AB伺服编程基础课件

MotionBasicTraining

伺服编程（1）基础课

1ppt课件.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2ppt课件.1.CreatingaProject

1.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3ppt课件.CreatingaProject

TimeMasterInallControlLogixchassis(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.Youcan’thavemorethanonetimemasterforthechassis.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4ppt课件.CreatingaProject

CST&PTPCoordinatedSystemTime(CST)Master协调系统主时钟RSLogix5000v17andearlier.

RSLogix5000v17版本及之前WhenthereisaCSTmasterinthechassis,allofthemotionmodules,I/Omodules,andcontrollersinthatchassiscankeeptheirCSTclockssynchronized.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。PrecisionTimeProtocol(PTP)GrandmasterClock精度时间协议（PTP)RSLogix5000v18andlaterRSLogix5000v18版本及以后版本TheGrandmasterClockisusedtosynchronizemotionmodules,I/Omodules,communicationmodules,andcontrollerswithinaControlLogixchassis.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Startinginv17,thereisanoptiontosettheCSTMaster/EnableTimeSynchronizationinthedownloaddialogifitisnotalreadyset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TimeSynchronizationisrequiredformotiontooperateproperly!运动的正常操作必须要时间同步5ppt课件.CreatingaProject

SettingtheCSTMaster,v17andearlierForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000v17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6ppt课件.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingthemastercoordinatedsystemtime: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Clickhere7ppt课件.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingtheMasterCoordinatedSystemTime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Click8ppt课件.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization使能时间同步Click‘OK’tocompletetheoperation点击“OK”完成操作Click9ppt课件.CreatingaProject

CreatingtheMotionGroup1.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10ppt课件.CreatingaProject

CreatingaMotionGroupCreatingaMotionGroup:创建运动组Allusedaxesmustbepartofthemotiongroup所有轴必须是运动组的一部分OnlyonemotiongroupisallowedperControlLogixprocessorControlLogix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。11ppt课件.CreatingaProject

CreatingaMotionGroupRight-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12ppt课件.CreatingaProject

ConfiguretheMotionGroup1.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13ppt课件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties: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’14ppt课件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties: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15ppt课件.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties: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CUP16ppt课件.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmotioninstructions.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Ifthecoarseupdateperiodistoosmall,thecontrollermaynothavetimetoexecutenon-motionrelatedladderlogic.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Thenumberofaxesintheprojectsetsthelowerlimitonthecoarseupdateperiod.项目中轴的数量的设定低于更新周期限制17ppt课件.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Rangeofvalues:0.5msec–32msec值范围：0.5毫秒–32毫秒General“ruleofthumb:”1.0msecperaxisasastartingpoint常用的“经验法”：1毫秒每轴为出发点·Lessthan11axes—Setthecoarseupdateperiodto10ms.·11axesormore—Setthecoarseupdateperiodto1msperaxis.MinimumrecommendationsbasedonLogixprocessor:Logix处理器为基础的最低建议1756-L55:1.5msecperaxis(onlyavailablethroughv16)1.5毫秒每轴1756-L6x:0.25msecperaxis0.25毫秒每轴1768-L4x:0.25msecperaxis0.25毫秒每轴1756-L7x:0.125msecperaxis0.125毫秒每轴Onceconfigured,themotionplannerscantimesshouldbemonitoredwiththeapplicationrunningandmodifiedasneeded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Ifthecycletimeis2ms,setthecoarseupdateperiodto8ms,10ms,12ms,andsoon.18ppt课件.CreatingaProject

MotionControlTags1.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19ppt课件.CreatingaProject

MotionControlTagsAMotionControltagmustbedefinedforeachmotioninstructionused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_INSTRUCTIONTagstoresstatusinformationabouttheinstruction标签存储关于指令的状态信息Eachmotioninstructionmustuseauniquecontroltag每一个运动指令必须使用唯一的控制标签Examples20ppt课件.MotionModules&AxisTags

AxisTagsMotionAxisTypes:运动轴类型：Axis_Servo:aphysicalaxiswhichisconnectedtoanAnalogmotionmodule(1756-M02AE,1756-M02AS,or1756-HYD02).Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).连接到拟运动模块的一个物理轴（1756-M02AE,1756-M02AS,or1756-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:aphysicalaxiswhichisconnectedtoaSERCOSDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).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:

aphysicalaxiswhichisconnectedtoaCIPDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).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:atheoretical(imaginary)axiswhichisexistsintheControlLogixprocessor.Thereisnohardwareassociatedwithavirtualaxis.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21ppt课件.MotionModules&AxisTags

