參考施耐德32伺服lxm32m profibus step7example

1、Lexium 32 ProfibusExample Step7Motion & Drives TrainingLexium 32 - ProfibusSummaryCentral documentHardware ConfigurationUDT1 LXM32_RefFC100 LXM32_InitFB1 LXM32_ControlFB2 LXM32_HomingFB3 LXM32_ProfilePositionFB4 LXM32_ProfileVelocityFB5 LXM32_ProfileTorqueFB6 LXM32_ElectronicGearFB7 LXM32_JogFB8 LXM

2、32_ReadParameterFB9 LXM32_WriteParameterFB10 LXM32_TouchProbeLXM32M Step7Hardware - Configuration“Drive Profile Lexium 1“LXM32 uses 26 Bytes Input data and 26 bytes Output dataLXM32M Step7 Profibus - dataThe LXM32 example uses the “Drive Profile Lexium 1”Slot 2.9 can be used for mapping optional dri

3、ve parameters depending on the application. LXM32M Step7 UDT1 LXM32_RefAll FCs/FBs need a common Axis reference data structure for each axis.This structure could be created in a global data block or in the static variables of a FB.LXM32M Step7 FC100 LXM32_InitThe function FC100 (LXM32_Init) has to b

4、e called once after PLC restart.Usually this is done in OB100.FC100 (LXM32_Init) assigns the input and output address to the LXM32_Ref data structureRestart cycle counter is increased All FBs will detect a PLC restartLXM32M Step7 FB1 LXM32_ControlInput Functions:Drive enable/disableSet QuickStopSet

5、Halt / Clear HALT / ContinueFault resetOutput Values:Drive statusActual positionActual velocityActual motor currentErrors / WarningsLXM32M Step7 FB1 LXM32_ControlFB1 is updating the values of motion status in the LXM32_Ref structure every plc cycleFB1 is updating the values of digital input status i

6、n the LXM32_Ref structure every plc cycleLXM32M Step7 FB2 LXM32_HomingRising edge on “i_xExecute” starts the reference movement.Depending on the homing method, some input parameters are not used.The homing is finished without an error when the output “q_xDone” is TRUE.Homing could be aborted by a Qu

7、ickStop (FB1 LXM32_Control). In this case the output “q_xError” will be set to TRUE.A detailed description of the homing parameters is available in the drive manual of LXM32.LXM32M Step7 FB3 LXM32_ProfilePositionRising edge on “i_xExecute”starts the movement.Rising edge on “i_xAbort”stops the moveme

8、nt.“i_inPTP_Type”:1 = Absolute movement2 = Additive movement3 = Realtive movementChanging target velocity, acceleration or deceleration values during an active movement take effect immediately.New target position / PTP_Type can be started with a new rising edge on “i_xExecute” during an active movem

9、ent. LXM32M Step7 FB4 LXM32_ProfileVelocity“i_xExecute” = TRUE starts the movement.“i_xAbort” stops the movement.Changing target velocity, acceleration or deceleration values during an active movement take effect immediately.Acceleration / Deceleration value is active if the Parameter RAMP_v_enable

10、(1622) is set to ProfileON ! This parameter has to be changed with “WriteParameter” or commissioning software.Only possible when the power stage is switched off.LXM32M Step7 FB4 LXM32_ProfileTorque“i_xExecute” = TRUE starts the movement.“i_xAbort” stops the movement.Changing target velocity or torqu

11、e slope values during an active movement take effect immediately.“di_RAMP_tq_slope” value is active if the Parameter RAMP_tq_enable (1624) is set to ProfileON ! This parameter has to be changed with “WriteParameter” or commissioning software.Only possible when the power stage is switched off.LXM32M

12、Step7 FB6 LXM32_ElectronicGear“i_xExecute” Start the operating mode.“i_xAbort” stops the movement.GEARreference (6948)1 / Position Synchronization Immediate 2 / Position Synchronization Compensated3 / Velocity SynchronizationGEARdir_enabl (9738)1=Positive direction2=Negative direction3=Both directio

13、nChanging GearNumerator, GearDenominator, Acceleration or Deceleration values during an active movement take effect immediately.Acceleration/Deceleration value is active if the mode “Velocity Synchronization” andParameter RAMP_v_enable (1624) is set to ProfileON ! LXM32M Step7 FB7 LXM32_JogForward/B

14、ackward/FastStart the operating mode.JOG_Method (10502)0=Continuous / 1=Step movement JOG_Step (10510)Distance for step movementJOG_time (10512)Wait time for step movementJOG_v_slow (10504)Velocity for slow movementJOG_v_fast (10506)Velocity for fast movementLXM32M Step7 FB8 LXM32_ReadParameterEnabl

15、eTRUE = Reading is executed cyclic as long as this input is set to true.ParameterAddressProfibus Parameter addressSee drive manual ReadValueIF the output VALID is set this output delivers the parameter value.ParameterLengthLength of the reading parameter in bytes. It is possible to call different in

16、stances of this FunctionBlock ! LXM32M Step7 FB9 LXM32_WriteParameterExecuteRising edge starts the write command onceParameterAddressProfibus Parameter addressSee drive manual ParameterLengthLength of the parameter in bytes. WriteValueParameter value to writeIt is possible to call different instances of this FunctionBlock ! LXM32M Step7 FB10 LXM32_TouchprobeExecuteRising edge starts the Touchprobe functionAbortAborts an active functionUnitChannel CAP1 or CAP2CapSourceEncoder1 or Encoder2TriggerLevelFalling or rising edgeSing