AB伺服编程基础件.ppt

MotionBasicTraining伺服编程（1）-基础课,1,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,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,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,1.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,3,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,CreatingaProjectTimeMaster,InallControlLogixchassis(singleandmultiplecontrollers),oneofthecontrollersneedstobesetasthereferenceclock.Thiswillsynchroniseallthemotionmodules,otherLogixcontrollersandI/Ocardsinthechassistoasinglemasterclock.Theprocessofsettingupacontrollertobethereferenceclockiscalled“Makingthiscontrollerthemaster”.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:Therecanonlybeonemastercontrollerperchassis.注意：每个机架上只能有一个主控制器,TechnoFact:Ifyouhavemorethanonecontrollerinthechassis,chooseoneofthecontrollerstobethetimemaster.Youcanthavemorethanonetimemasterforthechassis.InaControlLogixmotionapplication,youmustdefineacontrollerasthetimemaster.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,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,CreatingaProjectCSTi.e.Indramat,Bosch,etc.轴_通用_驱动：三方SERCOS驱动；如，Indramat，博士等等,22,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,AxisPropertiesCIPAxisDialog,CIPAxisCIP轴UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_CIP_DRIVE:使用这个对话框配置数据类型是AXIS_CIP_DRIVE的轴属性CIPaxeshavethefollowing“Categories”:CIP轴如下“类别”General常规Motor(SubModel)电机（替代模式）MotorFeedback电机反馈Scaling比例HookupTests连接测试Polarity极性Autotune自整定Load(SubsBacklashCompliance,Friction)负载（替代间隙，统一，对立）PositionLoop位置闭环VelocityLoop速度闭环AccelerationLoop加速闭环Torque/CurrentLoop力矩/电流闭环Planner规划Homing回零Actions激活DriveParameters驱动参数Status状态FaultsandAlarms故障和报警Tag标签,CIPAxis,23,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,AxisPropertiesCIPAxisDialog,CIPAxisParameterPageCIP轴参数页面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup: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,CIPAxis,24,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesWhatyouwilllearn:,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,1.WhatisaVirtualAxis什么是虚轴,2.ConfiguringaVirtualAxis配置虚轴,3.UsingaVirtualAxis使用虚轴,25,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,Animaginaryaxiswhichresidesinthecontroller.在控制器中一个虚构的轴Providescommandpositionupdatecapabilitywithoutrequiringaphysicalaxis.提供命令位置更新能力不依赖于物理轴Actualpositiontracksthecommandexactly.命令没有实际位置轨迹Nolimitswithrespecttovelocity,acceleration,ordeceleration.没有速度，加速度，或减速度限制Virtualaxesdonotrequiretuningorhookuptests.虚轴不要求自整定或hookup测试Virtualaxesdonotfault.虚轴没有错误,VirtualAxesWhatisaVirtualAxis:,26,26,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,1.WhatisaVirtualAxis什么是虚轴,2.ConfiguringaVirtualAxis配置虚轴,3.UsingaVirtualAxis使用虚轴,27,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,28,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,29,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,30,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,31,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,32,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,33,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesConfiguringaVirtualAxis:,34,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesUsingaVirtualAxis:,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,1.WhatisaVirtualAxis什么是虚轴,2.ConfiguringaVirtualAxis配置虚轴,3.UsingaVirtualAxis使用虚轴,35,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,VirtualAxesUsingaVirtualAxis:,Programmingforavirtualaxisisthesameasforanyphysicalaxis.