AB伺服编程基础ppt课件

1、南区GOTC(全球OEM技术顾问) 李金贤 139 2889 2963 jli,Motion Basic Training 伺服编程（1）-基础课,伺服运动基础编程,10 Steps to Developing ControlLogix Motion: 伺服运动基础编程包含以下10个步骤 Create new program创建一个新程序 Enable time synchronization使能时间同步 Create motion group tag创建运动组标签 Create Axis tag创建轴标签 Add motion module添加伺服驱动器 Assign axes to mot

2、ion module分配轴到伺服驱动器 Configure motion group配置运动组属性 Configure axes配置轴的属性 Perform hookup test and tune axes执行测试和整定轴 Write logic to perform motion写执行运动的逻辑程序,2,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,(Confidential For Internal Use Only) Copyright

3、 2011 Rockwell Automation, Inc. All rights reserved.,3,1.Creating a Project 1.创建一个项目程序,1. Enable Time Synchronization使能时间同步,2. Creating the Motion Group创建运动组,3. Configure the Motion Group配置运动组,4. Motion Control Tags运动控制标签,Creating a Project Time Master,In all ControlLogix chassis (single and multipl

4、e controllers), one of the controllers needs to be set as the reference clock. This will synchronise all the motion modules, other Logix controllers and I/O cards in the chassis to a single master clock. The process of setting up a controller to be the reference clock is called “Making this controll

5、er the master”. 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: There can only be one master controller per chassis. 注意：每个机架上只能有一个主控制器,Techno Fact : If you have more than one controller in the chassis, choose one of the controller

6、s to be the time master. You cant have more than one time master for the chassis. In a ControlLogix motion application, you must define a controller as the time master. 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 For Internal Use Only) Copyright

7、 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project CST i.e. Indramat, Bosch, etc. 轴_通用_驱动：三方SERCOS驱动；如， Indramat，博士等等,22,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Axis Properties CIP Axis Dialog,CIP Axis CIP 轴 Use this dia

8、log to configure the axis properties for an axis of data type AXIS_CIP_DRIVE: 使用这个对话框配置数据类型是AXIS_CIP_DRIVE的轴属性 CIP axes have the following “Categories”:CIP轴如下“类别” General常规 Motor (Sub Model)电机（替代模式） Motor Feedback电机反馈 Scaling 比例 Hookup Tests连接测试 Polarity极性 Autotune自整定 Load (Subs Backlash Compliance,

9、 Friction)负载（替代间隙，统一，对立） Position Loop位置闭环 Velocity Loop速度闭环 Acceleration Loop加速闭环 Torque/Current Loop力矩/电流闭环 Planner规划 Homing回零 Actions激活 Drive Parameters驱动参数 Status状态 Faults and Alarms故障和报警 Tag标签,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,23,

10、CIP Axis,Axis Properties CIP Axis Dialog,CIP Axis Parameter Page CIP 轴参数页面 In addition to the parameters that are accessible on the Category page, the parameters page shows all drive parameters within the group: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 For Internal Use Only) Copyright 2011 Rockwell

11、 Automation, Inc. All rights reserved.,24,CIP Axis,Virtual Axes What you will learn:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,1. What is a Virtual Axis什么是虚轴,2. Configuring a Virtual Axis配置虚轴,3. Using a Virtual Axis使用虚轴,(Confidential For Inter

12、nal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,An imaginary axis which resides in the controller.在控制器中一个虚构的轴 Provides command position update capability without requiring a physical axis. 提供命令位置更新能力不依赖于物理轴 Actual position tracks the command exactly.命令没有实际位置轨迹 No limits w

13、ith respect to velocity, acceleration, or deceleration.没有速度，加速度，或减速度限制 Virtual axes do not require tuning or hookup tests.虚轴不要求自整定或hookup测试 Virtual axes do not fault.虚轴没有错误,Virtual Axes What is a Virtual Axis:,26,Virtual Axes Configuring a Virtual Axis:,(Confidential For Internal Use Only) Copyright

14、 2010 Rockwell Automation, Inc. All rights reserved.,1. What is a Virtual Axis什么是虚轴,2. Configuring a Virtual Axis配置虚轴,3. Using a Virtual Axis使用虚轴,Virtual Axes Configuring a Virtual Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes C

