TurboPMAC(Clipper)回零方式簡介

1、;假設(shè)系統(tǒng)的參數(shù)已經(jīng)設(shè)好如下：I119=0.015625 ;Max. Home/Jog Acceleration (counts / msec * msec) I120=200 ;Home/Jog Acceleration timeI121=50 ;Home/Jog S-curve timeI123=32 ;Home Speed & Direction (counts / msec)*;C 通道回零C channel)Home flag)I7012=1 ;Define capture event (1 = I7013=0 ;Select Capture Flag (0 = I126=0 ;De

2、fine a Motor Home OffsetI5=2 ;I5 - Enable PLC s:OPEN PLC 1 ;any number from 0 - 31, PLC 0 is recommended CLEARCommand#1Home;Home motor #1Disable PLC 1 ;Disable (terminate) PLC program CLOSE ;Close PLC program buffer*J;C 通道回零偏置I126=4000 ;Define a Motor Home Offset (n = Offset * 16)I7012=1 ;Define cap

3、ture event (1 = C channel)I7013=0 ;Select Capture Flag (0 = Home flag)I5=2 ;I5 - Enable PLC s:OPEN PLC 1 ;any number from 0 - 31, PLC 0 is recommended CLEARCommand#1Home;Home motor #1Disable PLC 1 ;Disable (terminate) PLC program CLOSE ;Close PLC program buffer*J; 正限位通道回零I126=0 ;Define a Motor Home

4、OffsetI7012=2 ;Define capture event (2 = n-defilnaegd by I7mn3)I7013=1 ;Select Capture Flag (1 = Limit +)I124=$20001 ;Disable LimitsI128=160 ;Define the-PoInsition range (160 = rangeI5=2 ;Enable PLC -sbackground :M133-X:$0000B0,13,1 ; #1 Desired-velocity-zero bitM140-Y:$0000C0,0,1 ; #1 In-position b

5、it (background)M145-Y:$0000C0,10,1 ; #1 Home-complete bitOPEN PLC 1CLEARM145=0 ;clear the #1 home-complete bitCommand#1Home ;Home motor #1;Test forHome Complete -P, ositioInn , De-sVireldocity- ZeroWhile (M145=0) Or (M140=0) Or (M133=0)End WhileI124=$1 ;Enable LimitsDisable PLC 1 ;Disable (terminate

6、) PLC programCLOSE ;Close PLC program buffer*J; 正限位和 C 通道組合回零I126=0 ;Define a Motor Home OffsetI7012=2 ;Define capture event (2 = n-defilnaegd by I7mn3)I7013=1 ;Select Capture Flag (1 = Limit +)I124=$20001 ;Disable LimitsI128=160 ;Define the-PoInsition range (160 = range I5=2 ;Enable PLC -sbackgroun

7、d :M133-X:$0000B0,13,1 ; #1 Desired-velocity-zero bitM140-Y:$0000C0,0,1 ; #1 In-position bit (background)M145-Y:$0000C0,10,1 ; #1 Home-complete bitOPEN PLC 1CLEARM145=0 ;clear the #1 home-complete bit; Limit + home loop:Command#1Home ;Home motor #1;Test forHome Complete -P, ositioInn , De-sVireldoci

8、ty- ZeroWhile (M145=0) Or (M140=0) Or (M133=0)End While;Change homing settingsI123=-32 ;Change Home Direction to negativeI7012=1 ;Def ine capture event (1 = C channel)I7013=0 ;Select Capture Flag (1 = Home flag)M145=0 ;clear the #1 home-complete bitCommand#1Home ;Home motor #1 using Index (C channel

9、); C home loop:; Home Complete , -PosInition , De-sVireldocity- Zero While (M145=0) Or (M140=0) Or (M133=0)End WhileI124=$1 ;Enable LimitsDisable PLC 1 ;Disable (terminate) PLC programCLOSE ;Close PLC program buffer*J; 跟隨誤差軟件回零I126=0 ;Define a Motor Home Offseti197=3 ;Define a Motor Position capture & trigger modei112=16000 ;Define How much error to trigger home ,must less than ixx11I5=2 ;I5 - Enable PLC s:OPEN PLC 1 ;any n