PMAC技術(shù)培訓(xùn)（中級(jí)）

E-MOTIONPMAC多軸運(yùn)動(dòng)控制卡〔中級(jí)培訓(xùn)〕整理課件LINEAR插補(bǔ)方式對PMAC用戶直線插補(bǔ)是最通用的方式.直線插補(bǔ)軌跡包括加減速時(shí)間和運(yùn)動(dòng)時(shí)間.需要學(xué)習(xí):什么是直線插補(bǔ)模式的軌跡如何改變軌跡的特征如何實(shí)現(xiàn)多個(gè)運(yùn)動(dòng)的速度混合整理課件Linear模式的軌跡

小Acceleration時(shí)間整理課件Linear模式的軌跡(continued)

小Acceleration時(shí)間整理課件Linear模式的軌跡(continued)

加速時(shí)間等于運(yùn)動(dòng)時(shí)間整理課件Linear模式的軌跡(continued)

加速時(shí)間等于運(yùn)動(dòng)時(shí)間整理課件Linear模式的軌跡

大(速度限制)加速時(shí)間整理課件Linear模式的軌跡

大(速度限制)加速時(shí)間整理課件加速參數(shù)TA 編程加速時(shí)間

(單位:msec);整數(shù)TS 編程S-曲線時(shí)間

(單位:msec);整數(shù)整理課件加速參數(shù)(continued)整理課件例3:一個(gè)復(fù)雜的運(yùn)動(dòng)Thisexampleintroducesincrementalandtime-specificationofmoves,loopinglogic,usingvariables,scalingofaxes,andsimplearithmetic.Notethatlogicalandmathematicaloperationsdonotdelaymoves.;********************Set-upandDefinitions********************&1 ;Coordinatesystem1CLOSE ;Makesureallbuffersareclosed#1->1000X ;1unit(cm)ofXis1000countsofmotor1;********************MotionProgramText***********************OPENPROG2 ;Openbufferforentry,Program#2CLEAR ;EraseexistingcontentsofbufferLINEAR ;BlendedlinearinterpolationmovemodeINC ;Incrementalmode-movesspecifiedbydistanceTA500 ;1/2sec(500msec)accelerationtimeTS250 ;1/4secineachhalfofS-curveTM2000 ;2secmovetime(tostartofdecel)P1=0 ;InitializealoopcountervariableWHILE(P1<10) ;Loopuntilconditionisfalse(10times)X10 ;MoveX-axis10cm(=10,000cts)positiveDWELL500 ;Holdpositionfor1/2secX-10 ;MoveX-axisback10cmnegativeDWELL500 ;Holdpositionfor1/2secP1=P1+1 ;IncrementloopcounterENDWHILE ;EndofloopCLOSE ;Closebuffer-endofprogram運(yùn)行程序:&1B2R ;坐標(biāo)系1,指向運(yùn)動(dòng)程序2,運(yùn)行整理課件例3:一個(gè)復(fù)雜的運(yùn)動(dòng)整理課件直線插補(bǔ)測驗(yàn)曲線的水平和垂直軸的含義?什么是TS,TA,TMandF?TM和F的關(guān)系是什么?以100msTA時(shí)間和20ms的TS時(shí)間，TM為500ms的時(shí)間外成一個(gè)運(yùn)動(dòng)，總的運(yùn)動(dòng)時(shí)間是多少?如果程序表達(dá)

TS100TA100TM100，完成3個(gè)混合運(yùn)動(dòng)的總時(shí)間是多少?整理課件PMAC運(yùn)動(dòng)速度混合PMAC在如下情況下速度無法混合:兩個(gè)運(yùn)動(dòng)指令中間有DWELL指令2個(gè)向后跳轉(zhuǎn)指令(GOTO,ENDW)速度混合功能無效設(shè)定

(Ix92=1)整理課件DWELLVs.DELAYDWELL總使用固定的時(shí)基(I10)暫停時(shí)間不包括減速過程直到DWELL結(jié)束才執(zhí)行下面運(yùn)動(dòng)的計(jì)算(addI11time)整理課件DWELLVs.DELAY(continued)DELAY使用可變的時(shí)基(%value)暫停時(shí)間包括減速過程最小暫停時(shí)間是當(dāng)前