15、onfiguring a Virtual Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Configuring a Virtual Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Configuring a Virtual

16、 Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Configuring a Virtual Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Configuring a Virtual Axis:,(Confidential

17、 For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Configuring a Virtual Axis:,(Confidential For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,Virtual Axes Using a Virtual Axis:,(Confidential For Internal Use Only) Co

18、pyright 2010 Rockwell Automation, Inc. All rights reserved.,1. What is a Virtual Axis什么是虚轴,2. Configuring a Virtual Axis配置虚轴,3. Using a Virtual Axis使用虚轴,Virtual Axes Using a Virtual Axis:,Programming for a virtual axis is the same as for any physical axis. 设计一个虚轴是和物理轴一样的 Does not require MSO, MSF, o

19、r MAFR 不需要MSO,MSF或MAFR A virtual axis counts toward the maximum axis count for your processor. 一个虚轴的数量占用处理器的轴数量 When using a virtual axis, you need to consider it when specifying the motion group update rate.当使用虚轴时，你需要考虑指定运动组更新率 As a starting point, a good rule of thumb is 1 msec per virtual axis 作为

20、一个起点，一个好的经验法则是每虚拟轴1毫秒 When following a virtual axis (gear or cam) there is no difference in specifying “actual” or “command” for the Master Reference. 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 For Internal Use Only) Copyright 2010 Rockwell Automation, Inc. All rights reserved.,36,(Confidential

21、For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,37,Motion State and Fault Handling Instructions Agenda,1. Motion Instruction Overview 运动指令概述,2. Motion Instruction Errors 运动指令错误,3. Motion State Instructions 运动状态指令,4. Fault Handling Instructions 故障处理指令,Motion State

22、 and Fault Handling Instructions Motion Instructions Overview运行状态和故障处理指令 运行指令概述,As of RSLogix5000 v16, there are 40 motion instructions 从RSLogix5000 v16起，总共有40个运动指令 Only 36 motion instructions available for CompactLogix仅36个运动指令对CompactLogix有效 1 new instruction in v19 is for the PowerFlex755 on CIP o

23、nly 在v19 中有1个新指令仅对CIP上的PowerFlex755 有效 The motion instruction set consists of six groups of instructions:运动指令集包含6组指令 Motion state instructions运动状态指令 Motion move instructions运动位移指令 Motion group instructions *运动组指令 Motion event instructions *运动事件指令 Motion configuration instructions *运动配置指令 Motion coor

24、dinated instruction *协调运动指令,38,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,MSO (Motion Servo On) （运动伺服使能）,MSO (Motion Servo On) MSO （运动伺服使能） Directly activates the drive and enables the configured servo loops associated with a physical servo axi

25、s直接激活驱动，并使配置伺服回路与一个物理伺服轴联结 Most common use of this instruction is to activate the servo loop for the specified axis in its current position in preparation for commanding motion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。 Look for bit Axis.ServoActionStatus to indicate the servo loops were successfully 查找位元Axi

26、s.ServoActionStatus ，显示伺服回路ServoActionStatus成功启用,39,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions MSO (Motion Servo On)运行状态和故障处理指令MSO （运行伺服使能）,MSO (Motion Servo On) MSO （运动伺服使能）,(Confidential For Intern

27、al Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,40,MSF (Motion Servo Off) （运动伺服关闭使能）,MSF (Motion Servo Off) MSF （运动伺服关闭使能） Directly and immediately turns off drive output and disables the servo loop on any physical servo axis. 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 Disables any motion

28、 planners that may be active at the time of execution 禁止任何可能在执行时活动的运行规划 Position continues to be tracked when axis is disabled 当轴被禁用时位置继续进行跟踪 Axis stopping behavior (if axis is in motion when MSF is executed) depends on type of drive,41,(Confidential For Internal Use Only) Copyright 2011 Rockwell Au

29、tomation, Inc. All rights reserved.,Motion State and Fault Handling Instructions MSF (Motion Servo Off),MSF (Motion Servo Off） （关闭伺服使能),TechnoFact : If you execute an MSF instruction while the axis is moving, the axis can coast to an uncontrolled stop. This instruction is not recommended for normal

