《AM600系列可编程逻辑控制器编程手册（运动控制篇）》）-20181112试用版.pdf

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前言

首先感谢您购买使用汇川技术开发生产的 AM600/AC700/AP700/AC800 系列可编程逻辑控制器及扩展模块，

并使用 InoProShop 编程软件！

●

面向的用户

本手册面向对 AM600/AC700/AP700/AC800 系列 PLC 进行运动控制相关功能配置、编程和调试的技术人员。

读者需要具备一定的自动化和 PLC 知识。

本文档将 AM600/AC700/AP700/AC800 系列 PLC 统称为中型 PLC

●

主要内容

第 1 章简介 PLCopen 规范

第 2 章简单介绍中型 PLC 运动控制应用系统组成

第 3 章介绍中型 PLC 运动控制程序的组成

第 4 章介绍中型 PLC 运动控制程序执行机制

第 5 章介绍中型 PLC 用户程序的应用编程

第 6 章详细解析中型 PLC 常用 MC 指令详解

第 7 章介绍多轴 CNC 轨迹插补的运动控制编程

第 8 章介绍提高轨迹控制精度的方法

第 9 章描述仿真与调试相关操作

第 10 章附录内容，含 IS620N 支持的原点回归模式、IS620N 支持的 CiA402 常用数据对象速查表、和中型

PLC 错误代码说明

在使用本软件之前，应仔细阅读本手册以及本手册，同时在充分注意安全的前提下正确操作。

●

软件环境

●

术语和缩略语

术语 / 缩略语说明

InoProShop

中型 PLC

的编程软件

Gateway 本手册中代表

中型 PLC

的专用通讯服务

PLC Programmable Logic Controller（可编程控制器的简称）

●

版本更新记录

变更时间版本号变更说明

2017 年 5 月 A00 第一版发行

2018 年 8 月 A01 第二版发行

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 O󶍽set 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 O󶍽set、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_AccelerationPro󶍾le ....................................................................................................................................

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

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

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

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

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

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

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

MC_PositionPro󶍾le ...........................................................................................................................................

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

100

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

102

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

103

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

104

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

106

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

108

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

110

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

111

MC_VelocityPro󶍾le ..........................................................................................................................................

113

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

115

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

117

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

118

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

119

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

120

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

121

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

122

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

124

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

126

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

128

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

130

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

132

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

134

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

136

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

138

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

143

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

143

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

146

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

148

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

150

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

152

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

165

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

168

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

170

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

172

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

178

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

181

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

183

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

184

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

187

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

189

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

191

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

193

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

195

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

200

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

202

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

204

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

205

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

207

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

210

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

212

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

214

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

216

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

218

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

221

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

222

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

223

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

225

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

228

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

230

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

233

七、多轴 CNC 轨迹插补的运动控制编程 ......................................................................

235

7.1 AM600/AC700/800/900 控制器支持的 CNC 功能 ...............................................................

235

7.2 AM600/AC700/800/900 控制器 CNC 编程概念 ..................................................................

235

7.3 控制器支持的 G 代码指令集 ...............................................................................................

236

7.3.1. 插补运动类 G 代码 ..................................................................................................................................

237

7.3.2. 执行等待类 G 代码 ..................................................................................................................................

237

7.3.3. 模式切换类 G 代码 ..................................................................................................................................

237

7.3.4. 变量修改与条件跳转 G 代码 ...................................................................................................................

237

7.3.5. 系统坐标转换类 G 代码 ..........................................................................................................................

237

7.3.6. 运行预处理类 G 代码 ..............................................................................................................................

238

7.4 G-code 代码编程语法 .........................................................................................................

238

7.4.1 线性插补 G01 指令的举例：....................................................................................................................

238

7.4.2 圆弧插补 G02/G03 指令的举例 ...............................................................................................................

239

7.4.3 椭圆插补 G08/G09 指令的举例 ...............................................................................................................

240

7.4.4 抛物线插补 G06 指令的举例....................................................................................................................

241

7.4.5 样条插补的 G05/G10 指令举例 ...............................................................................................................

242

7.4.6 定位指令 G0/G92 指令的说明 .................................................................................................................

243

7.5 控制器支持的轴类型及其运行特点 ....................................................................................

244

7.6 G-Code 程序的 M 辅助指令 ...............................................................................................

246

7.7 G-Code 程序的 H 辅助指令 ................................................................................................

246

7.8 轨迹的圆滑与倒角处理 ........................................................................................................

247

7.9 轨迹的刀具补偿处理 ...........................................................................................................

248

7.10 G 代码指令的模式特性 ......................................................................................................

249

7.11 G 代码程序轨迹的输入与编辑 ...........................................................................................

250

7.11.1 在 InoProShop 中编写 G-Code 程序 ...................................................................................................

250

7.11.2 导入 DXF 格式文件的设计图形 ..............................................................................................................

251

7.11.3 在 InoProShop 中编辑轨迹程序 ..........................................................................................................

252

7.11.4 借助 CAM 软件生成轨迹程序 ................................................................................................................

254

7.12 G-Code 程序的编译处理 ..................................................................................................

255

7.12.1 CNC 轨迹曲线的描述形式与编译格式 ...................................................................................................

255

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