设计一个虚轴是和物理轴一样的DoesnotrequireMSO,MSF,orMAFR不需要MSO,MSF或MAFRAvirtualaxiscountstowardthemaximumaxiscountforyourprocessor.一个虚轴的数量占用处理器的轴数量Whenusingavirtualaxis,youneedtoconsideritwhenspecifyingthemotiongroupupdaterate.当使用虚轴时，你需要考虑指定运动组更新率Asastartingpoint,agoodruleofthumbis1msecpervirtualaxis作为一个起点，一个好的经验法则是每虚拟轴1毫秒Whenfollowingavirtualaxis(gearorcam)thereisnodifferenceinspecifying“actual”or“command”fortheMasterReference.当一个虚拟轴（齿轮或凸轮）没有指定主参考“实际”或“命令”的区别,36,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsAgenda,1.MotionInstructionOverview运动指令概述,2.MotionInstructionErrors运动指令错误,3.MotionStateInstructions运动状态指令,4.FaultHandlingInstructions故障处理指令,37,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMotionInstructionsOverview运行状态和故障处理指令运行指令概述,AsofRSLogix5000v16,thereare40motioninstructions从RSLogix5000v16起，总共有40个运动指令Only36motioninstructionsavailableforCompactLogix仅36个运动指令对CompactLogix有效1newinstructioninv19isforthePowerFlex755onCIPonly在v19中有1个新指令仅对CIP上的PowerFlex755有效Themotioninstructionsetconsistsofsixgroupsofinstructions:运动指令集包含6组指令Motionstateinstructions运动状态指令Motionmoveinstructions运动位移指令Motiongroupinstructions*运动组指令Motioneventinstructions*运动事件指令Motionconfigurationinstructions*运动配置指令Motioncoordinatedinstruction*协调运动指令,38,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MSO(MotionServoOn)（运动伺服使能）,MSO(MotionServoOn)MSO（运动伺服使能）Directlyactivatesthedriveandenablestheconfiguredservoloopsassociatedwithaphysicalservoaxis直接激活驱动，并使配置伺服回路与一个物理伺服轴联结Mostcommonuseofthisinstructionistoactivatetheservoloopforthespecifiedaxisinitscurrentpositioninpreparationforcommandingmotion该指令最常见的用途是在备用于指挥运动的当前位置为指定轴激活伺服回路。LookforbitAxis.ServoActionStatustoindicatetheservoloopsweresuccessfully查找位元Axis.ServoActionStatus，显示伺服回路ServoActionStatus成功启用,39,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMSO(MotionServoOn)运行状态和故障处理指令MSO（运行伺服使能）,MSO(MotionServoOn)MSO（运动伺服使能）,40,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MSF(MotionServoOff)（运动伺服关闭使能）,MSF(MotionServoOff)MSF（运动伺服关闭使能）Directlyandimmediatelyturnsoffdriveoutputanddisablestheservolooponanyphysicalservoaxis.直接即时关闭驱动输出，禁止任何物理伺服轴上的伺服回路Disablesanymotionplannersthatmaybeactiveatthetimeofexecution禁止任何可能在执行时活动的运行规划Positioncontinuestobetrackedwhenaxisisdisabled当轴被禁用时位置继续进行跟踪Axisstoppingbehavior(ifaxisisinmotionwhenMSFisexecuted)dependsontypeofdrive,41,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMSF(MotionServoOff),MSF(MotionServoOff）（关闭伺服使能),TechnoFact:IfyouexecuteanMSFinstructionwhiletheaxisismoving,theaxiscancoasttoanuncontrolledstop.Thisinstructionisnotrecommendedfornormalstopping.UsetheMotionAxisStop(MAS)instructionforthatpurpose.当轴在运动中执行关闭伺服指令，轴将不受控的停止，这条指令不建议作为通常停止指令，使用运动轴停止停止指令,42,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsFaultHandlingInstructions,1.MotionInstructionOverview运动指令概述,2.MotionInstructionErrors运动指令错误,3.MotionStateInstructions运动状态指令,4.FaultHandlingInstructions故障处理指令,43,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset),MAFR(MotionAxisFaultReset运动故障复位)UsetheMAFRinstructiontoclearallmotionfaultsforanaxis使用MAFR指令清除轴的所有故障Removesthefaultstatus排除所有故障状态DoesNOTperformanyotherrecovery,suchasenablingservoaction不要执行重启，比如激活伺服使能Usuallypartofafaulthandlingprogram出错处理程序IftheconditionthatcausedthefaultstillexistswhentheMAFRinstructionisexecuted,theaxisimmediatelyfaultsagain当运动故障复位时，仍然错误存在错误，轴将在次报错Thisscenariogivestheimpressionthatthefaultwasnevercleared这个方法感觉故障从来没被清除Example:Axishitsahardwareovertravelsensorandfaults.AnMAFRcommandisexecutedwithoutmovingtheaxis.Axisimmediatelyfaultsagainduetothehardwareovertravelcondition.