驱动器实现说明-v0-july

若驱动器工作在FeedbackOnly模式下，其状态图如

ShudowRunnShudowRunnInhibitstartOSAnystatewilltransfertoInitializingwithConnectionCloseEventAnystatewilltransfertoFaultedwithConnectionLostEventShutdownresetalsocanresetfaultinfaultedstates下面，关于每一状态驱动器具体执行的动作详述如 Self-Test（自检SelfTestWhenpowerisappliedtothecontroller,thecontrollertypicallygoesthroughaseriesofself-testdiagnostics.ThesetestsincludecheckingwhethertheCIPMotionaxisisassociatedwithanactualCIPMotiondeviceandthattheaxisisalsoproperlyincludedinacollectionofaxescalledaMotionGroup.AllaxesintheMotionGroupareprocessedsynchronouslybythecontroller’sMotionTask.IfanassociatedCIPMotiondeviceorMotionGroupisnotfoundfortheaxis,theaxisstateinthecontrollerreflectsthisconditionasNoDeviceandNotGrouped,respectively.Theaxiswillremaininthisstateuntiltheanomalyiscorrected.Similarly,whenpowerisappliedtothedevice,orthedeviceisreset,thedevicealsogoesthroughaseriesofself-testdiagnosticsandinternaldeviceparametersaresettotheirpower-updefaultvalues.Ifunsuccessful,theimpactedaxisinstancestransitionimmedia ytotheFaultedstatebydeclaringanInitializationFaultthatisclassifiedasUn-recoverableaccordingtotheterminologydefinedbytheIdentityObject.Clearingthisfaultcanonlybeplishedthroughapowercycleandismostlikelytheresultofadevicehardwareanomaly.OncetheseselftestshavebeencompletedsuccessfullybytheCIPMotioncontrollerandtheassociatedCIPMotiondevice,theaxisstatetransitionstotheInitializingstatewhereCIPMotionconnectionsarecreatedandthedevicesareconfiguredbythecontroller.Fromthispointon,theAxisStatevalueinthecontrollerisinfluencedbytheAxisStatevalueinthedeviceviatheCIPMotionIftheCIPMotiondevicesupportsstandaloneoperationunderlocalcontrolwithlocalconfigurationdata,thedeviceisfreetotransitionfromtheSelf-teststatetothePre-chargestateandontotheStoppedstate.IfthedevicereceivesasubsequentForwardOpenservicetoopenaCIPMotionconnection,thedrivedisablesallaxesandtransitionbacktotheInitializingstate,followingthestatesequenceoutlinedbelow.IfthedevicedoesnotsupportstandaloneoperationanddependsonremoteconfigurationdatatobedoveraCIPMotionconnection,thedevicetransitionstotheInitializingstateandwait(Standby)fortheForwardservicefromthecontrollertoopentheCIPMotion驱动器上电，开始自检（如下面几项，请补 ，硬件需要的自检内容ChecksumorCRCerrorforBootBlockofCIPMotiondevicedetectedaspartofSelf-ChecksumorCRCerrorforMainBlockofCIPMotiondevicedetectedaspartofSelf-ChecksumorCRCerrorforNVMemoryofCIPMotiondevicedetectedaspartofSelf-（InitializingInitializingDuringtheInitializingstate,thedevicewaitsfortheCIPMotionconnectionstothedevicetobeestablishedbythecontrollerviaaForwardOpenservice.OncetheForwardOpenserviceissuccessfullyprocessed,thedriveinitializesallattributestotheirfactorydefaultvalues,resetsallactivefaults,andresetsapplicableaxisstatusconditionsincludingtheshutdownbit,inpreparationfordriveattributeconfiguration.Onceconnectionsareestablished,thecontrollersendsSetservicestothedevicetosettheMotionDeviceAxisObjectconfigurationattributestovaluesstoredinthecontroller.Anyconfigurationerrorencounteredduringthisprocess,forexample,duetovalueoutofrangeorvaluenotapplicable,arehandledbythedeviceerringtheSetserviceresponse.Thecontrollerdoesnotcompletetheconfigurationprocess(ConfigurationComplete)untilallconfigurationattributeshavebeensuccessfullyacknowledged.Ifthedevicesupportssynchronousoperation,thecontrollerthensynchronizeswiththedevicebyusingtheGroupSyncservice.Oncethisentireprocesshasbeencompletedsuccessfully,thedeviceandallitsassociatedaxisinstancestransitiontothePre-chargestate.Ifananomalyisfoundduringthisinitializationprocess,forexample,aprocessthat thescopeofaSetserviceerror,thedevicegeneratesanInitializationFault.AnInitializationFaultisviewedasanunrecoverablefaultsoclearingthefaultcanbe plishedonlythroughapowercycleoradeviceresetservicetotheassociatedIdentityObject.IftheCIPMotionconnectionisintentionallyclosedforanyreasonduringoperationviaaForwardCloseservice,thedriveclearsallactivefaultsandalarmsandreturnstotheInitializingState.IftheCIPMotionconnectionislostforanyotherreasonduringoperation,thedrivegeneratesaNodeFaultandtransitionstotheMajorFaultedstate.Ineithercase,thedrivewillwaitfortheCIPMotionconnectionstothedevicetobere-establishedbythecontrollerviaaForwardOpenservice.TheInitializingStateisclassifiedasanIdentityObjectStandbystateand,therefore,thedrivewillinsurethatallassociatedpowerstructuresaredisabled.驱动器网络状态，与控制器(参见网络协议文档TCP（TCP连接RegisterSession（建立会话层连接ForwardOpen（建立应用层连接）,初始化轴出厂参数（CIP等所有出厂默认参数ExcelP连接建立完成之后，控制器就要与驱动间传输参数。首先是驱动器开始往控28UDPP2222IEE802.1Q协议，S6PDP55（0x3，UDP发送的数seUpdeeriORP)时间会发送一次。有可能是驱动器往控制器器先发数据包一（二同时，驱动器进行一些数据初始化，若完成，其发送的NodeControl字段内容将DataValid1,0ConnectionHeader之后的所有内容。一般1.若在数据交互中，发生Nodefault，如果驱动器自身检测到有NodeFault,那么驱动器发往控制器的数据包此位置1，并根据Faults类型将后面数据段置相应内容（见网络（6)NodeFaultsandAlarms:00(1byte444NodeFaultCode4NodeAlarmCodeNodeFault或NodeAlarmNodeFaultCodeNodeAlarmCodeNodeFaultCodeNodeAlarmCodeRM3P221-224)控制器收到驱动器报告的NodeFaults后，会给驱动器发送FaultReset(1)，尝试让驱动器清除NodeFault，如果驱动器已经清除NodeFault(NodeFaultcode0)，那么控0NodeFaultFaultReset1NodeFault。保证数据完整有效后，会将DataValid字段设置为1，这时的数据包就是三类数据 从3类数据包到32段类数据包开始，驱动器响应控制器，将其轴配置参数更SynControl1，表示已(InitializationgComplete事件)Precharge。在(Intializing)初始化过有故障产生，则进Faults状态（见下表,RM3样本P243- 无故障产生，进Precharge状Pre-chargeInthePre-chargestate,thedeviceiswaitingfortheDCBustofullycharge(DCBusUpstatusbitisclear).OncetheDCBusreachesanoperationalvoltagelevel(DCBusUpstatusbitisset),theaxistransitionstotheStoppedstate.Thedrive’spowerstructureisalwaysdisabledinthisstate(PowerStructureEnabledstatusbitclear).AnyattemptforthecontrollertoenablethedriveviatheAxisControlmechanismwhileitisinthePre-chargestateisreportedbacktothecontrollerasanerrorintheResponseStatusandtheaxisremainsinthePre-chargestate.ThePre-chargestateisclassifiedasanIdentityObjectStandbystateand,therefore,requiresthattheassociateddrivepowerstructureisdisabled.驱动器打开继电器开始进行预充当预充到电压为额定电压的(xx%?? 