AB伺服編程基礎

南區(qū)GOTC(全球OEM技術(shù)參謀)李金otionBasicTraining

伺服編程〔1〕根底課伺服運動根底編程10StepstoDevelopingControlLogixMotion:伺服運動根底編程包含以下10個步驟Createnewprogram創(chuàng)立一個新程序Enabletimesynchronization使能時間同步Createmotiongrouptag創(chuàng)立運動組標簽CreateAxistag創(chuàng)立軸標簽Addmotionmodule添加伺服驅(qū)動器Assignaxestomotionmodule分配軸到伺服驅(qū)動器Configuremotiongroup配置運動組屬性Configureaxes配置軸的屬性Performhookuptestandtuneaxes執(zhí)行測試和整定軸Writelogictoperformmotion寫執(zhí)行運動的邏輯程序2(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.31.CreatingaProject

1.創(chuàng)立一個工程程序1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)立運動組3.ConfiguretheMotionGroup配置運動組4.MotionControlTags運動控制標簽CreatingaProject

TimeMasterInallControlLogixchassis(singleandmultiplecontrollers),oneofthecontrollersneedstobesetasthereferenceclock.Thiswillsynchroniseallthemotionmodules,otherLogixcontrollersandI/Ocardsinthechassistoasinglemasterclock.Theprocessofsettingupacontrollertobethereferenceclockiscalled“Makingthiscontrollerthemaster”.在所有的ControlLogix機架上〔單個或多個控制器〕，控制器中的其中一個需要設定參考時鐘，這將使所有的運動模塊同步，其他機架上的Logix控制器和I/O卡使用單獨的主時鐘，設定控制器參考時鐘的過程被稱為“確定主控制”Note:Therecanonlybeonemastercontrollerperchassis.注意：每個機架上只能有一個主控制器TechnoFact:

Ifyouhavemorethanonecontrollerinthechassis,chooseoneofthecontrollerstobethetimemaster.Youcan’thavemorethanonetimemasterforthechassis.InaControlLogixmotionapplication,youmustdefineacontrollerasthetimemaster.技術(shù)事實：如果機架上你有超過1個控制器的，選擇其中一個為主時鐘，在機架上你不能有超過1個的主時鐘，在ControlLogix運動應用中，你必須定義一個控制器作主時鐘4(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CST&PTPCoordinatedSystemTime(CST)Master協(xié)調(diào)系統(tǒng)主時鐘RSLogix5000v17andearlier.RSLogix5000v17版本及之前WhenthereisaCSTmasterinthechassis,allofthemotionmodules,I/Omodules,andcontrollersinthatchassiscankeeptheirCSTclockssynchronized.當機架上有協(xié)調(diào)系統(tǒng)主時鐘時，所有機架上的的運動模塊，I/O模塊，和控制器能夠保持時鐘同步。PrecisionTimeProtocol(PTP)GrandmasterClock精度時間協(xié)議〔PTP)RSLogix5000v18andlaterRSLogix5000v18版本及以后版本TheGrandmasterClockisusedtosynchronizemotionmodules,I/Omodules,communicationmodules,andcontrollerswithinaControlLogixchassis.頂級時鐘被用在ControlLogix機架上的運動模塊，I/O模塊，通訊模塊，和控制器Startinginv17,thereisanoptiontosettheCSTMaster/EnableTimeSynchronizationinthedownloaddialogifitisnotalreadyset從V17版本開始，如果沒有被設定，在下載對話框里可以選擇設定CST主/使能時間同步TimeSynchronizationisrequiredformotiontooperateproperly!運動的正常操作必須要時間同步5(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000v17和早期版本，設定協(xié)調(diào)系統(tǒng)主時鐘如下步驟IntheControllerOrganizerwindow,rightclickonthecontrollerfolderandselect‘Properties’ORclickonthecontrollericon在控制器組織窗口中，點控制器文件夾右鍵選擇“屬性”或者點擊控制器符號Clickhere點這里Orright-clickandselectProperties或者右鍵選擇屬性6(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingthemastercoordinatedsystemtime:設定主協(xié)調(diào)系統(tǒng)時間Clickonthe‘Date/Time’taboftheControllerPropertiesdialogbox.點擊控制器屬性對話箱的“日期/時間”標簽Clickhere7(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingtheMasterCoordinatedSystemTime設定主協(xié)調(diào)系統(tǒng)時間AfterselectingtheMastercontroller,click‘OK’tocompletetheoperation在設定主控制器后，點擊OK完成操作TechnoFact:

