AB伺服编程基础.ppt
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1、AB伺服编程基础+10 Steps to Developing ControlLogix Motion:+伺服运动基础编程包含以下10个步骤 Create new program创建一个新程序 Enable time synchronization使能时间同步 Create motion group tag创建运动组标签 Create Axis tag创建轴标签 Add motion module添加伺服驱动器 Assign axes to motion module分配轴到伺服驱动器 Configure motion group配置运动组属性 Configure axes配置轴的属性 Per
2、form hookup test and tune axes执行测试和整定轴 Write logic to perform motion写执行运动的逻辑程序.1.Enable Time Synchronization使能时间同步使能时间同步2.Creating the Motion Group创建运动组创建运动组3.Configure the Motion Group配置运动组配置运动组4.Motion Control Tags运动控制标签运动控制标签.+In all ControlLogix chassis(single and multiple controllers),one of th
3、e controllers needs to be set as the reference clock.This will synchronise all the motion modules,other Logix controllers and I/O cards in the chassis to a single master clock.The process of setting up a controller to be the reference clock is called“Making this controller the master”.+在所有的ControlLo
4、gix机架上(单个或多个控制器),控制器中的其中一个需要设定参考时钟,这将使所有的运动模块同步,其他机架上的Logix控制器和I/O卡使用单独的主时钟,设定控制器参考时钟的过程被称为“确定主控制”+Note:There can only be one master controller per chassis.+注意:每个机架上只能有一个主控制器Techno Fact:If you have more than one controller in the chassis,choose one of the controllers to be the time master.You cant h
5、ave more than one time master for the chassis.In a ControlLogix motion application,you must define a controller as the time master.技术事实:如果机架上你有超过1个控制器的,选择其中一个为主时钟,在机架上你不能有超过1个的主时钟,在ControlLogix运动应用中,你必须定义一个控制器作主时钟.+Coordinated System Time(CST)Master 协调系统主时钟 RSLogix5000 v17 and earlier.RSLogix5000 v1
6、7 版本及之前 When there is a CST master in the chassis,all of the motion modules,I/O modules,and controllers in that chassis can keep their CST clocks synchronized.当机架上有协调系统主时钟时,所有机架上的的运动模块,I/O模块,和控制器能够保持时钟同步。+Precision Time Protocol(PTP)Grandmaster Clock精度时间协议(PTP)RSLogix5000 v18 and later RSLogix5000 v
7、18 版本及以后版本 The Grandmaster Clock is used to synchronize motion modules,I/O modules,communication modules,and controllers within a ControlLogix chassis.顶级时钟被用在ControlLogix机架上的运动模块,I/O模块,通讯模块,和控制器+Starting in v17,there is an option to set the CST Master/Enable Time Synchronization in the download dial
8、og if it is not already set+从V17版本开始,如果没有被设定,在下载对话框里可以选择设定CST主/使能时间同步+Time Synchronization is required for motion to operate properly!+运动的正常操作必须要时间同步.+For RSLogix5000 v17 and earlier,the following procedure is used to set the Coordinated System Time Master:RSLogix5000+v17 和早期版本,设定协调系统主时钟如下步骤 In the
9、Controller Organizer window,right click on the controller folder and select Properties OR click on the controller icon在控制器组织窗口中,点控制器文件夹右键选择“属性”或者点击控制器符号Click here点这里Or right-click and select Properties或者右键选择属性.+Setting the master coordinated system time:设定主协调系统时间 Click on the Date/Time tab of the Co
10、ntroller Properties dialog box.点击控制器属性对话箱的“日期/时间”标签Click here.+Setting the Master Coordinated System Time设定主协调系统时间 After selecting the Master controller,click OK to complete the operation 在设定主控制器后,点击OK完成操作Techno Fact:A motion module can be owned by a ControlLogix controller even though the controlle
11、r is not the CST master.Since another controller in the chassis is the CST master(must have a master in a motion application)you will receive a warning while downloading and during program verification regarding the CST master.技术事实:一个运动模块可以拥有一个ControlLogix 控制器,即使控制器没有主协调时间。因为机架其他控制器是CST主(在运动引用中必须有一个
12、主),当下载和程序核实CST主时你将收到警告Click.+Enable Time Synchronization使能时间同步 Click OK to complete the operation点击“OK”完成操作Click.1.Enable Time Synchronization使能时间同步使能时间同步2.Creating the Motion Group创建运动组创建运动组3.Configure the Motion Group配置运动组配置运动组4.Motion Control Tags运动控制标签运动控制标签.Creating a Motion Group:创建运动组创建运动组All