AxisTagsMotionAxisTypes:运动轴类型Axis_Consumed:aphysicalorvirtualaxiswhichisownedbyanotherControlLogixprocessorwithinthesamerack.OneControlLogixprocessorproducestheaxisinformationtobeconsumedbyotherControlLogixprocessors.ProducedandconsumedaxisareusedtoshareaxisinformationbetweenmultipleControlLogixprocessors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:agenericaxisobjectrepresentsanaxiswithfullmotionplannerfunctionality,butnotassociatedwithanydevicethatrequiresmotionconfigurationsupport(e.g.,DriveLogixor1756-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:ThirdpartySERCOSdrive;i.e.Indramat,Bosch,etc.轴_通用_驱动：三方SERCOS驱动；如，Indramat，博士等等22ppt课件.AxisProperties

CIPAxisDialogCIPAxisCIP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CIPAxis23ppt课件.AxisProperties

CIPAxisDialogCIPAxisParameterPageCIP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CIPAxis24ppt课件.VirtualAxes

Whatyouwilllearn:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴25ppt课件.(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,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VirtualAxes

WhatisaVirtualAxis:2626ppt课件.VirtualAxes

ConfiguringaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴27ppt课件.VirtualAxes

ConfiguringaVirtualAxis:28ppt课件.VirtualAxes

ConfiguringaVirtualAxis:29ppt课件.VirtualAxes

ConfiguringaVirtualAxis:30ppt课件.VirtualAxes

ConfiguringaVirtualAxis:31ppt课件.VirtualAxes

ConfiguringaVirtualAxis:32ppt课件.VirtualAxes

ConfiguringaVirtualAxis:33ppt课件.VirtualAxes

ConfiguringaVirtualAxis:34ppt课件.VirtualAxes

UsingaVirtualAxis:(Confidential–ForInternalUseOnly)Copyright©2010RockwellAutomation,Inc.Allrightsreserved.1.WhatisaVirtualAxis什么是虚轴2.ConfiguringaVirtualAxis配置虚轴3.UsingaVirtualAxis使用虚轴35ppt课件.VirtualAxes

UsingaVirtualAxis: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36ppt课件.MotionStateandFaultHandlingInstructions

Agenda1.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37ppt课件.MotionStateandFaultHandlingInstructions

MotionInstructionsOverview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38ppt课件.

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39ppt课件.MotionStateandFaultHandlingInstructions

MSO(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）40ppt课件.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)dependsontypeofdrive41ppt课件.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42ppt课件.MotionStateandFaultHandlingInstructions

FaultHandlingInstructions1.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43ppt课件.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44ppt课件.MotionStateandFaultHandlingInstructionsMAFR(MotionAxisFaultReset)MAFR(MotionAxisFaultReset运动轴故障复位)45ppt课件.MotionStateandFaultHandlingInstructionsManuallyClearingAxisFaultsManuallyClearingAxisFaults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Select‘ClearAxisFaults’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,select‘ClearAxisFaults’46ppt课件.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47ppt课件.MotionStateandFaultHandlingInstructionsMASR(MotionAxisShutdownReset)MASR(MotionAxisShutdownReset轴关闭复位)48ppt课件.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49ppt课件.MotionStateandFaultHandlingInstructionsCommonFaultResetLogicCommonFaultResetLogic常用的故障复位逻辑When‘FaultReset’inputisrequested: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）50ppt课件.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，51ppt课件.MotionStateandFaultHandlingInstructionsMASD(MotionAxisShutdown)MASD(MotionAxisShutdown运动轴关闭)52ppt课件.MoveInstructions

Agenda1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并运动指令53ppt课件.MoveInstructions

MotionMoveInstructionsMotionMoveInstructions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。Theseinstructionswillbetaughtindetailinadvancedtraining这些指令将在伺服高级培训中讲到54ppt课件.MoveInstructions

MAMInstructionMAM(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55ppt课件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)轴位移56ppt课件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)轴位移57ppt课件.MoveInstructions

MAMInstructionMAM(MotionAxisMove)轴位移58ppt课件.MoveInstructions

MAJInstructionMAJ(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59ppt课件.MoveInstructions

