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中型 PLC

编程手册（运动控制篇）

资料编码 19010539 A04

工业自动化智能电梯新能源汽车工业机器人轨道交通

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

一、PLCopen 规范简介 .....................................................................................................

二、运动控制应用系统组成 ...............................................................................................

三、运动控制程序的组成 ...................................................................................................

3.1 用户程序结构 ........................................................................................................................

3.1.1 用户程序组成 .................................................................................................................................................

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

四、运动控制程序执行机制 ...............................................................................................

4.1 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 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 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 执行 MC 功能块的处理机制 ..................................................................................................

4.5.1 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、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 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 ...........................................................................................................................

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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七、仿真与调试 ..................................................................................................................

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7.1 仿真控制器 ...........................................................................................................................

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

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

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