13、 used axes must be part of the motion group所有轴必须是运动组的一部分Only one motion group is allowed per ControlLogix processor ControlLogix处理器只能运行一个运动组A Motion Group is a collection of axes that can be controlled by a single group instruction.There are five motion group instructions.一个运动组是一个轴的集合,能被单独的组指令控制,这里有
14、5个运动组指令There are multiple ways to create a new motion group.这里有多种方法创建一个新运动组TechnoFact:Only one motion group tag is allowed per ControlLogix controller.All used axes must be assigned to a motion group.技术要点:只有一个运动组标签允许在每个ControlLogix控制器中,所有的轴必须被分配至运动组中。.+Right-click on the Motion Groups folder in the
15、Controller Organizer+在控制器组织中Motion Groups文件夹上右键点击+Select New Motion Group 选择“新运动组”+Give the motion group a name 给运动组取个名字.1.Enable Time Synchronization使能时间同步使能时间同步2.Creating the Motion Group创建运动组创建运动组3.Configure the Motion Group配置运动组配置运动组4.Motion Control Tags运动控制标签运动控制标签.Configuring Motion Group Prop
16、erties:配置运动组属性Right-click on the Motion Group folder右键点击运动组文件夹Select Properties选择“属性”Select Properties.Configuring Motion Group Properties:配置运动组属性+Axis Assignment Tab轴分配标签 Add or Remove axes from the Motion Group as necessary 根据需要从运动组中添加或移除轴.Configuring Motion Group Properties:配置运动组属性+Attribute Tab属
17、性标签 Set the Coarse Update Period 设置大致更新周期 Enable or Disable Auto Tag Update,as desired根据需要激活或禁止自动更新标签Enabled by default,this is OK for the majority of applications默认是激活,对大多数应用是OK的 View Motion Planner Scan Times 查看运动规划扫描时间(read Only)Scan time must be less than the CUP 扫描时间必须小于CUP.+Coarse Update Perio
18、d伺服更新周期 Selects the periodic rate at which the motion planner executes to compute the servo commanded position and velocity information to be sent to the analog motion modules,SERCOS drives,or CIP drives when executing motion instructions.选择运动规划执行的周期,执行运动指令时,计算伺服命令被发送到模拟运动模块,SERCOS的驱动器,或CIP驱动器的位置和速度
19、信息 If the coarse update period is too small,the controller may not have time to execute non-motion related ladder logic.如果伺服更新周期太小,控制器可能没时间执行运动和梯形逻辑的关联 The number of axes in the project sets the lower limit on the coarse update period.项目中轴的数量的设定低于更新周期限制.+Coarse Update Period伺服更新周期 Range of values:0.
20、5msec 32msec 值范围:0.5毫秒 32毫秒 General“rule of thumb:”1.0msec per axis as a starting point常用的“经验法”:1毫秒每轴为出发点 Less than 11 axes Set the coarse update period to 10 ms.11 axes or more Set the coarse update period to 1 ms per axis.Minimum recommendations based on Logix processor:Logix处理器为基础的最低建议 1756-L55:1
21、.5msec per axis(only available through v16)1.5毫秒每轴1756-L6x:0.25msec per axis 0.25毫秒每轴1768-L4x:0.25msec per axis 0.25毫秒每轴1756-L7x:0.125msec per axis 0.125毫秒每轴 Once configured,the motion planner scan times should be monitored with the application running and modified as needed一旦配置好后,运动规划的扫描时间应与正在运行的应用
22、程序进行监测,并根据需要进行修改 If the cycle time is 2 ms,set the coarse update period to 8 ms,10 ms,12 ms,and so on.1.Enable Time Synchronization使能时间同步使能时间同步2.Creating the Motion Group创建运动组创建运动组3.Configure the Motion Group配置运动组配置运动组4.Motion Control Tags运动控制标签运动控制标签.+A Motion Control tag must be defined for each m
23、otion instruction used+一个运动控制标签必须定义每一个使用的运动指令 Data-type:MOTION_INSTRUCTION数据类型:MOTION_INSTRUCTION Tag stores status information about the instruction 标签存储关于指令的状态信息+Each motion instruction must use a unique control tag+每一个运动指令必须使用唯一的控制标签+Examples.Motion Axis Types:运动轴类型:运动轴类型:Axis_Servo:a physical ax
24、is which is connected to an Analog motion module(1756-M02AE,1756-M02AS,or 1756-HYD02).This axis can consist of a motor and feedback device(Servo)or simply a feedback device(Feedback Only).连接到拟运动模块的一个物理轴(1756-M02AE,1756-M02AS,or 1756-HYD02)。这些轴能有电机和反馈设备或仅仅反馈设备(只反馈)Axis_Servo_Drive:a physical axis whi
25、ch is connected to a SERCOS Drive.This axis can consist of a motor and feedback device(Servo)or simply a feedback device(Feedback Only).轴伺服驱动:连接到SERCOS驱动的物理轴,这些轴能有电机和反馈装置或仅仅反馈设备(只反馈)Axis_CIP_Drive:a physical axis which is connected to a CIP Drive.This axis can consist of a motor and feedback device(
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