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运动控制

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前言....................................................................

一

、

PLCopen 规范简介 .....................................................

二

、

AM600 运动控制应用系统组成 ...........................................

三

、

AM600 运动控制程序的组成 .............................................

3.1 AM600 的用户程序结构 ....................................................

3.1.1 AM600 的用户程序组成 ......................................................................................................................

3.1.2 AM600 中的任务类型 ..........................................................................................................................

3.1.3 用户程序由多个 POU 组成的好处 .......................................................................................................

3.1.4 用户程序如何同时做到逻辑控制与运动控制 .......................................................................................

3.2 一个简单的用户程序的编写调试过程 ........................................

3.2.1 新建工程 .............................................................................................................................................

3.2.2 编写功能处理的 POU .........................................................................................................................

3.2.3 电机参数的设置 ..................................................................................................................................

3.2.4 跑马灯控制逻辑的编写 .......................................................................................................................

3.2.5 将变量与硬件输出端口关联 ................................................................................................................

3.2.6 用户程序编译排错...............................................................................................................................

3.2.7 监控用户程序的运行 ...........................................................................................................................

3.2.8 编写一个 AM600 运动控制工程的典型步骤总结 .................................................................................

四

、

AM600 运动控制程序执行机制 ...........................................

4.1 AM600 用户工程中的任务与配置 ............................................

4.2 EtherCAT 总线网络的数据流分析 ...........................................

4.3 AM600 与伺服从站的通信数据流程 ..........................................

4.3.1 控制信息流程步骤说明 .......................................................................................................................

4.3.2 CiA402 数据对象字典与伺服驱动器常用对象 .....................................................................................

4.3.3 伺服轴电机参数的配置 .......................................................................................................................

4.3.4 EtherCAT 网络状态初始化与管理 .......................................................................................................

4.3.5 AM600 与伺服轴及 IO 端口控制数据刷新 ...........................................................................................

4.4 MC 运动控制数据的传送时序 ...............................................

4.5 AM600 执行 MC 功能块的处理机制

：

.........................................

4.5.1 AM600 对伺服的运动命令，采取周期同步位置的控制模式 ................................................................

4.5.2 伺服轴的数据结构...............................................................................................................................

4.5.3 伺服轴的状态及转移规则 ....................................................................................................................

4.5.4 MC 功能块的执行逻辑： ....................................................................................................................

4.5.5 不同优先级任务 POU 之间的数据交互 ...............................................................................................

五

、

AM600 用户程序的应用编程 .............................................

5.1 单轴 MC 定位的运动控制编程 ...............................................

5.1.1 AM600 运控应用的编程要点提醒 ........................................................................................................

5.1.2 单轴控制常用的 MC 功能块 ................................................................................................................

5.1.3 MC 指令与 PDO/SDO 配置 ................................................................................................................

5.2 多轴 CAM 凸轮同步的运动控制编程 ..........................................

5.2.1 凸轮运行的主要功能块说明 ................................................................................................................

5.2.2 当主轴和从轴都为相对位置模式时的运行特点 ...................................................................................

5.2.3 当主轴为绝对位置模式，从轴为相对位置模式 ...................................................................................

5.2.4 当主轴为相对对位置模式，从轴为绝对位置模式 ................................................................................

5.3 凸轮表的周期模式特点 ....................................................

5.3.1 CamIn 运行的 Offset 功能 ..................................................................................................................

5.3.2 凸轮运行中的主轴 MasterScaling 计算 ...............................................................................................

5.3.3 凸轮运行中的从轴 SlaveScaling 计算 .................................................................................................

5.3.4 凸轮运行中的 Offset、Scale 使用特性与注意事项 .............................................................................

5.3.5 凸轮运行状态的退出 MC_CamOut 功能块 .........................................................................................

5.4 凸轮主轴相位调整 MC_Phasing 功能块 .......................................

5.5 凸轮表设计与其数据结构 ..................................................

5.5.1 凸轮表的特点 ......................................................................................................................................

5.5.2 CAM 凸轮表的输入方法 .....................................................................................................................

5.5.3 CAM 凸轮表的内部数据结构与数组 ...................................................................................................

5.5.4 CAM 凸轮表的引用与动态切换 ...........................................................................................................

六

、

常用 MC 指令详解......................................................

6.1 单轴指令 ................................................................

