AB伺服编程基础.ppt

,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,*,Click to add text,Second level,Third level,Fourth level,Fifth level,Click to edit Master title style,Copyright 2010 Rockwell Automation,Inc.All rights reserved.,(Confidential For Internal Use Only),Click to add text,Second level,Third level,Fourth level,Fifth level,Click to edit Master title style,*,AB,伺服编程基础,伺服运动基础编程,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,Perform 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,2,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,3,1.Creating a Project,1.,创建一个项目程序,1.Enable Time Synchronization,使能时间同步,2.Creating the Motion Group,创建运动组,3.Configure the Motion Group,配置运动组,4.Motion Control Tags,运动控制标签,Creating a Project,Time Master,In all ControlLogix chassis(single and multiple controllers),one of the 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,ControlLogix,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 have 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,4,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,CST&PTP,Coordinated System Time(CST)Master,协调系统主时钟,RSLogix5000 v17 and earlier.,RSLogix5000 v17,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 v18,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 dialog 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,5,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Setting the CST Master,v17 and earlier,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 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,6,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Setting the CST Master,v17 and earlier,Setting the master coordinated system time:,设定主协调系统时间,Click on the Date/Time tab of the Controller Properties dialog box.,点击控制器属性对话箱的“日期,/,时间”标签,Click here,7,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Setting the CST Master,v17 and earlier,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 controller 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主），当下载和程序核实,CST,主时你将收到警告,Click,8,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Enable Time Synchronization,v18 and later,Enable Time Synchronization,使能时间同步,Click OK to complete the operation,点击“,OK”,完成操作,Click,9,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,10,Creating a Project,Creating the Motion Group,1.Enable Time Synchronization,使能时间同步,2.Creating the Motion Group,创建运动组,3.Configure the Motion Group,配置运动组,4.Motion Control Tags,运动控制标签,Creating a Project,Creating a Motion Group,Creating a Motion Group:,创建运动组,All 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,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。,11,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Creating a Motion Group,Right-click on the Motion Groups folder in the 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,12,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,13,Creating a Project,Configure the Motion Group,1.Enable Time Synchronization,使能时间同步,2.Creating the Motion Group,创建运动组,3.Configure the Motion Group,配置运动组,4.Motion Control Tags,运动控制标签,Creating a Project,Configure the Motion Group,Configuring Motion Group Properties:,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,14,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Configure the Motion Group,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,15,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Configure the Motion Group,Configuring Motion Group Properties:,配置运动组属性,Attribute Tab,属性标签,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,16,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Coarse Update Period,Coarse Update Period,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,17,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Creating a Project,Coarse Update Period,Coarse Update Period,伺服更新周期,Range of values:0.5msec 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-L55:1.5msec 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程序进行监测，并根据需要进行修改,I,f the cycle time is 2 ms,set the coarse update period to 8 ms,10 ms,12 ms,and so on.,18,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,19,Creating a Project,Motion Control Tags,1.Enable Time Synchronization,使能时间同步,2.Creating the Motion Group,创建运动组,3.Configure the Motion Group,配置运动组,4.Motion Control Tags,运动控制标签,Creating a Project,Motion Control Tags,A Motion Control tag must be defined for each motion 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,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,20,Motion Modules&Axis Tags,Axis Tags,Motion Axis Types:,运动轴类型：,Axis_Servo:,a physical axis 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 which 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(Servo)or simply a feedback device(Feedback Only).,轴,CIP,驱动：连接到,CIP,驱动的物理轴。这个轴能有,电机和反馈设备或仅仅反馈设备（只反馈）,Axis_Virtual:,a theoretical(imaginary)axis which is exists in the ControlLogix processor.There is no hardware associated with a virtual axis.,虚轴：一个存在于,ControlLogix,处理器中的理想轴，没有硬件关联一个虚轴,21,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Motion Modules&Axis Tags,Axis Tags,Motion Axis Types:,运动轴类型,Axis_Consumed:,a physical or virtual axis which is owned by another ControlLogix processor within the same rack.One ControlLogix processor produces the axis information to be consumed by other ControlLogix processors.Produced and consumed axis are used to share axis information between multiple ControlLogix processors,轴消费者：一个物理或虚拟轴被其他在同一个机架里的,ControlLogix,处理器拥有。一个,ControlLogix,处理器产生轴信息被其他处理器所消费。轴的生产者和消费者被用来在多,ControlLogix,处理器及之间共享轴信息,Axis_Generic:,a generic axis object represents an axis with full motion planner functionality,but not associated with any device that requires motion configuration support(e.g.,DriveLogix or 1756-DM).,轴,_,通用：一个通用的轴对象代表一个完整的运动规划功能轴，但是不关联任何需要运动配置支持的设备,Axis_Generic_Drive:,Third party SERCOS drive;i.e.Indramat,Bosch,etc.,轴,_,通用,_,驱动：三方,SERCOS,驱动；如，,Indramat,，博士等等,22,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,Axis Properties,CIP Axis Dialog,CIP Axis,CIP,轴,Use this dialog to configure the axis properties for an axis of data type AXIS_CIP_DRIVE:,使用这个对话框配置数据类型是,AXIS_CIP_DRIVE,的轴属性,CIP axes have the following“Categories”:CIP,轴如下“类别”,General,常规,Motor(Sub Model),电机（替代模式）,Motor Feedback,电机反馈,Scaling,比例,Hookup Tests,连接测试,Polarity,极性,Autotune,自整定,Load(Subs Backlash,Compliance,Friction),负载（替代间隙，统一，对立）,Position Loop,位置闭环,Velocity Loop,速度闭环,Acceleration Loop,加速闭环,Torque/Current Loop,力矩,/,电流闭环,Planner,规划,Homing,回零,Actions,激活,Drive Parameters,驱动参数,Status,状态,Faults and Alarms,故障和报警,Tag,标签,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,23,CIP Axis,Axis Properties,CIP Axis Dialog,CIP Axis Parameter Page,CIP,轴参数页面,In addition to the parameters that are accessible on the Category page,the parameters page shows all drive parameters within the group:,除了上页中得到的参数外，在组里参数页面显示所有的驱动参数,(Confidential For Internal Use Only)Copyright 2011 Rockwell Automation,Inc.All rights reserved.,24,CIP Axis,Virtual Axes,What you will learn:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,1.What is a Virtual Axis,什么是虚轴,2.Configuring a Virtual Axis,配置虚轴,3.Using a Virtual Axis,使用虚轴,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,An imaginary axis which resides in the controller.,在控制器中一个虚构的轴,Provides command position update capability without requiring a physical axis.,提供命令位置更新能力不依赖于物理轴,Actual position tracks the command exactly.,命令没有实际位置轨迹,No limits with respect to velocity,acceleration,or deceleration.,没有速度，加速度，或减速度限制,Virtual axes do not require tuning or hookup tests.,虚轴不要求自整定或,hookup,测试,Virtual axes do not fault.,虚轴没有错误,Virtual Axes,What is a Virtual Axis:,26,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,1.What is a Virtual Axis,什么是虚轴,2.Configuring a Virtual Axis,配置虚轴,3.Using a Virtual Axis,使用虚轴,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights reserved.,Virtual Axes,Configuring a Virtual Axis:,(Confidential For Internal Use Only)Copyright 2010 Rockwell Automation,Inc.All rights rese