AmotionmodulecanbeownedbyaControlLogixcontrollereventhoughthecontrollerisnottheCSTmaster.SinceanothercontrollerinthechassisistheCSTmaster(musthaveamasterinamotionapplication)youwillreceiveawarningwhiledownloadingandduringprogramverificationregardingtheCSTmaster.技術(shù)事實：一個運動模塊可以擁有一個ControlLogix控制器，即使控制器沒有主協(xié)調(diào)時間。因為機架其他控制器是CST主（在運動引用中必須有一個主），當下載和程序核實CST主時你將收到警告Click8(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization使能時間同步Click‘OK’tocompletetheoperation點擊“OK”完成操作Click9(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.10CreatingaProject

CreatingtheMotionGroup1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)立運動組3.ConfiguretheMotionGroup配置運動組4.MotionControlTags運動控制標簽CreatingaProject

CreatingaMotionGroupCreatingaMotionGroup:創(chuàng)立運動組Allusedaxesmustbepartofthemotiongroup所有軸必須是運動組的一局部OnlyonemotiongroupisallowedperControlLogixprocessorControlLogix處理器只能運行一個運動組AMotionGroupisacollectionofaxesthatcanbecontrolledbyasinglegroupinstruction.Therearefivemotiongroupinstructions.一個運動組是一個軸的集合，能被單獨的組指令控制，這里有5個運動組指令Therearemultiplewaystocreateanewmotiongroup.這里有多種方法創(chuàng)立一個新運動組TechnoFact:

OnlyonemotiongrouptagisallowedperControlLogixcontroller.Allusedaxesmustbeassignedtoamotiongroup.技術(shù)要點：只有一個運動組標簽允許在每個ControlLogix控制器中，所有的軸必須被分配至運動組中。11(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CreatingaMotionGroupRight-clickonthe‘MotionGroups’folderintheControllerOrganizer在控制器組織中‘MotionGroups’文件夾上右鍵點擊Select‘NewMotionGroup’選擇“新運動組”Givethemotiongroupaname給運動組取個名字12(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.13CreatingaProject

ConfiguretheMotionGroup1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)立運動組3.ConfiguretheMotionGroup配置運動組4.MotionControlTags運動控制標簽CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運動組屬性Right-clickontheMotionGroupfolder右鍵點擊運動組文件夾Select‘Properties’選擇“屬性”Select‘Properties’14(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運動組屬性AxisAssignmentTab軸分配標簽AddorRemoveaxesfromtheMotionGroupasnecessary根據(jù)需要從運動組中添加或移除軸15(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運動組屬性AttributeTab屬性標簽SettheCoarseUpdatePeriod設置大致更新周期EnableorDisableAutoTagUpdate,asdesired根據(jù)需要激活或禁止自動更新標簽Enabledbydefault,thisisOKforthemajorityofapplications默認是激活，對大多數(shù)應用是OK的ViewMotionPlannerScanTimes查看運動規(guī)劃掃描時間(readOnly)ScantimemustbelessthantheCUP

掃描時間必須小于CUP16(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriodCoarseUpdatePeriod伺服更新周期Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmotioninstructions.選擇運動規(guī)劃執(zhí)行的周期，執(zhí)行運動指令時，計算伺服命令被發(fā)送到模擬運動模塊，SERCOS的驅(qū)動器，或CIP驅(qū)動器的位置和速度信息Ifthecoarseupdateperiodistoosmall,thecontrollermaynothavetimetoexecutenon-motionrelatedladderlogic.如果伺服更新周期太小，控制器可能沒時間執(zhí)行運動和梯形邏輯的關(guān)聯(lián)Thenumberofaxesintheprojectsetsthelowerlimitonthecoarseupdateperiod.工程中軸的數(shù)量的設定低于更新周期限制17(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriodCoarseUpdatePeriod伺服更新周期Rangeofvalues:0.5msec–32msec值范圍：0.5毫秒–32毫秒General“ruleofthumb:”1.0msecperaxisasastartingpoint常用的“經(jīng)驗法”：1毫秒每軸為出發(fā)點·Lessthan11axes—Setthecoarseupdateperiodto10ms.·11axesormore—Setthecoarseupdateperiodto1msperaxis.MinimumrecommendationsbasedonLogixprocessor:Logix處理器為根底的最低建議1756-L55:1.5msecperaxis(onlyavailablethroughv16)1.5毫秒每軸1756-L6x:0.25msecperaxis0.25毫秒每軸1768-L4x:0.25msecperaxis0.25毫秒每軸1756-L7x:0.125msecperaxis0.125毫秒每軸Onceconfigured,themotionplannerscantimesshouldbemonitoredwiththeapplicationrunningandmodifiedasneeded一旦配置好后，運動規(guī)劃的掃描時間應與正在運行的應用程序進行監(jiān)測，并根據(jù)需要進行修改Ifthecycletimeis2ms,setthecoarseupdateperiodto8ms,10ms,12ms,andsoon.18(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.19CreatingaProject