MC_AccelerationProﬁle ...............................................................................................................................

MC_Halt ......................................................................................................................................................

MC_Home ...................................................................................................................................................

MC_MoveAbsolute ......................................................................................................................................

MC_MoveAdditive .......................................................................................................................................

MC_MoveRelative .......................................................................................................................................

MC_MoveSuperImposed.............................................................................................................................

MC_MoveVelocity........................................................................................................................................

MC_PositionProﬁle ......................................................................................................................................

MC_Power...................................................................................................................................................

MC_ReadActualPosition .............................................................................................................................

100

MC_ReadAxisError .....................................................................................................................................

101

MC_ReadBoolParameter ............................................................................................................................

102

MC_ReadStatus ..........................................................................................................................................

104

MC_ReadParameter ...................................................................................................................................

106

MC_Reset ...................................................................................................................................................

108

MC_Stop .....................................................................................................................................................

109

MC_VelocityProﬁle ......................................................................................................................................

111

MC_WriteBoolParameter ............................................................................................................................

113

MC_WriteParameter ....................................................................................................................................

115

MC_AbortTrigger .........................................................................................................................................

116

MC_ReadActualTorque ...............................................................................................................................

117

MC_ReadActualVelocity ..............................................................................................................................

118

MC_SetPosition...........................................................................................................................................

119

MC_TouchProbe..........................................................................................................................................

120

SMC_MoveContinuousAbsolute .................................................................................................................

122

SMC_MoveContinuousRelative ..................................................................................................................

124

MC_Jog .......................................................................................................................................................

126

SMC_Inch....................................................................................................................................................

128

SMC3_PersistPosition.................................................................................................................................

130

SMC3_PersistPositionSingleturn ................................................................................................................

132

SMC3_PersistPositionLogical .....................................................................................................................

134

SMC_Homing ..............................................................................................................................................

136

6.2 轴组指令 ( 主 / 从轴指令 ) ................................................

140

SMC_CamRegister .....................................................................................................................................

140

SMC_GetCamSlaveSetPosition ..................................................................................................................

143

SMC_GetTappetValue .................................................................................................................................

145

MC_CamTableSelect...................................................................................................................................

147

MC_Camin ..................................................................................................................................................

149

MC_CamOut ...............................................................................................................................................

162

MC_GearIn ..................................................................................................................................................

165

MC_GearOut ...............................................................................................................................................

167

MC_GearInPos............................................................................................................................................

169

MC_Phasing ................................................................................................................................................

173

SMC_CAMBounds ......................................................................................................................................

176

SMC_CAMBounds_Pos ..............................................................................................................................

178

SMC_WriteCAM ..........................................................................................................................................

179

SMC3_PersistPosition.................................................................................................................................

181

SMC3_PersistPositionSingleturn ................................................................................................................

183

SMC_CheckAxisCommunication ................................................................................................................

185

SMC3_PersistPositionSingleturn ...............................................................................................................

187

SMC_FollowPosition ...................................................................................................................................

189

SMC_FollowPositionVelocity .......................................................................................................................

194

SMC_FollowVelocity....................................................................................................................................

196

SMC_FollowSetValues ................................................................................................................................

198

SMC_SetControllerMode ............................................................................................................................

200

SMC_CheckLimits .......................................................................................................................................

202

SMC_CheckAxisCommuication ..................................................................................................................

204

SMC_GetMaxSetAccDec ............................................................................................................................

206

SMC_GetMaxSetVelocity ............................................................................................................................

208

MC_GetTrackingError .................................................................................................................................

210

SMC_InPosition...........................................................................................................................................

212

SMC_ReadSetPosition................................................................................................................................

215

SMC_SetTorque ..........................................................................................................................................

216

SMC_BacklashCompensation.....................................................................................................................

217

SMC_AxisDiagnosticLog .............................................................................................................................

219

SMC_ChangeGearingRatio.........................................................................................................................

221

SMC_ReadFBError .....................................................................................................................................

223

SMC_ClearFBError .....................................................................................................................................

226

七

、

仿真与调试...........................................................

228

7.1 仿真 AM600 控制器 .......................................................

228

7.2 仿真伺服驱动器 ..........................................................

229

附录 A IS620N 支持的原点回归模式 .........................................

232

附录 B IS620N 支持的 CiA402 常用数据对象速查表 ............................