例如：轴的硬件采样超过了传感器行程引起错误，MAFR指令不能移动轴，轴又立刻报错因为硬件超过了行程条件,44,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset),MAFR(MotionAxisFaultReset运动轴故障复位),45,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsManuallyClearingAxisFaults,ManuallyClearingAxisFaults手动清除轴故障Axisfaultscanbeclearlymanuallywhenonlinewiththecontroller控制器在线时，能够手动清除轴故障Right-clickontheaxislistedintheMotionGroupfolder运动组文件夹里的轴清单处点击右键SelectClearAxisFaults选择“清除轴错误”Thismethodisonlyrecommendedwhiletroubleshootinganddebugginganapplicationprogram这种方法只在调试项目和维修时推荐使用,Right-clickonthefaultedaxis,selectClearAxisFaults,46,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset),MASR(MotionAxisShutdownReset轴关闭复位)UsetheMASRInstructiontotransitionanaxisfromanexistingShutdownstatetoanAxisReadystate使用MASR指令使轴从关闭状态到轴准备状态Anyfaultsassociatedwiththespecifiedaxisareautomaticallycleared一个指定的轴采用自动清除故障是错误的ThiswasnottrueforinitialreleasesofRSLogix5000这可能没被RSLogix5000所正式发布IfthemodulesupportsanOKcontactandnoothermoduleaxisisintheShutdownstate,theOKrelaycontactisclosedOK如果模块支持OK接触器且没有其他轴模块在关闭状态，中间接触器闭合Norecoveryactionsaretaken,suchasenablingtheservoloops没有恢复激活，比如伺服环处于使能,47,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset),MASR(MotionAxisShutdownReset轴关闭复位),48,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset),MASR(MotionAxisShutdownReset轴关闭复位)Changestoaxisstatusbits:改变轴状态位AxisremainsdisabledafterMASRhasbeenexecuted在轴关闭复位后轴仍然保持在禁止状态Axis.ServoActionStatusisFalseServoloopisinactive伺服环没激活Axis.DriveEnableStatusisFalseDriveoutputisinactive驱动输出没激活,49,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsCommonFaultResetLogic,CommonFaultResetLogic常用的故障复位逻辑WhenFaultResetinputisrequested:当故障复位输入被请求LogicchecksforShutdownStatusonanaxis在轴上确定关断逻辑IfanaxisisinaShutdownState,theShutdownResetinstructionclearstheshutdownconditionandanyfaultsonthataxisarecleared(assumingthecauseofthefaulthasbeencorrected)如果在在关断状态，关闭复位指令清除关断条件，并且轴的故障也被清除（如果导致故障的条件被修正）IftheaxisisnotinaShutdownState,secondbranchoflogicisexecuted如果轴没在关断状态，第二个分支逻辑将被执行Ifanaxishasanexistingfaultcondition,theFaultResetinstructionclearstheaxisfaults(assumingthecauseofthefaulthasbeencorrected)如果轴存在错误条件，故障复位指令清除故障（如果导致故障的条件被修正）,50,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown),MASD(MotionAxisShutdown关闭运动轴)UsetheMASDinstructiontoforceaspecifiedaxisintotheShutdownstate使用MASD指令强制关闭指定轴状态Driveoutputisdisabled驱动输出没使能Servoloopisdeactivated伺服环没激活AssociatedOKrelaycontactsopen(analogaxes)OK中间继电器处于释放状态SetsbitAxis.ShutdownStatus设置轴关断状态位Allcurrentmotionprocessesarecancelled所有的当前运动处理被取消MotionstatusbitsandmotioninstructionIPbitsarecleared运动状态位和运动指令IP位被清除MotioncommandsforthataxisareblockedfromexecutionwhileanaxisisintheShutdownstate当轴处于关闭状态则轴的运动指令被封锁，,51,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown),MASD(MotionAxisShutdown运动轴关闭),52,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsAgenda,1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令,2.MergingMotionInstructions吞并运动指令,53,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMotionMoveInstructions,MotionMoveInstructions运动移动指令Thiscategoryincludesallmotioninstructionsthatcauseordirectlyaffectaxismotion.Theseinstructionsincludemoving,jogging,gearing,stopping,camming,etc.Thiscategoryalsoincludesmotioninstructionsthatdirectlymodifycurrentaxispositionthataretypicallyusedtoreferencethespecifiedaxistosomeabsolutephysicalpositionoftheaxis.Instructionstoredefineaxispositionandperformahomingsequencesfallunderthiscategory.包括所有的运动指令，间接或直接影响轴运动，这些指令包括，移动，点动，齿轮，停止，凸轮等。也包括直接修正当前轴位置的运动，通常用于指定的轴的轴的绝对物理位置。从新定义轴位置的指令和执行回零序列都包含在此类中。