伺服编程及指令基础

Copyright©2010RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)RAOEMTeamMotionBasicTraining伺服编程（1）----基础课伺服运动基础编程•10StepstoDevelopingControlLogixMotion:•伺服运动基础编程包含以下10个步骤–Createnewprogram创建一个新程序–Enabletimesynchronization使能时间同步–Createmotiongrouptag创建运动组标签–CreateAxistag创建轴标签–Addmotionmodule添加伺服驱动器–Assignaxestomotionmodule分配轴到伺服驱动器–Configuremotiongroup配置运动组属性–Configureaxes配置轴的属性–Performhookuptestandtuneaxes执行测试和整定轴–Writelogictoperformmotion写执行运动的逻辑程序2(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.31.CreatingaProject1.创建一个项目程序1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创建运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProjectSettingtheCSTMaster,v17andearlier•ForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000•v17和早期版本，设定协调系统主时钟如下步骤–IntheControllerOrganizerwindow,rightclickonthecontrollerfolderandselect‘Properties’ORclickonthecontrollericon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Clickhere点这里Orright-clickandselectProperties或者右键选择属性6(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectSettingtheCSTMaster,v17andearlier•Settingthemastercoordinatedsystemtime:设定主协调系统时间–Clickonthe‘Date/Time’taboftheControllerPropertiesdialogbox.点击控制器属性对话箱的“日期/时间”标签Clickhere7(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectSettingtheCSTMaster,v17andearlier•SettingtheMasterCoordinatedSystemTime设定主协调系统时间–AfterselectingtheMastercontroller,click‘OK’tocompletetheoperation–在设定主控制器后，点击OK完成操作TechnoFact:AmotionmodulecanbeownedbyaControlLogixcontrollereventhoughthecontrollerisnottheCSTmaster.SinceanothercontrollerinthechassisistheCSTmaster(musthaveamasterinamotionapplication)youwillreceiveawarningwhiledownloadingandduringprogramverificationregardingtheCSTmaster.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Click8(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectEnableTimeSynchronization,v18andlater•EnableTimeSynchronization使能时间同步–Click‘OK’tocompletetheoperation点击“OK”完成操作Click9(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.10CreatingaProjectCreatingtheMotionGroup1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创建运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProjectCreatingaMotionGroupCreatingaMotionGroup:创建运动组•Allusedaxesmustbepartofthemotiongroup所有轴必须是运动组的一部分•OnlyonemotiongroupisallowedperControlLogixprocessor•ControlLogix处理器只能运行一个运动组•AMotionGroupisacollectionofaxesthatcanbecontrolledbyasinglegroupinstruction.Therearefivemotiongroupinstructions.•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•Therearemultiplewaystocreateanewmotiongroup.•这里有多种方法创建一个新运动组TechnoFact:OnlyonemotiongrouptagisallowedperControlLogixcontroller.Allusedaxesmustbeassignedtoamotiongroup.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–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectCreatingaMotionGroup•Right-clickonthe‘MotionGroups’folderintheControllerOrganizer•在控制器组织中‘MotionGroups’文件夹上右键点击•Select‘NewMotionGroup’选择“新运动组”•Givethemotiongroupaname给运动组取个名字12(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.13CreatingaProjectConfiguretheMotionGroup1.EnableTimeSynchronization使能时间同步2.CreatingtheMotionGroup创建运动组3.ConfiguretheMotionGroup配置运动组4.MotionControlTags运动控制标签CreatingaProjectConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性•Right-clickontheMotionGroupfolder•右键点击运动组文件夹•Select‘Properties’•选择“属性”Select‘Properties’14(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性•AxisAssignmentTab轴分配标签–AddorRemoveaxesfromtheMotionGroupasnecessary–根据需要从运动组中添加或移除轴15(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectConfiguretheMotionGroupConfiguringMotionGroupProperties:配置运动组属性•AttributeTab属性标签–SettheCoarseUpdatePeriod–设置大致更新周期–EnableorDisableAutoTagUpdate,asdesired根据需要激活或禁止自动更新标签•Enabledbydefault,thisisOKforthemajorityofapplications默认是激活，对大多数应用是OK的–ViewMotionPlannerScanTimes查看运动规划扫描时间(readOnly)•ScantimemustbelessthantheCUP•扫描时间必须小于CUP16(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProjectCoarseUpdatePeriod•CoarseUpdatePeriod伺服更新周期–Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmoti