediatelyfaultsagain当运动故障复位时，仍然错误存在错误，轴将在次报错Thisscenariogivestheimpressionthatthefaultwasnevercleared这个方法感觉故障从来没被去除Example:Axishitsahardwareovertravelsensorandfaults.AnMAFRcommandisexecutedwithoutmovingtheaxis.Axisimmediatelyfaultsagainduetothehardwareovertravelcondition.例如：轴的硬件采样超过了传感器行程引起错误，MAFR指令不能移动轴，轴又立刻报错因为硬件超过了行程条件44(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset运动轴故障复位)45(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsManuallyClearingAxisFaultsManuallyClearingAxisFaults手动去除轴故障Axisfaultscanbeclearlymanuallywhenonlinewiththecontroller控制器在线时，能够手动去除轴故障Right-clickontheaxislistedintheMotionGroupfolder运动组文件夹里的轴清单处点击右键Select‘ClearAxisFaults’选择“去除轴错误”Thismethodisonlyrecommendedwhiletroubleshootinganddebugginganapplicationprogram这种方法只在调试工程和维修时推荐使用46Right-clickonthefaultedaxis,select‘ClearAxisFaults’(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset轴关闭复位)UsetheMASRInstructiontotransitionanaxisfromanexistingShutdownstatetoanAxisReadystate使用MASR指令使轴从关闭状态到轴准备状态Anyfaultsassociatedwiththespecifiedaxisareautomaticallycleared一个指定的轴采用自动去除故障是错误的ThiswasnottrueforinitialreleasesofRSLogix5000这可能没被RSLogix5000所正式发布IfthemodulesupportsanOKcontactandnoothermoduleaxisisintheShutdownstate,theOKrelaycontactisclosedOK如果模块支持OK接触器且没有其他轴模块在关闭状态，中间接触器闭合Norecoveryactionsaretaken,suchasenablingtheservoloops没有恢复激活，比方伺服环处于使能47(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset轴关闭复位)48(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset轴关闭复位)Changestoaxisstatusbits:改变轴状态位AxisremainsdisabledafterMASRhasbeenexecuted在轴关闭复位后轴仍然保持在禁止状态Axis.ServoActionStatusisFalseServoloopisinactive伺服环没激活Axis.DriveEnableStatusisFalseDriveoutputisinactive驱动输出没激活49(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsCommonFaultResetLogicCommonFaultResetLogic常用的故障复位逻辑When‘FaultReset’inputisrequested:当故障复位输入被请求LogicchecksforShutdownStatusonanaxis在轴上确定关断逻辑IfanaxisisinaShutdownState,theShutdownResetinstructionclearstheshutdownconditionandanyfaultsonthataxisarecleared(assumingthecauseofthefaulthasbeencorrected)如果在在关断状态，关闭复位指令去除关断条件，并且轴的故障也被去除〔如果导致故障的条件被修正〕IftheaxisisnotinaShutdownState,secondbranchoflogicisexecuted如果轴没在关断状态，第二个分支逻辑将被执行Ifanaxishasanexistingfaultcondition,theFaultResetinstructionclearstheaxisfaults(assumingthecauseofthefaulthasbeencorrected)如果轴存在错误条件，故障复位指令去除故障〔如果导致故障的条件被修正〕50(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown关闭运动轴)UsetheMASDinstructiontoforceaspecifiedaxisintotheShutdownstate使用MASD指令强制关闭指定轴状态Driveoutputisdisabled驱动输出没使能Servoloopisdeactivated伺服环没激活AssociatedOKrelaycontactsopen(analogaxes)OK中间继电器处于释放状态SetsbitAxis.ShutdownStatus设置轴关断状态位Allcurrentmotionprocessesarecancelled所有的当前运动处理被取消MotionstatusbitsandmotioninstructionIPbitsarecleared运动状态位和运动指令IP位被去除MotioncommandsforthataxisareblockedfromexecutionwhileanaxisisintheShutdownstate当轴处于关闭状态那么轴的运动指令被封锁，51(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown运动轴关闭)52(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.53MoveInstructions

Agenda1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并运动指令MoveInstructions

MotionMoveInstructionsMotionMoveInstructions运动移动指令

Thiscategoryincludesallmotioninstructionsthatcauseordirectlyaffectaxismotion.Theseinstructionsincludemoving,jogging,gearing,stopping,camming,etc.Thiscategoryalsoincludesmotioninstructionsthatdirectlymodifycurrentaxispositionthataretypicallyusedtoreferencethespecifiedaxistosomeabsolutephysicalpositionoftheaxis.Instructionstoredefineaxispositionandperformahomingsequencesfallunderthiscategory.包括所有的运动指令，间接或直接影响轴运动，这些指令包括，移动，点动，齿轮，停止，凸轮等。也包括直接修正当前轴位置的运动，通常用于指定的轴的轴的绝对物理位置。从新定义轴位置的指令和执行回零序列都包含在此类中。Theseinstructionswillbetaughtindetailinadvancedtraining这些指令将在伺服高级培训中讲到54(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstructionMAM(MotionAxisMove)轴位移UsetheMAMinstructiontoinitiateamoveprofileforthespecifiedaxis使用轴位移指令初始化一个指定轴的运动曲线Movestheaxistoaspecifiedposition(absolute)orbyaspecifieddistance(incremental)移动轴到指定的位置〔绝对〕或者一个指定的距离〔增量〕Thesteady-statespeedofthemoveprofileisgivenbythespeedparameter由速度参数给定运动轨迹一个恒定的速度Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速度，减速度，加加速度，和减减速度Availableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲线：梯形，S曲线，通过编程跃度修正S曲线55(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MAM(MotionAxisMove)轴位移(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction56MAM(MotionAxisMove)轴位移(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction57MAM(MotionAxisMove)轴位移(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction58MoveInstructions

MAJInstructionMAJ(MotionAxisJog)轴按速度运动UsetheMAJinstructiontomoveanaxisataconstantspeedintheforwardorreversedirectionuntilyoutellittostop;jogiscommandedwithoutregardtoposition使用轴点动指令时一个轴以恒定速度向前或后运动，直到你告诉他停止，寸动指令不考虑位置Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速，减速，加加速度，和减减速度值Availableprofiles:trape