MotionControlTags1.EnableTimeSynchronization使能時間同步2.CreatingtheMotionGroup創(chuàng)立運動組3.ConfiguretheMotionGroup配置運動組4.MotionControlTags運動控制標簽CreatingaProject

MotionControlTagsAMotionControltagmustbedefinedforeachmotioninstructionused一個運動控制標簽必須定義每一個使用的運動指令Data-type:MOTION_INSTRUCTION數(shù)據(jù)類型：MOTION_INSTRUCTIONTagstoresstatusinformationabouttheinstruction標簽存儲關(guān)于指令的狀態(tài)信息Eachmotioninstructionmustuseauniquecontroltag每一個運動指令必須使用唯一的控制標簽Examples(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.20MotionModules&AxisTags

AxisTagsMotionAxisTypes:運動軸類型：Axis_Servo:aphysicalaxiswhichisconnectedtoanAnalogmotionmodule(1756-M02AE,1756-M02AS,or1756-HYD02).Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).連接到擬運動模塊的一個物理軸〔1756-M02AE,1756-M02AS,or1756-HYD02〕。這些軸能有電機和反響設備或僅僅反響設備〔只反響〕Axis_Servo_Drive:aphysicalaxiswhichisconnectedtoaSERCOSDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸伺服驅(qū)動：連接到SERCOS驅(qū)動的物理軸，這些軸能有電機和反響裝置或僅僅反響設備〔只反響〕Axis_CIP_Drive:aphysicalaxiswhichisconnectedtoaCIPDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸CIP驅(qū)動：連接到CIP驅(qū)動的物理軸。這個軸能有電機和反響設備或僅僅反響設備〔只反響〕Axis_Virtual:atheoretical(imaginary)axiswhichisexistsintheControlLogixprocessor.Thereisnohardwareassociatedwithavirtualaxis.虛軸：一個存在于ControlLogix處理器中的理想軸，沒有硬件關(guān)聯(lián)一個虛軸21(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisTagsMotionAxisTypes:運動軸類型Axis_Consumed:aphysicalorvirtualaxiswhichisownedbyanotherControlLogixprocessorwithinthesamerack.OneControlLogixprocessorproducestheaxisinformationtobeconsumedbyotherControlLogixprocessors.ProducedandconsumedaxisareusedtoshareaxisinformationbetweenmultipleControlLogixprocessors軸消費者：一個物理或虛擬軸被其他在同一個機架里的ControlLogix處理器擁有。一個ControlLogix處理器產(chǎn)生軸信息被其他處理器所消費。軸的生產(chǎn)者和消費者被用來在多ControlLogix處理器及之間共享軸信息Axis_Generic:agenericaxisobjectrepresentsanaxiswithfullmotionplannerfunctionality,butnotassociatedwithanydevicethatrequiresmotionconfigurationsupport(e.g.,DriveLogixor1756-DM).軸_通用：一個通用的軸對象代表一個完整的運動規(guī)劃功能軸，但是不關(guān)聯(lián)任何需要運動配置支持的設備Axis_Generic_Drive:ThirdpartySERCOSdrive;i.e.Indramat,Bosch,etc.軸_通用_驅(qū)動：三方SERCOS驅(qū)動；如，Indramat，博士等等22(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.AxisProperties

CIPAxisDialogCIPAxisCIP軸UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_CIP_DRIVE:使用這個對話框配置數(shù)據(jù)類型是AXIS_CIP_DRIVE的軸屬性CIPaxeshavethefollowing“Categories”:CIP軸如下“類別”General常規(guī)Motor(SubModel)電機〔替代模式〕MotorFeedback電機反響Scaling比例HookupTests連接測試Polarity極性Autotune自整定Load(SubsBacklashCompliance,Friction)負載〔替代間隙，統(tǒng)一，對立〕PositionLoop位置閉環(huán)VelocityLoop速度閉環(huán)AccelerationLoop加速閉環(huán)Torque/CurrentLoop力矩/電流閉環(huán)Planner規(guī)劃Homing回零Actions激活DriveParameters驅(qū)動參數(shù)Status狀態(tài)FaultsandAlarms故障和報警Tag標簽(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.23CIPAxisAxisProperties