TA時(shí)間下面運(yùn)動(dòng)時(shí)間開始于DELAY指令整理課件例4:速度混合有效的例程ThisexampleshowshowtoprogramablendedmoveonthePMACandthefunctionofIx92.Firsttheprogramspecifieshowtodothemove,thencommandsthemove.*******************Set-upandDefinitions*******************DELGAT ;Eraseanydefinedgatherbuffer&1 ;CoordinateSystem1CLOSE ;Makesureallbuffersareclosed#1->X ;Assignmotor1totheX-axis-1programunit ;ofXis1encodercountofmotor#1I192=0 ;Enableblending*******************MotionProgramText**********************OPENPROG1 ;Openbufferforprogramentry,Program#1CLEAR ;EraseexistingcontentsofbufferLINEAR ;BlendedlinearinterpolationmovemodeABS ;Absolutemode-movesspecifiedbypositionTA500 ;Set1/2sec(500msec)accelerationtimeTS0 ;SetnoS-curveaccelerationtimeF5000 ;Setfeedrate(speed)of5000units(cts)/secX10000 ;MoveX-axistoposition10000X20000 ;MoveX-axistoposition20000X30000 ;MoveX-axistoposition30000DWELL0 ;StopprogramlookaheadCMD"ENDG" ;SendOn-linecommandtostopdatagatheringCLOSE ;Closebuffer-endofprogramTorunthisprogram:DEFGAT<CR>GAT&1B1R ;GATHER,CS.1,pointtoBeginningofProgram1,Run整理課件例4:速度混合有效的例程整理課件例5:速度混合無效的例程ThisexampleshowshowtoprogrammovesonthePMACandthefunctionofIx92.Firsttheprogramspecifieshowtodothemove,thencommandsthemove.*******************Set-upandDefinitions*******************DELGAT ;Eraseanydefinedgatherbuffer&1 ;CoordinateSystem1CLOSE ;Makesureallbuffersareclosed#1->X ;Assignmotor1totheX-axis-1programunit ;ofXis1encodercountofmotor#1I192=1 ;Disableblending*******************MotionProgramText**********************OPENPROG1 ;Openbufferforprogramentry,Program#1CLEAR ;EraseexistingcontentsofbufferLINEAR ;BlendedlinearinterpolationmovemodeABS ;Absolutemode-movesspecifiedbypositionTA500 ;Set1/2sec(500msec)accelerationtimeTS0 ;SetnoS-curveaccelerationtimeF5000 ;Setfeedrate(speed)of5000units(cts)/secX10000 ;MoveX-axistoposition10000X20000 ;MoveX-axistoposition20000X30000 ;MoveX-axistoposition30000DWELL0 ;StopprogramlookaheadCMD"ENDG" ;SendOn-linecommandtostopdatagatheringCLOSE ;Closebuffer-endofprogramTorunthisprogram:DEFGAT<CR>GAT&1B1R ;GATHER,CS.1,pointtoBeginningofProgram1,Run整理課件例5:速度混合無效的例程整理課件速度混合測驗(yàn)使用速度指令(F)在增量方式(INC)，指令

X1000

和指令

X100

X400

X500如果Ix92=0,TA<TMor(TA<P/F),和2

TS<TA有何區(qū)別?整理課件矢量速率PMAC可以自動(dòng)計(jì)算運(yùn)動(dòng)時(shí)間〔TM)使電機(jī)運(yùn)行與希望的速度速率下.需要學(xué)習(xí):速率指令的表達(dá)

PMAC如何計(jì)算速率這用于多個(gè)電機(jī)在一個(gè)坐標(biāo)系下控制一個(gè)刀具，來自動(dòng)分配各自的速度整理課件矢量速度軸INCFRAX(X,Y)X3Y4F10INCFRAX(X,Y)X3Y4Z12F10整理課件矢量速度軸(續(xù))INCFRAX(X,Y,Z)X3Y4Z12F10INCFRAX(X,Y)C10F10整理課件速度時(shí)間單位Ix90 速度時(shí)間單位

(單位:msec)例: #1->2000X Ix90=1000整理課件速率測驗(yàn)如果坐標(biāo)系1的I190=60000，那么速率時(shí)間單位是什么?如果X和Y是速率軸,如果指令