确认预充继电器动作，并将驱动器整流桥接通，使DBBUS达到额定值。此时需要将DCBUSUP为置1，将PowerstructureEnabledStatus为清零。若过程有故障产生，其进入Fault状无故障产生，其将进入Stop状收到Shutdown指令，其将进入Shutdown状Stop状StoppedIntheStoppedstate,thedevice’sinverterpowerstructurewilleitherbedisabledandfreeoftorque(PowerStructureEnabledstatusbitclear)orheldinastaticconditionviaanactivecontrolloop(PowerStructureEnabledstatusbitset).NomotioncanbeinitiatedbythedeviceintheStoppedStatenorcanthedevicerespondtoaplannergeneratedcommandreference(TrackingCommandstatusbitclear).Ingeneral,theaxiswillbeatrest,butifanexternalforceortorqueisappliedtotheload,abrakemaybeneededtomaintaintherestcondition.IntheStoppedstate,mainpowerisappliedtothedeviceandtheDCBusisatanoperationalvoltagelevel.IfthereareanyStartInhibitconditionsdetectedwhileinthisstate,theaxistransitionstotheStartInhibitedstate.IfanEnablerequestoroneoftheRunTestservicerequestsisappliedtoanaxisintheStoppedstate,themotionaxistransitionstotheStartingstate.在停止过程中，有故障产生（详细故障列表参见P225-242），则进入Majorfault状ShutDownShutDownStartInhibit条件(RM3P246)，则进入StartInhibitEnableStartingTeststartingStarting状StartingWhenanEnablerequestisgiventoanaxisintheStopped,orStopstatewhenperformingaFlyingStart,theaxisimmediaytransitionstotheStartingstate.Inthisstate,thedevicechecksvariousconditionsbeforetransitioningtotheRunningstate.TheseconditionscanincludeBrakeReleasedelaytimeandInductionMotorfluxlevel.ThedevicecontrolandpowerstructuresareactivatedduringtheStartingstate(PowerStructureEnabledstatusbitset),butthecommandreferenceissettoalocalstaticvalueandwillnottrackthecommandreferencederivedfromtheMotionPlanner(TrackingCommandstatusbitclear).Ifallthestartingconditionsaremet,theaxisstatetransitionstoeithertheRunningstateortheTestingstate.当驱动器进入Starting状态后，其开始检查下一步的条件是否满足，包括抱闸时可以工作，其将PowerStructureEnabledstatusbit1。此时开始接受控制器命令，但有故障产生（详细故障列表参见P225-242），则进入Aborting状ShutDownShutDown收到Disable指令，则进入Stop状态Starting过程结束（Startcomplete）,IP（AxisStatus位：InProcess）=0，则进入running状态，若IP=1，则进入Testing状态Running状RunningTheRunningstateiswheretheworkgetsdone.Inthisstate,thedevice’spowerstructureisactive(PowerStructureEnabledstatusbitset)andtheselectedControlModeisenabledandactivelytrackingcommanddatafromthecontrollerbasedordevicebasedMotionPlanneroutputtoaffectaxismotion(TrackingCommandstatusbitset).ThemotionaxisremainsintheRunningstateuntileitherafaultoccursoritisexplicitlycommandedtostopviaaAxisControlInthecaseofaFeedbackOnlyControlMode,theRunningstatesimplyindicatesthatthefeedbackdeviceisfullyoperational(PowerStructureEnabledandtheTrackingCommandstatusbitsclear).ThemotionaxisremainsintheRunningstateuntileitherafaultoccursoritisexplicitlycommandedtoShutdownviaanAxisControlrequest.驱动器进入运行状态，其会在CUP接到控制器传来的位置指令信息，根据配置的不用的模式进行输出，驱动电机旋转。