MAJInstructionMAJ(MotionAxisJog)轴点动60ppt课件.MoveInstructions

MAJInstructionMAJ(MotionAxisJog)轴点动61ppt课件.MoveInstructions

MASInstructionMAS(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62ppt课件.MoveInstructions

MASInstructionMAS(MotionAxisStop)运动轴停止63ppt课件.MoveInstructions

MASInstructionMAS(MotionAxisStop)运动轴停止64ppt课件.MoveInstructions

MASInstructionMAS (MotionAxisStop)运动轴停止65ppt课件.MoveInstructions

MASInstructionMAS (MotionAxisStop)运动轴停止66ppt课件.MoveInstructions

MergingMotionInstructions1.MAM,MAJ,andMASInstructionsMAMMAJ和MAS指令2.MergingMotionInstructions吞并运动指令67ppt课件.MoveInstructions

MergingMotionInstructionsMergingoptionavailableforMAM,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68ppt课件.MoveInstructions

MergingMotionInstructionsMergingDisabled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MAG–Axis1,master;Axis2,slaveMAJ–Axis1MAM–Axis2(afterMAGandMAJareinitiated);mergingdisabledJogProfile,Axes1&2MAMProfileActualmotion,Axis269ppt课件.MoveInstructions

MergingMotionInstructionsMergingEnabled吞并使能Allcurrentaxismotionisendedandbecomesapuremoveorpurejog,dependingonthenewcommandissued当前轴运动结束，变成纯的运动或寸动取决于新的指令ForMAMwithmergingenabled,axiscompletesmovesandcomestorest对于MAM吞并使能，轴完成移动或休息ForMAJwithmergingenabled,axiswilljoguntilmotionisstoppedormergedagain对MAJ吞并使能，轴将寸动直到停止或再次吞并MAG–Axis1,master;Axis2,slaveMAJ–Axis1MAM–Axis2(afterMAGandMAJareinitiated);mergingenabledJogProfile,Axes1&2MAMProfileActualmotion,Axis270ppt课件.MoveInstructions

MergingMotionInstructionsMergespeed吞并速度Programmed:axiswillusespeedindicatedinnewinstruction编程：轴将使用一个新指令速度Current:axiswillusecurrentaxisspeed当前：轴将使用当前的轴速度Usecautionwhensettingmergespeedtocurrent使用注意：当设置吞并到当前速度Iftheaxisspeedhassomehowreached0,themergedmoveorjogwillindicateitisIn-Processbutnevercomplete如果轴速度不知为何到0，吞并后的移动或点动将表明它在进程中但从未完成Mergespeed=current71ppt课件.MoveInstructions

MergingMotionInstructionsFrompublicationMOTION-RM002从MOTION-RM002出版物Statementsaretrueforjogandmoveinstructionswithmergingenabled声明寸动和移动指令吞并使能是正确的Awarningtoconsiderwhenusingmerging当使用吞并时的一个警告72ppt课件.MoveInstructions

MergingMotionInstructionsMergingMoveInstructions吞并移动指令1stmoveisabsolute,2ndmoveisincremental一绝对运动，二相对运动Amountofincrementalmoveisaddedtoendpointofabsolutemove运动增加的总数被加到绝对运动的末端1stmoveisabsolute,2ndmoveisabsolute一绝对运动，二绝对运动1stmoveiscancelled,activeendpointisbasedon2ndmove运动一被取消，在结束点激活运动21stmoveisincremental,2ndmoveisincremental一相对运动，二相对运动Movedistancesareaddedtogether移动距离相加Movespeedformergedmove运动速度吞并Speedof1stmoveifsettocurrent一运动速度如果设为当前Speedof2ndmoveifsettoprogrammed运动速度二如果通过编程设定

73ppt课件.MoveInstructions

MergingMotionInstructionsSummary摘要Mergingisavailableforthefollowinginstructions如下指令吞并时有效的MAM,MAJ(singleaxismotion)单轴运动MCLM,MCCM(coordinatedmotion)协调运动Whenenabled,allcurrentmotioniscancelledandbecomesonlythemoveorjogintowhichmotionwasmerged当使能时，当前运动被取消，只有运动或寸动能够被吞并Usermaymergeatcurrentorprogrammedspeed用户可吞并当前和编程速度Maycauseaxistoovershoottargetpositionif:可能导致目标位置过冲如