X100Y200，各自速度如何分配?如果你編程指令

F5

定義速度為5inches/sec,如何設(shè)定

Ix90和軸的定義?整理課件Exercise1:IndexingaMotorProblem:YouhavebeenaskedtousePMACinanindexingapplication,PMACmustindexmotor#1,whichdrivesaleadscrew,adistanceof10cm,pauseatthislocationfor4secondsthenreturntoitsoriginallocation.Eachofthemovesmusttakeplacein2seconds.TheprogramwillbestartedbyanASCIIcommandstringsenttoPMACfromaProgrammableLogicControllerovertheRS232port.Hardware:2000countsperrevolutionencoder5:1gearreduction1cm/revpitchleadscrewSETIx92=0toenableblending整理課件Exercise2:IndexingaMotorProblem:Asisthecasewithallapplications,therequirementshavebeenchanged.Thefollowingmustbeaddedtothebasicrequirementsofexercise1.Thedesiredmotionprofilehasbeenchanged.Thesystemmustnowmovefromitszerolocationto10cm,pausefor4secondsandthenmoveto20cmin2moresecondsandpausefor1second.Itthenmustreturnto0cmin1.5seconds.Thesystemhasnowbecomeamulti-axisproject.Notonebutfouridenticalleadscrewsmustsimultaneouslyexecutethisprofile.整理課件Exercise2:IndexingaMotor(continued)Tominimizewearandtearonthemechanicalcomponents,instantaneouschangesinacceleration(jerk)mustbeeliminated.ThismachinewillbesoldtoaEuropeancompanywhichwillwritesomenewprogramsforit.Theyonlywanttoprogramincentimeterssoyourprogramsmustalsousecentimeters.Afeedrateoverrideswitchhasalsobeenaddedtothesystem.Yourprogrammedpausesmustnowchangeasthefeedrateoverridechanges.Thismeansthata1.5secondpausewilllast3secondsat50%feedrateoverride.UseM197->X:$0806,0,24,sforfeedrateoverridecontrol.整理課件Exercise3:ConditionalBranchingProblem:TheEuropeanCompanyishavingalotofsuccesswithyourmachineandyourbossnowhassomeextraR&Dmoney.Hewantsyoutowriteanotherapplicationbasedonthesameplatform.2inputswitcheshavebeenconnectedtoPMAC’smachineinputs1and2.Hewantstheseswitchestocontrolthemotionofthestagesasfollows.Ifmachineinput1ison,thestagesshouldmovefrom0cmto10cmataspeedof1cm/sec,pausefor1secondthenreturnto0cmatthesamespeedandpausefor100millisecondsuntillookingforthenextinput.整理課件Exercise3:ConditionalBranching(continued)Ifmachineinput2ison,thestagesshouldmovefrom0cmto-10cmataspeedof2cm/sec,pausefor1secondthenreturnto0cmatthesamespeedandpausefor100millisecondsuntillookingforthenextinput.Ifbothmachineinputs1and2areon,orifneitherareon,thestagesshouldnotmovefrom0cmandshouldpausefor100millisecondsuntillookingforthenextinput.整理課件圓弧插補(bǔ)什么變量控制圓弧插補(bǔ)如何使用圓弧插補(bǔ)如何定義插補(bǔ)平面PMAC允許X,Y,和Z軸在一個(gè)坐標(biāo)系下執(zhí)行圓弧插補(bǔ)指令。TS可控制起始和結(jié)束的加減速時(shí)間.圓弧插補(bǔ)的混合速度由指令(F)或時(shí)間TM來定義.需要學(xué)習(xí):整理課件圓弧插補(bǔ)

圓弧插補(bǔ)的通常定義:1)運(yùn)動(dòng)分段時(shí)間 Typicalvalue:I13=102)插補(bǔ)平面定義 NORMAL{vector}{data}…3)終點(diǎn)坐標(biāo)定義方式 ABS

INC(4)圓心矢量的定義方式 ABS(R)

(ifvectormodedefinitionisused)

INC(R)

(5)圓弧方向定義 CIRCLE1

CIRCLE2(6)圓弧指令

X{Data}Y{Data}I{Data}J{Data}

X{Data}Y{Data}R{Data}例:I13=10 ;MoveSegmentationTimeNORMALK-1 ;XYplaneINC ;IncrementalEndPointdefinitionINC(R) ;IncrementalCenterVectordefinitionCIRCLE1 ;ClockwisecircleX20Y0I10J0 ;ArcmoveStart(0,0)Center(10,0)End(20,0)整理課件整理課件整理課件圓弧插補(bǔ)例程;Setupanddefinitions&1#3->10000x#4->10000yi13=10;MotionProgramTextopenprog4clearnormalK-1rapidx1y4f5lineary13circle1x2y14i1j0linearx3circle1x4y13i0j-1lineary7circle2x7y4i3j0linearx13circle1x14y3i0j-1lineary2circle1x13y1i-1j0linearx4circle1x1y4i0j4dwell100rapidx0y0close