附录1会详细介绍驱动器实现算法ThesearetheControlNNoControlModes（单独介绍P-PositionControlV-VelocityControlTTorqueControlMode（暂时不会用到FVelocityControlMode:FrequencyControlMethod（暂时不会用到有故障产生（详细故障列表参见P225-242），则进入Aborting状ShutDownShutDown收到Disable指令，则进入Stop状态Testing状TestingWhenanyoneoftheRunTestrequestservicesissenttothemotionaxiswhileintheStoppedstate,forexample,servicesthatrequireanactivepowerstructuretoexecute,theaxisimmediaytransitionstotheStartingState(PowerStructureEnabledstatusbitset).ThenoncetheStartingconditionsaremet,theaxistransitionstotheTestingstate.ThisTestingstateisliketheRunningstateinthatthedevice’spowerstructureisactive,butintheTestingstateoneofthedevice’sbuilt-intestalgorithmsiscontrollingthemotor,notcommanddatafromaMotionPlanner(TrackingCommandstatusbitclear).IntheTestingstate,thedeviceexcitesthemotorinvariouswayswhileperformingmeasurementstodeterminecharacteristicsofthemotorandload.ThemotionaxisremainsinthisstateforthedurationoftherequestedtestprocedureandthenreturnstotheStoppedstate.ThemotionaxiscsoexittheTestingstatebyeitherafaultoranexplicitAxisControlrequestTest状态和Run状态类似，唯一不同是其是由驱动器的算法命令其运行一定的测试，如Autotune(InertialtestHookup等。针对每Test指令的具体算法见协议样本详Test过程中有故障产生（详细故障列表参见P225-242），则进入Aborting状ShutDownShutDown收到Disable指令，则进入 状态StartInhibitedStartInhibitedTheStartInhibitedstateisthesameastheStoppedstatewiththeexceptionthattheaxishasoneormore‘startinhibit’conditionsthatpreventitfromsuccessfullytransitioningtotheStartingstate.TheseconditionscanbefoundintheStartInhibitsattribute.Oncecorrected,theaxisstateautomaticallytransitionsbacktotheStoppedstate.ForFeedbackOnlyControlMode,anaxisintheStartInhibitedstateispreventedfromtransitioningtotheRunningstatebyoneormorespecificconditions,suchaswhentheassociatedfeedbackdeviceisnotfullyconfiguredforoperation.Again,oncecorrected,theaxisstateautomaticallytransitionstotheRunningstate.TheStartInhibitedStateisclassifiedasanIdentityObjectStandbystateand,therefore,requiresthattheassociateddrivepowerstructureisdisabled.StartInhibitedStopped状态相近，当下列条件满足时（RM3P245-246）,驱动器会从Stopped状态或者Fault状态（需要收到FaultReset命令），进入StartInibited状StartInhibit有故障产生（详细故障列表参见P225-242），则进入Fault状ShutDownShutDownFeedbackonlyStoppedStoppedStopWhenaDisablerequestisissuedtotheMotionDeviceAxisObjectintheStarting,Running,orTestingstates,theaxisimmedia ytransitionstotheStopstate.Inthisstate,theaxisisintheprocessofstopandisnolongertrackingcommanddatafromtheMotionPlanner(TrackingCommandstatusbitThereareanumberofdifferentStopActionssupportedbytheMotionDeviceAxisObject.MostoftheseStopActionsactivelydeceleratetheaxistoastop.Thepowerstructuremayremainactive(PowerStructureEnabledstatusbitset)aslongastheStopActionproceduretakestocomplete.Oncetheselected Actionprocedurehascompleted,theaxistotheStoppedstate.WhentheStopActionisDisableandCoast,however,thepowerstructureisimmediaydisabled(PowerStructureEnabledstatusbitclear)andtheaxiscoaststoastopwhileintheStopstate.Inanycase,thedrivewaitsuntiltheaxishasreachedzerospeed,oratimeoutoccurs,beforetransitioningtotheStoppedstate.Insomecases,suchaswhentheaxisisstationary,thistransitioncanbe