30、stopping. Use the Motion Axis Stop (MAS) instruction for that purpose.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 For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc

31、. All rights reserved.,43,Motion State and Fault Handling Instructions Fault Handling Instructions,1. Motion Instruction Overview运动指令概述,2. Motion Instruction Errors运动指令错误,3. Motion State Instructions运动状态指令,4. Fault Handling Instructions故障处理指令,Motion State and Fault Handling Instructions MAFR (Motion

32、 Axis Fault Reset),MAFR (Motion Axis Fault Reset运动故障复位) Use the MAFR instruction to clear all motion faults for an axis 使用MAFR指令清除轴的所有故障 Removes the fault status排除所有故障状态 Does NOT perform any other recovery, such as enabling servo action不要执行重启，比如激活伺服使能 Usually part of a fault handling program出错处理程序 I

33、f the condition that caused the fault still exists when the MAFR instruction is executed, the axis immediately faults again当运动故障复位时，仍然错误存在错误，轴将在次报错 This scenario gives the impression that the fault was never cleared这个方法感觉故障从来没被清除 Example: Axis hits a hardware over travel sensor and faults. An MAFR c

34、ommand is executed without moving the axis. Axis immediately faults again due to the hardware over travel condition. 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 For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handli

35、ng Instructions MAFR (Motion Axis Fault Reset),MAFR (Motion Axis Fault Reset运动轴故障复位),45,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions Manually Clearing Axis Faults,Manually Clearing Axis Faults手动清除轴故障 A

36、xis faults can be clearly manually when online with the controller 控制器在线时，能够手动清除轴故障 Right-click on the axis listed in the Motion Group folder 运动组文件夹里的轴清单处点击右键 Select Clear Axis Faults选择“清除轴错误” This method is only recommended while troubleshooting and debugging an application program这种方法只在调试项目和维修时推荐使

37、用,46,Right-click on the faulted axis, select Clear Axis Faults,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions MASR (Motion Axis Shutdown Reset),MASR (Motion Axis Shutdown Reset轴关闭复位) Use the MASR Instruc

38、tion to transition an axis from an existing Shutdown state to an Axis Ready state 使用MASR指令使轴从关闭状态到轴准备状态 Any faults associated with the specified axis are automatically cleared 一个指定的轴采用自动清除故障是错误的 This was not true for initial releases of RSLogix5000 这可能没被RSLogix5000所正式发布 If the module supports an OK

39、contact and no other module axis is in the Shutdown state, the OK relay contact is closed OK 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 No recovery actions are taken, such as enabling the servo loops 没有恢复激活，比如伺服环处于使能,47,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights r

40、eserved.,Motion State and Fault Handling Instructions MASR (Motion Axis Shutdown Reset),MASR (Motion Axis Shutdown Reset轴关闭复位),48,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions MASR (Motion Axis Shutdown

41、 Reset),MASR (Motion Axis Shutdown Reset轴关闭复位) Changes to axis status bits:改变轴状态位 Axis remains disabled after MASR has been executed 在轴关闭复位后轴仍然保持在禁止状态 Axis.ServoActionStatus is False Servo loop is inactive伺服环没激活 Axis.DriveEnableStatus is False Drive output is inactive驱动输出没激活,49,(Confidential For Int

42、ernal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions Common Fault Reset Logic,Common Fault Reset Logic常用的故障复位逻辑 When Fault Reset input is requested:当故障复位输入被请求 Logic checks for Shutdown Status on an axis在轴上确定关断逻辑 If an axis is in a

43、 Shutdown State, the Shutdown Reset instruction clears the shutdown condition and any faults on that axis are cleared (assuming the cause of the fault has been corrected) 如果在在关断状态，关闭复位指令清除关断条件，并且轴的故障也被清除（如果导致故障的条件被修正） If the axis is not in a Shutdown State, second branch of logic is executed 如果轴没在关断

44、状态，第二个分支逻辑将被执行 If an axis has an existing fault condition, the Fault Reset instruction clears the axis faults (assuming the cause of the fault has been corrected)如果轴存在错误条件，故障复位指令清除故障（如果导致故障的条件被修正）,50,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,M

