PMAC(Clipper或IMAC)連接驅(qū)動(dòng)器速度模式配置實(shí)例

1、PMAC(Clipper 或 IMAC) 連接驅(qū)動(dòng)器速度模式配置實(shí)例 CloseD_elete Gather ( 把“ _刪”去 )I7000= 1001 ;PWM frequency 29.4kHz, PWM 1-4I7001= 5 ;Phase Clock 9.8kHzI7002= 3 ;Servo frequency 2.45kHzI7003= 1746 ;ADC frequencyI10 = 3421867 ;Servo interrupt time; Velocity Loop ;/ I101=0 ;Disable the commutation I102 = $78002 ;Com

2、mand Output AddressI124=$120001 ; Enable Amp Fault, disable hardware limits ;Example PID Gains for Velocity LoopI130=1500 ;P gain = defaultI131=2200 ;D gain, It can change P gain in velocity loopI132=2200 ;Same function as I131I133=3500 ;StabilityI7010 = 3 ;Closed loop, X4 CCWI7016 = 0 ;Output mode:

3、 PWMI169 = 1001 ;DAC limit 10Vdc I100=1 ; Activate Motor ;/I201=0 ;Disable the commutationI202 = $7800A ;Command Output AddressI224=$120001 ; Enable Amp Fault, disable hardware limits ;Example PID Gains for Velocity LoopI230=1500 ;P gain = defaultI231=2200 ;D gain, It can change P gain in velocity l

4、oopI232=2200 ;Same function as I131I233=3500 ;StabilityI7020 = 3 ;Closed loop, X4 CCWI7026 = 0 ;Output mode: PWMI269 = 1001 ;DAC limit 10Vdc I200=1 ; Activate Motor ;/I301=0 ;Disable the commutationI302 = $78012 ;Command Output AddressI324=$120001 ; Enable Amp Fault, disable hardware limits ;Example

5、 PID Gains for Velocity LoopI330=1500 ;P gain = defaultI331=2200 ;D gain, It can change P gain in velocity loopI332=2200 ;Same function as I131I333=3500 ;StabilityI7030 = 3 ;Closed loop, X4 CCWI7036 = 0 ;Output mode: PWMI369 = 1001 ;DAC limit 10VdcI300=1 ; Activate Motor;/I401=0 ;Disable the commuta

6、tionI402 = $7801A ;Command Output AddressI424=$120001 ; Enable Amp Fault, disable hardware limits ;Example PID Gains for Velocity LoopI430=1500 ;P gain = defaultI431=2200 ;D gain, It can change P gain in velocity loopI432=2200 ;Same function as I131I433=3500 ;StabilityI7040 = 3 ;Closed loop, X4 CCWI

7、7046 = 0 ;Output mode: PWMI469 = 1001 ;DAC limit 10VdcI400=1 ; Activate Motor;/#1hmz #2hmz #3hmz #4hmzopen plc2 clear cmd#1j/cmd#2j/cmd#3j/cmd#4j/displc2close&1#1-1000X ; 定義電機(jī) 1 為 X 軸#2-1000Y ; 定義電機(jī) 2 為 Y 軸#3-1000X ; 定義電機(jī) 3 為 X 軸#4-1000Y ; 定義電機(jī) 4 為 Y 軸OPEN PROG 2 CLEAR RAPID X-10 Y0 DWE1000ABSCIRCLE

8、1F100N 100X-10 Y0 I10 J0GOTO 100CLOSEI5113=10此例子展示如何使用 PLC程序操作PMAC的通用I/O;程序開始時(shí)把變量 M1M14映射到 對(duì)應(yīng)的機(jī)器 I/O 的地址；實(shí)際應(yīng)用中用戶只需選擇對(duì)應(yīng)的 PMAC 卡并下載缺省的 M 變量映 射既可以，不需要這樣一個(gè)一個(gè)定義 M 變量。注意：不同的 PMAC 卡對(duì)應(yīng)的 I/O 地址不一樣， 錯(cuò)誤的 M 變量映射可能導(dǎo)致不可知的后果。* J設(shè)置和定義 *CLOSE ; To ensure these are on-lineM1-Y:$FFC2,8,1 ; Machine Output 1M2-Y:$FFC2,9

9、,1 ; Machine Output 2M3-Y:$FFC2,10,1 ; Machine Output 3M4-Y:$FFC2,11,1 ; Machine Output 4M11-Y:$FFC2,0,1 ; Machine Input 1M12-Y:$FFC2,1,1 ; Machine Input 2M13-Y:$FFC2,2,1 ; Machine Input 3M14-Y:$FFC2,3,1 ; Machine Input 4M20.39-* ; Self-referenced flag variables*PLC Program*CLOSE ; Make sure other b

10、uffers closedOPEN PLC 5 ; Open buffer for editingCLEAR ; Erase existing contents;第一個(gè)分支基于 1 號(hào)輸入，對(duì)應(yīng)的 P1000 變量被設(shè)置，它可以是位置、速度或時(shí)間等等 IF (M11=1) ; Machine Input 1 true?P1000=5000 ; If so, set to this valueELSEP1000=500 ; If not set to this valueENDIF; 此分支基于 2 號(hào)輸入， 當(dāng)其值為真時(shí)， P8 計(jì)數(shù)值增加一位 IF (M12=1) ; Machine Inp

11、ut 2 true?IF (M22=0) ; Not true last time thru?P8=P8+1 ; Have rise edge, so incrementM22=1 ; Note as true for next time thruENDIFELSE ; MI2 is not trueM22=0 ; Note as not true for next time thruENDIF ;標(biāo)志位滿足一定條件時(shí)，對(duì)應(yīng)的輸出被設(shè)置，運(yùn)行對(duì)應(yīng)的電機(jī) IF (M23=1 AND M24=1) ; First two flags true?AND (M25=1 AND M26=1) ; Second two flags true?M1=1 ; Then set output COMMAND#1J+ ; 手動(dòng)運(yùn)行 1 號(hào)電機(jī) C