mendedcriteriaforzerospeedisbasedonvelocityfeedback,orinthecaseofFrequencyControldrive,thisimpliesVelocityCommandbeinglessthan1%ofmotorratedspeed.Ultima ythiscriteriaislefttothevendors在Stop状态中，驱动器不再控制器指令位置，而是根据驱动器的停止配（详见RM3P205-209），进行控制停车在Stop过程中有故障产生（详细故障列表参见P225-242），则进入Aborting状ShutDownShutDownStoppedAbortingAbortingWhenaMajorFaultoccursinthemotiondevicewhiletheaxisisineithertheStarting,Running,Testing,orStopstate,themotionaxisimmedia transitionstotheAbortingstate.Inthisstate,theaxisisintheprocessofstopandisnolongertrackingcommanddatafromtheMotionPlanner(TrackingCommandstatusbitclear).TheAbortingstateexecutestheappropriatestopactionasspecifiedbythedevicevendor.Whenactivelystop theaxis,intheAbortingstatethepowerstructureremainsactive(PowerStructureEnabledstatusbitset)aslongasthestopactiontakestocomplete.Insomecases,thepowerstructuremustbe ydisabledsotheaxismaycoasttoastopwhileintheAbortingstate.Inanycase,thedrivewaitsuntiltheaxishasreachedzerospeed,oratimeoutoccurs,beforetransitioningtotheMajorFaultedstate.Oncethestopprocedureiscompleteandtheaxishasreachedzerospeed,theaxistransitionstotheFaultedstate.Insomecases,suchaswhentheaxisisstationary,thistransitioncanbeimmediate.mendedcriteriaforzerospeedisbasedonvelocityfeedback,orinthecaseofFrequencyControldrive,thisimpliesVelocityCommandbeinglessthan1%ofmotorratedspeed.Ultima ythiscriteriaislefttothevendorsdiscretion.Whenfaultconditionsaredetectedinthecontrollerthatarenotvisibletothemotiondevice,orwhenthemotiondevicereportsaMinorFaultcondition,thecontrollerisresponsibleforbringingtheaxistoastop,eitherdirectlyviaanAxisControlstatechangerequestorMotionPlannerstop,orindirectlyviaafaulthandlerintheuserprogram.IftheAxisStatereportedbythemotiondeviceisStop,thenthecontrollersetstheCIPAxisStatetoAbortingbasedonthepresenceofthefaultcondition.WhenanAbortRequestisissuedtotheMotionDeviceAxisObject,aControllerInitiatedExceptionisgenerated.IftheassociatedAxisExceptionActionissettogenerateaMajorFault,thedrivestopstheaxisaccordingtotheconfiguredStopActionbeforetransitioningtotheFaultedstate.当驱动器在驱动电机运转时，包括Testing，running,starting,stop,若发生故障，其将先进入Aborting状态，按照设定Stop方式（configuredStopAction）停机。FaultedTheMotionDeviceAxisObjectdefinesaMajorFaultedstatethatisidenticaltotheStoppedstate(or,ifaShutdownfaultactionwasinitiated,theShutdownstate)withtheexceptionthatthereareoneormoreFaultsactive.Inotherwords,aMajorFaultedaxisisaStopped(orShutdown)axiswithaMajorFaultconditionpresent.TheMotionDeviceAxisObjectalsodefinesaMinorFaultasafaultthatallowsdeviceoperationtocontinueanddoesnotaffecttheAxisStateinthemotiondevice.ThereisnosuchdistinctionbetweenMajorFaultandMinorFaultinthecontroller;bothMajorFaultsandMinorFaultsreportedbythedriveresultintheaxistransitioningtotheFaultedstateinthecontroller.Thus,inthecontrolleritisnotgenerallytruethataFaultedaxisisaStopped(orShutdown)axiswithaFaultconditionpresent.WhenthemotiondevicereportsaMinorFaultcondition,orwhenfaultconditionsaredetectedinthecontrollerthatarenotvisibletothemotiondevice,thecontrollerisresponsibleforbringingtheaxistoastop,eitherdirectlyviaanAxisControlstatechangerequestorMotionPlannerstop,orindirectlyviaafaulthandlerintheuserprogram.Untilthisisdone,theAxisStateinthemotiondevicemaybesomethingotherthantheMajorFaultedstate,perhapsevenintheRunningstate.Thisisreasonablegiventhatthemotiondeviceisonlyonecomponentinamuchbiggermotioncontrolsystem.TheCIPMotioncontrollerisresponsibleforrollingupalltheconditionsofthesystemintotheAxisStatethatispresentedtoyou.Becausefaultsarelatchedconditions,aFaultResetisrequiredtoclearthefaultsand,assumingtheoriginalfaultconditionhasbeenremoved,theaxistransitionstotheAxisStateofmotiondevice.ThistableprovidessourcedescriptionsofFaultStoppedRetset才能进入ShutdownWhenaShutdownrequestisissuedtothedeviceoraShutdownfaultactionisexecutedbythedevice,theedaxistransitionstotheShutdownstate.InthecaseofaShutdownrequest,theaxisimmedia ytransitionsfromwhateverstateitiscurrentlyintotheShutdownstate.TheShutdownstatehasthesamebasiccharacteristicsoftheStoppedstateexceptthatitcanbeconfiguredviatheShutdownActionattributetodroptheDCBuspowertothedevice’spowerThisisgenerallydonebyopeninganACContactorEnableoutputprovidedbythedrivethatcontrolspowertotheconverter.RegardlessofwhetherornotDCBuspowerisdisconnected,thisstaterequiresanexplicitShutdownResetrequestfromthecontrollertotransitiontothePre-chargestate.IfthedeviceisconfiguredtokeeptheDCBuspoweractivewhileintheShutdownstate,thenthemotionaxistransitionsthroughthePre-chargestatetotheStoppedstate.TheShutdownstateoffersanextralevelofsafetyagainstunexpectedmotion.InthecasewhereaShutdownfaultactionisinitiatedbythedriveinresponsetoanexceptionconditionthatisconfiguredtobeaMajorFault,thedeviceexecutestheShutdownaction,buttheaxisgoestotheFaultedstate,nottheShutdownstate.Similarly,whentheaxisisintheShutdownstateandamajorfaultconditionoccurs,theaxistransitionstotheFaultedstate.Inotherwords,themajorfaultconditionhasprecedenceovertheshutdownconditionandtheshutdownconditioncanbeconsideredasub-state.Ineitherofthesecases,aFaultResetrequestfromthecontrollerclearsthefaultand,assumingtheoriginalfaultconditionhasbeenremoved,theaxisthentransitionstotheShutdownstate.AShutdownResetrequestfromthecontroller,however,bothclearsthefaultandperformsashutdownresetso,assumingtheoriginalfaultconditionhasbeenremoved,theaxistransitionstothePre-chargestateasdescribedabove.InadditiontotheShutdownactionfunctionality,theShutdownstatecsobeusedbythecontrollertodisableanyslavegearingorcammingMotionPlannerfunctionsthatreferencethisdeviceaxisasamasteraxis.Forthisreason,theShutdownstateissupportedinthecaseofaFeedbackOnlyControlModewheretheaxisinstanceissimplyassociatedwithafeedbackdevice.TheShutdownStateisclassifiedasanIdentityObjectStandbystateand,therefore,requiresthattheassociateddrivepowerstructureisdisabled.Shutdown状态需要ShutdownReset才能重新进入pre-charge状态NoDeviceIftheCIPMotionaxisinstanceinthecontrolleriscreated,butnotcurre