45、otion State and Fault Handling Instructions MASD (Motion Axis Shutdown),MASD (Motion Axis Shutdown关闭运动轴) Use the MASD instruction to force a specified axis into the Shutdown state使用MASD指令强制关闭指定轴状态 Drive output is disabled驱动输出没使能 Servo loop is deactivated伺服环没激活 Associated OK relay contacts open (anal

46、og axes)OK中间继电器处于释放状态 Sets bit Axis.ShutdownStatus设置轴关断状态位 All current motion processes are cancelled所有的当前运动处理被取消 Motion status bits and motion instruction IP bits are cleared运动状态位和运动指令IP位被清除 Motion commands for that axis are blocked from execution while an axis is in the Shutdown state当轴处于关闭状态则轴的运动

47、指令被封锁，,51,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Motion State and Fault Handling Instructions MASD (Motion Axis Shutdown),MASD (Motion Axis Shutdown运动轴关闭),52,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All

48、rights reserved.,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,53,Move Instructions Agenda,1. MAM, MAJ, and MAS Instructions MAM MAJ和MAS指令,2. Merging Motion Instructions吞并运动指令,Move Instructions Motion Move Instructions,Motion Move Instructions运动移动

49、指令 This category includes all motion instructions that cause or directly affect axis motion. These instructions include moving, jogging, gearing, stopping, camming, etc. This category also includes motion instructions that directly modify current axis position that are typically used to reference th

50、e specified axis to some absolute physical position of the axis. Instructions to redefine axis position and perform a homing sequences fall under this category. 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。,54,(Confidential For Internal Use

51、 Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Move Instructions MAM Instruction,MAM (Motion Axis Move)轴位移 Use the MAM instruction to initiate a move profile for the specified axis使用轴位移指令初始化一个指定轴的运动曲线 Moves the axis to a specified position (absolute) or by a specified distance

52、(incremental)移动轴到指定的位置（绝对）或者一个指定的距离（增量） The steady-state speed of the move profile is given by the speed parameter由速度参数给定运动轨迹一个恒定的速度 Specify values for acceleration, deceleration, acceleration jerk, and deceleration jerk 指定的加速度，减速度，加加速度，和减减速度 Available profiles: trapezoidal, s-curve, modified s-curv

53、e with programmable jerk 可用曲线：梯形，S曲线，通过编程跃度修正S曲线,55,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,MAM (Motion Axis Move)轴位移,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Move Instructions MAM In

54、struction,56,MAM (Motion Axis Move)轴位移,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Move Instructions MAM Instruction,57,MAM (Motion Axis Move)轴位移,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,

55、Move Instructions MAM Instruction,58,Move Instructions MAJ Instruction,MAJ (Motion Axis Jog)轴按速度运动 Use the MAJ instruction to move an axis at a constant speed in the forward or reverse direction until you tell it to stop; jog is commanded without regard to position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

56、令不考虑位置 Specify values for acceleration, deceleration, acceleration jerk, and deceleration jerk 指定的加速，减速，加加速度，和减减速度值 Available profiles: trapezoidal, s-curve, modified s-curve with programmable jerk 可用曲线：梯形，S曲线，通过编程跃度修正S曲线可用 The MAJ instruction may be used to convert any current axis motion into a pu

57、re jog motion profile by specifying the merge option. 通过指定的吞并选择，MAJ指令可改变当前轴运动到纯点动轨迹,59,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,MAJ (Motion Axis Jog)轴点动,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights

58、reserved.,Move Instructions MAJ Instruction,60,MAJ (Motion Axis Jog)轴点动,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Move Instructions MAJ Instruction,61,Move Instructions MAS Instruction,MAS (Motion Axis Stop)运动轴停止 Use the MAS Instruction to sto

59、p a specific motion process on an axis or to stop all motion on the axis使用MAS指令停止一个特定的运动流程或完全停止一个轴 Used to command a decelerated stop使用加速停止命令 Stops motion without disabling the servo loop没有屏蔽伺服环停止运动 Command defaults to using the maximum deceleration configured for the axis指令默认使用轴最大减速度 Change Decel and Change Decel Jerk are used to specify a deceleration rate other than 100% of maximum deceler