整理課件提前運(yùn)算〔前瞻功能〕PRECALCULATION前瞻功能做了些什么？怎樣停止前瞻功能？如何使用同步變量？在blend和spline運(yùn)動(dòng)中,運(yùn)動(dòng)程序必須將當(dāng)前運(yùn)動(dòng)后幾步的運(yùn)動(dòng)指令提前進(jìn)行運(yùn)算.根據(jù)不同的運(yùn)動(dòng)模式，在程序運(yùn)行中將進(jìn)行0，1，或2段運(yùn)動(dòng)指令的前瞻計(jì)算.我們將要學(xué)習(xí):整理課件PRECALCULATIONAllprogramcalculationsandassignments,exceptforsynchronousM-variableassignments,betweenthemoveinprogressandthemovebeingcalculatedareperformedonelineatatimeduringthelook-ahead.ThismaybeaproblemwithM-variables,particularlyoutputs,astheactionwilltakeplacesoonerthanexpected.Example: LINEAR ;linearmovemode X10 ;moveX-axisto10 X20 ;moveX-axisto20 M1=1 ;turnonoutput#1 X50 ;moveX-axisto50TheoutputM1willbeturnedonatthebeginningoftheX10moveduetoPMAC’sprecalculationoftheprogram整理課件PMACMotionProgramPrecalculation整理課件PMACMotionProgramPrecalculation整理課件PMACMotionProgramPrecalculation整理課件同步M-變量SynchronousM-Variablesassignmentsareasolutiontothesynchronizationproblemscausedbymoveprecalculation.WhenaSynchronousM-variableassignmentisencountered,itisnotexecutedimmediately;butputonastackforexecutionatthestartofthenextmoveintheprogram.OutputactionsarethussynchronizedwiththemotionactionExample: LINEAR ;linearmovemode X10 ;moveX-axisto10 X20 ;moveX-axisto20

M1==1 ;turnonoutput#1 X50 ;moveX-axisto50ThestatementM1==1isencounteredatthebeginningofthemovetoX10,buttheactionisnotperformeduntilthestartofblendingintothemoveX50

整理課件MACROSMacrosallowyoutoassignaspecificnametoaPMACvariableorcommandforprogrammingpurposes.Forexample,youcandefinethewordPUMP_PRESSUREtothevariableP10.Thisallowsyoutousemeaningfulnamesinyourprogramswhichsimplifiesprogrammingandmemorymanagement.MacrosareafeatureoftheExecutiveProgramandarenotaPMACfeature.WhenafilewithMacrosisdownloadedtoPMAC,theexecutiveprogramsubstitutestheappropriatePMACcommandsorvariablesinplaceoftheMacros.PMAConlyseesthePMACcommandsandvariables.整理課件PMAC計(jì)算優(yōu)先級(jí)1.SinglecharacterI/O單字符I/OSerial,PC-bus,STD-bus;200ns/char2.CommutationUpdate換相更新率E29-E33set(9KHzdefault);3usec/axis3.ServoUpdate伺服更新率E3-E6setfreq(2.25KHzdefault);30usec/axis4.RealTimeInterrupt實(shí)時(shí)中斷I8設(shè)定頻率;循環(huán)于:A.運(yùn)動(dòng)程序的計(jì)算每次新運(yùn)動(dòng)的開始;1or2步提前B.PLC0當(dāng)不執(zhí)行運(yùn)動(dòng)程序C.PLCC0D.DualPortedRAM雙端口RAMServodatabuffers伺服數(shù)據(jù)存儲(chǔ)器整理課件5.VMEmailbox處理器事件驅(qū)動(dòng)6.后臺(tái)任務(wù)Doneintimeleftover;rotatesbetween:A.CommunicationlineprocessingEventdrivenB.PLC1-31oneatatimeC.PLCConescanthroughallPLCC’sD.GeneralHousekeepingE.DualPortedRAMDataBuffersPMAC計(jì)算優(yōu)先級(jí)整理課件整理課件PMAC看門狗計(jì)時(shí)器WatchdogTimerSatisfiedFrequency>25HzDCVoltage>4.75TurnOffCardYesNoNoYesPMACalgorithmtoassureWatchdoggets25Hzsignalandcheckforaminimumof4.75Vtothememorychips.整理課件PMAC看門狗計(jì)時(shí)器(續(xù).)RealTimeInterruptReadW.DRegisterIsRegister>0DecrementW.D.TimerRegisterBackgroundTasksarenotoccurringoftenenough,there-forestopupdatingtimerPMACalgorithmtoassureWatchdoggets25Hzsignal.Thisensuresbothbackgroundandforegroundtasksaredonereasonablyoften.整理課件通訊控制I-變量

I1: 串口模式 =0,2:HostCShandshakeused =1,3:HostCShandshakedisabled =2,3:MultiplecarddaisychainenabledI3: 握手字符控制 =1:<LF>senttoacknowledgevalidcommand =2,3:<ACK>senttoacknowledgevalidcommand =1,3:<LF>precedesdataresponselineI4: 通訊完整性模式

=0,2:Checksumdisabled =1,3:Checksumenabled =0,1:Serialerrorsreportedimmediately =2,3:SerialerrorsreportedatendoflineI6: 錯(cuò)誤報(bào)告模式 =0,2:Returns<BELL>character =1,3:Reportserrornumber

整理課件CommunicationsControlI-Variables

I9: DataReport