CIPAxisDialogCIPAxisParameterPageCIP軸參數(shù)頁面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup:除了上頁中得到的參數(shù)外，在組里參數(shù)頁面顯示所有的驅(qū)動參數(shù)(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.24CIPAxisVirtualAxes

Whatyouwilllearn:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.Animaginaryaxiswhichresidesinthecontroller.在控制器中一個虛構(gòu)的軸Providescommandpositionupdatecapabilitywithoutrequiringaphysicalaxis.提供命令位置更新能力不依賴于物理軸Actualpositiontracksthecommandexactly.命令沒有實際位置軌跡Nolimitswithrespecttovelocity,acceleration,ordeceleration.沒有速度，加速度，或減速度限制Virtualaxesdonotrequiretuningorhookuptests.虛軸不要求自整定或hookup測試Virtualaxesdonotfault.虛軸沒有錯誤VirtualAxes

WhatisaVirtualAxis:26VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.VirtualAxes

UsingaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虛軸2.ConfiguringaVirtualAxis配置虛軸3.UsingaVirtualAxis使用虛軸VirtualAxes

UsingaVirtualAxis:Programmingforavirtualaxisisthesameasforanyphysicalaxis.設計一個虛軸是和物理軸一樣的DoesnotrequireMSO,MSF,orMAFR不需要MSO,MSF或MAFRAvirtualaxiscountstowardthemaximumaxiscountforyourprocessor.一個虛軸的數(shù)量占用處理器的軸數(shù)量Whenusingavirtualaxis,youneedtoconsideritwhenspecifyingthemotiongroupupdaterate.當使用虛軸時，你需要考慮指定運動組更新率Asastartingpoint,agoodruleofthumbis1msecpervirtualaxis作為一個起點，一個好的經(jīng)驗法那么是每虛擬軸1毫秒Whenfollowingavirtualaxis(gearorcam)thereisnodifferenceinspecifying“actual”or“command”fortheMasterReference.當一個虛擬軸〔齒輪或凸輪〕沒有指定主參考“實際”或“命令”的區(qū)別(Confidential–ForInternalUseOnly)Copyright?2010RockwellAutomation,Inc.Allrightsreserved.36(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.37MotionStateandFaultHandlingInstructions

Agenda1.MotionInstructionOverview運動指令概述2.MotionInstructionErrors運動指令錯誤3.MotionStateInstructions運動狀態(tài)指令4.FaultHandlingInstructions故障處理指令MotionStateandFaultHandlingInstructions

MotionInstructionsOverview運行狀態(tài)和故障處理指令運行指令概述AsofRSLogix5000v16,thereare40motioninstructions從RSLogix5000v16起，總共有40個運動指令Only36motioninstructionsavailableforCompactLogix僅36個運動指令對CompactLogix有效1newinstructioninv19isforthePowerFlex755onCIPonly在v19中有1個新指令僅對CIP上的PowerFlex755有效Themotioninstructionsetconsistsofsixgroupsofinstructions:運動指令集包含6組指令Motionstateinstructions運動狀態(tài)指令Motionmoveinstructions運動位移指令Motiongroupinstructions*運動組指令Motioneventinstructions*運動事件指令Motionconfigurationinstructions*運動配置指令Motioncoordinatedinstruction*協(xié)調(diào)運動指令38(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MSO(MotionServoOn)〔運動伺服使能〕MSO(MotionServoOn)MSO〔運動伺服使能〕Directlyactivatesthedriveandenablestheconfiguredservoloopsassociatedwithaphysicalservoaxis直接激活驅(qū)動，并使配置伺服回路與一個物理伺服軸聯(lián)結(jié)Mostcommonuseofthisinstructionistoactivatetheservoloopforthespecifiedaxisinitscurrentpositioninpreparationforcommandingmotion該指令最常見的用途是在備用于指揮運動的當前位置為指定軸激活伺服回路。LookforbitAxis.ServoActionStatustoindicatetheservoloopsweresuccessfully查找位元Axis.ServoActionStatus，顯示伺服回路ServoActionStatus成功啟用39(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructions

MSO(MotionServoOn)運行狀態(tài)和故障處理指令MSO〔運行伺服使能〕MSO(MotionServoOn)MSO〔運動伺服使能〕(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.40MSF(MotionServoOff)〔運動伺服關(guān)閉使能〕MSF(MotionServoOff)MSF〔運動伺服關(guān)閉使能〕Directlyandimmediatelyturnsoffdriveoutputanddisablestheservolooponanyphysicalservoaxis.直接即時關(guān)閉驅(qū)動輸出，禁止任何物理伺服軸上的伺服回路Disablesanymotionplannersthatmaybeactiveatthetimeofexecution禁止任何可能在執(zhí)行時活動的運行規(guī)劃Positioncontinuestobetrackedwhenaxisisdisabled當軸被禁用時位置繼續(xù)進行跟蹤Axisstoppingbehavior(ifaxisisinmotionwhenMSFisexecuted)dependsontypeofdrive41(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMSF(MotionServoOff)MSF(MotionServoOff〕〔關(guān)閉伺服使能)TechnoFact:IfyouexecuteanMSFinstructionwhiletheaxisismoving,theaxiscancoasttoanuncontrolledstop.Thisinstructionisnotrecommendedfornormalstopping.UsetheMotionAxisStop(MAS)instructionforthatpurpose.當軸在運動中執(zhí)行關(guān)閉伺服指令，軸將不受控的停止，這條指令不建議作為通常停止指令，使用運動軸停止停止指令42(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.43MotionStateandFaultHandlingInstructions

FaultHandlingInstructions1.MotionInstructionOverview運動指令概述2.MotionInstructionErrors運動指令錯誤3.MotionStateInstructions運動狀態(tài)指令4.FaultHandlingInstructions故障處理指令MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset運動故障復位)UsetheMAFRinstructiontoclearallmotionfaultsforanaxis使用MAFR指令去除軸的所有故障Removesthefaultstatus排除所有故障狀態(tài)DoesNOTperformanyotherrecovery,suchasenablingservoaction不要執(zhí)行重啟，比方激活伺服使能Usuallypartofafaulthandlingprogram出錯處理程序IftheconditionthatcausedthefaultstillexistswhentheMAFRinstructionisexecuted,theaxisimmediatelyfaultsagain當運動故障復位時，仍然錯誤存在錯誤，軸將在次報錯Thisscenariogivestheimpressionthatthefaultwasnevercleared這個方法感覺故障從來沒被去除Example:Axishitsahardwareovertravelsensorandfaults.AnMAFRcommandisexecutedwithoutmovingtheaxis.Axisimmediatelyfaultsagainduetothehardwareovertravelcondition.例如：軸的硬件采樣超過了傳感器行程引起錯誤，MAFR指令不能移動軸，軸又立刻報錯因為硬件超過了行程條件44(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset運動軸故障復位)45(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsManuallyClearingAxisFaultsManuallyClearingAxisFaults手動去除軸故障Axisfaultscanbeclearlymanuallywhenonlinewiththecontroller控制器在線時，能夠手動去除軸故障Right-clickontheaxislistedintheMotionGroupfolder運動組文件夾里的軸清單處點擊右鍵Select‘ClearAxisFaults’選擇“去除軸錯誤”Thismethodisonlyrecommendedwhiletroubleshootinganddebugginganapplicationprogram這種方法只在調(diào)試工程和維修時推薦使用46Right-clickonthefaultedaxis,select‘ClearAxisFaults’(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復位)UsetheMASRInstructiontotransitionanaxisfromanexistingShutdownstatetoanAxisReadystate使用MASR指令使軸從關(guān)閉狀態(tài)到軸準備狀態(tài)Anyfaultsassociatedwiththespecifiedaxisareautomaticallycleared一個指定的軸采用自動去除故障是錯誤的ThiswasnottrueforinitialreleasesofRSLogix5000這可能沒被RSLogix5000所正式發(fā)布IfthemodulesupportsanOKcontactandnoothermoduleaxisisintheShutdownstate,theOKrelaycontactisclosedOK如果模塊支持OK接觸器且沒有其他軸模塊在關(guān)閉狀態(tài)，中間接觸器閉合Norecoveryactionsaretaken,suchasenablingtheservoloops沒有恢復激活，比方伺服環(huán)處于使能47(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復位)48(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset軸關(guān)閉復位)Changestoaxisstatusbits:改變軸狀態(tài)位AxisremainsdisabledafterMASRhasbeenexecuted在軸關(guān)閉復位后軸仍然保持在禁止狀態(tài)Axis.ServoActionStatusisFalseServoloopisinactive伺服環(huán)沒激活Axis.DriveEnableStatusisFalseDriveoutputisinactive驅(qū)動輸出沒激活49(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsCommonFaultResetLogicCommonFaultResetLogic常用的故障復位邏輯When‘FaultReset’inputisrequested:當故障復位輸入被請求LogicchecksforShutdownStatusonanaxis在軸上確定關(guān)斷邏輯IfanaxisisinaShutdownState,theShutdownResetinstructionclearstheshutdownconditionandanyfaultsonthataxisarecleared(assumingthecauseofthefaulthasbeencorrected)如果在在關(guān)斷狀態(tài)，關(guān)閉復位指令去除關(guān)斷條件，并且軸的故障也被去除〔如果導致故障的條件被修正〕IftheaxisisnotinaShutdownState,secondbranchoflogicisexecuted如果軸沒在關(guān)斷狀態(tài)，第二個分支邏輯將被執(zhí)行Ifanaxishasanexistingfaultcondition,theFaultResetinstructionclearstheaxisfaults(assumingthecauseofthefaulthasbeencorrected)如果軸存在錯誤條件，故障復位指令去除故障〔如果導致故障的條件被修正〕50(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown關(guān)閉運動軸)UsetheMASDinstructiontoforceaspecifiedaxisintotheShutdownstate使用MASD指令強制關(guān)閉指定軸狀態(tài)Driveoutputisdisabled驅(qū)動輸出沒使能Servoloopisdeactivated伺服環(huán)沒激活AssociatedOKrelaycontactsopen(analogaxes)OK中間繼電器處于釋放狀態(tài)SetsbitAxis.ShutdownStatus設置軸關(guān)斷狀態(tài)位Allcurrentmotionprocessesarecancelled所有的當前運動處理被取消MotionstatusbitsandmotioninstructionIPbitsarecleared運動狀態(tài)位和運動指令I(lǐng)P位被去除MotioncommandsforthataxisareblockedfromexecutionwhileanaxisisintheShutdownstate當軸處于關(guān)閉狀態(tài)那么軸的運動指令被封鎖，51(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown運動軸關(guān)閉)52(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.53MoveInstructions