,54,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAMInstruction,MAM(MotionAxisMove)轴位移UsetheMAMinstructiontoinitiateamoveprofileforthespecifiedaxis使用轴位移指令初始化一个指定轴的运动曲线Movestheaxistoaspecifiedposition(absolute)orbyaspecifieddistance(incremental)移动轴到指定的位置（绝对）或者一个指定的距离（增量）Thesteady-statespeedofthemoveprofileisgivenbythespeedparameter由速度参数给定运动轨迹一个恒定的速度Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速度，减速度，加加速度，和减减速度Availableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲线：梯形，S曲线，通过编程跃度修正S曲线,55,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAMInstruction,MAM(MotionAxisMove)轴位移,56,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAMInstruction,MAM(MotionAxisMove)轴位移,57,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAMInstruction,MAM(MotionAxisMove)轴位移,58,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAJInstruction,MAJ(MotionAxisJog)轴按速度运动UsetheMAJinstructiontomoveanaxisataconstantspeedintheforwardorreversedirectionuntilyoutellittostop;jogiscommandedwithoutregardtoposition使用轴点动指令时一个轴以恒定速度向前或后运动，直到你告诉他停止，寸动指令不考虑位置Specifyvaluesforacceleration,deceleration,accelerationjerk,anddecelerationjerk指定的加速，减速，加加速度，和减减速度值Availableprofiles:trapezoidal,s-curve,modifieds-curvewithprogrammablejerk可用曲线：梯形，S曲线，通过编程跃度修正S曲线可用TheMAJinstructionmaybeusedtoconvertanycurrentaxismotionintoapurejogmotionprofilebyspecifyingthemergeoption.通过指定的吞并选择，MAJ指令可改变当前轴运动到纯点动轨迹,59,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAJInstruction,MAJ(MotionAxisJog)轴点动,60,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMAJInstruction,MAJ(MotionAxisJog)轴点动,61,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMASInstruction,MAS(MotionAxisStop)运动轴停止UsetheMASInstructiontostopaspecificmotionprocessonanaxisortostopallmotionontheaxis使用MAS指令停止一个特定的运动流程或完全停止一个轴Usedtocommandadeceleratedstop使用加速停止命令Stopsmotionwithoutdisablingtheservoloop没有屏蔽伺服环停止运动Commanddefaultstousingthemaximumdecelerationconfiguredfortheaxis指令默认使用轴最大减速度ChangeDecelandChangeDecelJerkareusedtospecifyadecelerationrateotherthan100%ofmaximumdeceleration变更慢速度和慢速度跃度被用来指定减速率超过100%的最大减速度,62,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMASInstruction,MAS(MotionAxisStop)运动轴停止,63,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMASInstruction,MAS(MotionAxisStop)运动轴停止,64,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMASInstruction,MAS(MotionAxisStop)运动轴停止,65,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMASInstruction,MAS(MotionAxisStop)运动轴停止,66,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMergingMotionInstructions,1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令,2.MergingMotionInstructions吞并运动指令,67,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMergingMotionInstructions,MergingoptionavailableforMAM,MAJ,MCLM,andMCCMinstructions可并可选有用的MAM,MAJ,MCLM和MCCM指令Forsingleaxisinstructions:单轴指令MergeDisabled/吞并禁止MergeEnabled吞并使能ProgrammedSpeed/Currentspeed编程速度/当前速度Forcoordinatedsystem协调系统instructions:指令：MergeDisabled/吞并禁止MergeCoordinatedMotion/MergeAllMotion吞并协调运动/吞并所有运动ProgrammedSpeed/CurrentSpeed编程速度/当前速度,68,(ConfidentialForInternalUseOnly)Copyright2010RockwellAutomation,Inc.Allrightsreserved.,MoveInstructionsMergingMotionInstructions,MergingDisabled吞并禁止Newmotioncommandsaddtoanymotionalreadyinprocess新的运动命令添加在存在在运动流程中Jogs,moves,gears,cams,coordinatedmovesaddtogether寸动，移动，齿轮，凸轮一起协调运动Totalaxisspeedisthesumofthecommandedspeedoftheindividualinstructions总的轴速度是个别命令速度的总和Maycausetheaxistoslowdownorreachzerospeed,dependingonthesumoftheindividualcommandspeeds可能会导致轴减速或达到零速，取决于个别命令速度的总和,MAGAxis1,master;Axis2,slaveMAJAxis1MAMAxis2(afterMAGandMAJareinitiated);mergingdisab