Agenda1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并運動指令MoveInstructions

MotionMoveInstructionsMotionMoveInstructions運動移動指令

Thiscategoryincludesallmotioninstructionsthatcauseordirectlyaffectaxismotion.Theseinstructionsincludemoving,jogging,gearing,stopping,camming,etc.Thiscategoryalsoincludesmotioninstructionsthatdirectlymodifycurrentaxispositionthataretypicallyusedtoreferencethespecifiedaxistosomeabsolutephysicalpositionoftheaxis.Instructionstoredefineaxispositionandperformahomingsequencesfallunderthiscategory.包括所有的運動指令，間接或直接影響軸運動，這些指令包括，移動，點動，齒輪，停止，凸輪等。也包括直接修正當前軸位置的運動，通常用于指定的軸的軸的絕對物理位置。從新定義軸位置的指令和執(zhí)行回零序列都包含在此類中。Theseinstructionswillbetaughtindetailinadvancedtraining這些指令將在伺服高級培訓中講到54(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstructionMAM(MotionAxisMove)軸位移UsetheMAMinstructiontoinitiateamoveprofileforthespecifiedaxis使用軸位移指令初始化一個指定軸的運動曲線Movestheaxistoaspecifiedposition(absolute)orbyaspecifieddistance(incremental)移動軸到指定的位置〔絕對〕或者一個指定的距離〔增量〕Thesteady-statespeedofthemoveprofileisgivenbythespeedparameter由速度參數(shù)給定運動軌跡一個恒定的速度Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速度，減速度，加加速度，和減減速度Availableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲線：梯形，S曲線，通過編程躍度修正S曲線55(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MAM(MotionAxisMove)軸位移(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction56MAM(MotionAxisMove)軸位移(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction57MAM(MotionAxisMove)軸位移(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MoveInstructions

MAMInstruction58MoveInstructions

MAJInstructionMAJ(MotionAxisJog)軸按速度運動UsetheMAJinstructiontomoveanaxisataconstantspeedintheforwardorreversedirectionuntilyoutellittostop;jogiscommandedwithoutregardtoposition使用軸點動指令時一個軸以恒定速度向前或后運動，直到你告訴他停止，寸動指令不考慮位置Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速，減速，加加速度，和減減速度值Availableprofiles:trape