伺服编程及指令基础教材

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.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4(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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5(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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6(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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Clickhere7(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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Click8(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization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.10CreatingaProject

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。11(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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12(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.13CreatingaProject

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’14(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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15(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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CUP16(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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17(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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.18(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

AutoTagUpdateAutoTagUpdate自动更新标签WhentheAutoTagUpdateisenabled,thefollowing8AxisAttributeswillbeautomaticallyupdatedattheCoarseUpdateRate:当自动更新标签激活时，如下8个轴特性将自动更新 ActualPosition实际位置 CommandPosition位置命令 ActualVelocity实际速度CommandVelocity速度命令 ActualAcceleration实际加速度CommandAcceleration加速命令 AverageVelocity 平均速度MasterOffset主轴偏移EnablingAutoTagUpdateadds100μsecperaxistotheoverallCoarseUpdatePeriod激活自动更新标签整体增加更新周期每个轴100usExample:Having8axesinthemotiongroupwilladd800μsectothecoarseUpdatePeriod例如：在8个轴的运动组中更新周期将增加800us19(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.20CreatingaProject

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Examples(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.21CreatingaProject

UDTsforMotionControlTagsAUser-DefinedDataType(UDT)isrecommendedtoorganizemotioncontroltagswithinaproject

在一个项目里用户自定义数据类型被推荐为运动控制标签的组织Mayalsohelptoavoidreusingmotioncontroltags

也可帮助避免重复使用运动控制标签UDTsetup自定义数据类型MemberswithintheUDTreflectthemotioninstructionsDatatypeisMOTION_INSTRUCTIONforallmembersMOTION_INSTRUCTION数据类型为所有的成员TocreatetheUDT创建UDTRight-clickontheUser-Defineddatatypefolder在自定义数据类型文件夹上点击右键Select“NewDataType”选择“新数据类型”(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.22CreatingaProject

CreateaNewUDTAddthemembersoftheUDTbasedonthemotioninstructions

添加基于运动指令的UDT成员CreateanarrayfortheMOTION_INSTRUCTIONdatatype为MOTION_INSTRUCTION数据类型创建一个数组(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.23CreatingaProject

CreateNewTagswiththeUDTCreatecontroller-scopedtagsforeachaxis为每一个轴创建控制器范围标签AxisName_ControlData-typeistheUDTpreviouslycreated数据类型先于UDT创建(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.24CreatingaProject

UsingUniqueMotionControlTagsUsetheelementsofthecontroller-scopedtagasuniquemotioncontroltagswithinmotioninstructions在运动指令里使用控制器范围标签元素作为唯一的运动控制标签(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.25CreatingaProject

UsingCross-ReferenceUsecross-referencetoidentifytagsthathavealreadybeenused使用前后参照识别已经用到的标签Example例如Arrayelements2and3havealreadybeenusedforMAFRinstructions数组元素2和3已经被MAFR指令使用NextMAFRforAxis01shoulduseadifferentarrayelement轴的下一个MAFR应该使用一个不同的数组元素(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.26These2tagshavealreadybeenusedandshouldnotbeusedagainMotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAddingAnalogandSERCOSMotionModulestoaControlLogixProject:添加模拟和SERCOS运动模块到一个ControlLogix项目中SameprocessisusedforAnalogandSERCOSmodules模拟和SERCOS模块使用一样的流程Mustbeofflinetoaddmotionmodules必须离线添加运动模块Right-clickontheBackplaneiconintheControllerOrganizerWindowandselect‘NewModule’在控制器组织窗口的背板符号上点击右键并且选择“新模块”Right6-click,thenselectNewModule27(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAddingaMotionModuletoaControlLogixProject:添加运动模块到Controllogi项目Select‘Motion’fromthemoduletypeslist

从模块类型列表中选择“运动”SelectMotion28(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAllapplicableAnalogandSERCOSMotionModuleswillbelisted所有适合的模拟和SERCOS运动模块将列出SelectthedesiredmoduleandclickOKtoaddthismodule.选择需要的模块并点击OK添加这个模块Example:Select1756-M16SEClick‘OK’29(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesOncetheservomoduleisselected,somebasicconfigurationdatamustbeenteredtocompletetheprocess一旦有伺服模块被选择，一些基本的配置数据必须输入完成流程Name名字SlotNumber槽号ElectronicKeyingLevel电子校验等级Note:Themajorrevisionlevelofallmotionmodulesmustmatchthemajorfirmwarerevisionleveloftheassociatedprocessor.注意：所有运动模块的主要修订等级必须忽略关联处理器主要固件的修订等级30MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesConnectiontab:连接表Makeselectionfor‘InhibitModule,’ifdesired为“禁止模块”做出选择，如果需要Optiontoselect‘MajorFaultonControllerifConnectionFailsWhileinRunMode’选择“当在运行模式时如果连接失败产生主错误在控制器上”31(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingaSERCOSMotionModuletoaProjectSpecifictoSERCOSMotionModules:指定SERCOSInterfacetab:SERCOS接口表SelectionoptionsforDataRate,CycleTime,TransmitPower,andTransitiontoPhase选择数据率，循环时间，发射功率和变更相位Defaultvaluesarecommonlyused常使用默认值BaudratefortheSERCOSRing;typicallyuseAutoDetectSERCOS环的波特率常通使用自动UpdateratefortheSERCOSring;dependentonnumberofdrivesSERCOS环的更新率取决于驱动的数量OpticaltransmitpowerlevelfortheSERCOSRing;HighistypicallyusedSERCOS环的光发射功率等级，通常选高Phaseforcyclicdataexchange;mustbe4forRASERCOSapplication循环数据交换的相位，SERCOS应用必须使用432(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.NumberofAxesvs.RingCycleTime轴数量和循环时间TechnoFact:TheCoarseUpdatePeriodoftheMotionGrouppropertieshastobesettoanevenmultipleoftheCycleTimeparameter.MotionModules&AxisTags

SERCOSRingCycleTimeTechnoFact:AneasywaytorememberthemaximumnumberofdrivesforaparticularDatarateistomultiplytheDataRatebytheCycleTime.Ex.DataRate=4Mb,CycleTime=.5ms 4*0.5=2Drives33(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesAddingCIPMotionModulestoaControlLogixProject:添加CIP运动模块到ControlLogix项目SimilarprocesstoaddingAnalogorSERCOSmotionmodules和添加模拟或SERCOS模块一样的流程Mustbeofflinetoaddmodules必须离线添加模块Right-clickontheBackplaneiconintheControllerOrganizerWindowandselect‘NewModule’在控制组织窗口的背板图标上点右键并选择“新模块”Right-click,thenselectNewModule34(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesSelect‘Communications’fromthemoduletypeslist在模块类型表中选择“通讯”ScrolldowntoseetheEtherNet/IPmodules下拉窗口栏看到EtherNet/IP模块SelectthedesiredmoduleandclickOKtoaddthismodule选择想要的模块并点击OK添加这个模块35(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesSelect‘Communications’fromthemoduletypeslist在模块类型表中选择“通讯”ScrolldowntoseetheEtherNet/IPmodules下拉窗口栏看到EtherNet/IP模块SelectthedesiredmoduleandclickOKtoaddthismodule选择想要的模块并点击OK添加这个模块Click‘OK’Example:Select1756-EN2T36(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesEnterthebasicconfigurationdata输入基本的配置数据Name名字SlotNumber槽号ElectronicKeyingLevel电子校验等级ChangetheModuleDefinition改变模块定义Select“TimeSync&Motion”选择“时间同步&运动”WithoutselectingTimeSyncandMotion,youwon’tbeabletorunCIPMotion没有选择时间同步和运动，你将不能运行CIP运动37(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

InhibitaMotionModuleConnectiontab:连接表Makeselectionfor‘InhibitModule,’ifdesired选择“InhibitModule”，如果想要Optiontoselect‘MajorFaultonControllerifConnectionFailsWhileinRunMode’选择“在运行模式期间如果连接失败控制将产生主要错误”SameprocessusedforAnalog,SERCOS,andCIPmotionmodules使用模拟量，SERCOS，和CIP运动模块是一样的流程(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.38MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule:手动复位运动模块IftheOKLEDonthemotionmoduleisflashingredorsteadyred,themotionmodulewillneedtoberest如果运动模块的OK灯闪红灯或者一直是红，运动模块将需要复位Onemethodistowritelogicthatwilldetectthefaultandexecuteafaulthandlingsequence写逻辑是发现故障和执行故障处理顺序的一种方法Asecondmethodistomanuallyresetthemoduleviathemoduleproperties第二种方法是通过模块属性复位手动模块MustbeOnlinewiththeprocessorstomanuallyresetthemodule处理器必须在线手动复位模块SameprocessusedforAnalog,SERCOS,andCIPmotionmodules和使用模拟，SERCOS和CIP运动模块一样(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.39MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule：手动复位一个运动模块Right-clickonthemoduleintheControllerOrganizerwindow在控制器组织窗口中的模块上右键Select‘Properties’选择“属性”Gotothe‘ModuleInfo’tab到“模块信息”表中(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.40MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule:手动复位一个运动模块Select‘ResetModule’选择“复位模块”AccepttheWarningmessage接受警告信息Allconnectiontothemoduleandassociatedaxeswillbeinterrupted.Anymotionwillstopimmediately.所有连接到模块的关联轴将被中断，运动将立刻停止(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.41MotionModules&AxisTags

AxisTagsOnceamotionmoduleisaddedandthebasicconfigurationinformationiscompleted,amotionaxiscanbeadded.一旦运动模块被添加并且基本配置信息完成，一个运动轴能被添加Axistypeisselectedbasedonthetypeofconfiguration轴类型选择基于配置的类型Analog,SERCOS,orCIP模拟，SERCOS，或者CIPAnalogaxesareassociatedwiththeAnalogMotionModules模拟轴和模拟运动模块关联SERCOSandCIPaxesareassociatedwithSERCOSandCIPdrives,respectivelySERCOS和CIP轴分别和SERCOS和CIP驱动器关联TechnoFact:

MotionmodulescanonlybeaddedwhenworkingOffline.技术事实：运动模块只能在离线工作时添加42(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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43(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.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44(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisProperties–Tag:Name–TagnameforAxis.名称-轴的标签名字Description

-Optional.DescriptionofAxis描述_可选，轴描述Type–ReadOnlyafteraxiscreated.Base,produced,alias,orconsumed.类型_在轴被创建后只读，基本，生产者，别名，或消费者DataType

–ReadOnlyafteraxiscreated.Axis_Servo(Analog),Axis_Servo_Drive(SERCOS),Axis_CIP_Drive(CIP),orAxis_Consumed(Consumed).数据类型_在轴创建后只读，Axis_Servo（模拟），Axis_Servo_Drive（SERCOS），Axis_CIP_Drive（CIP），或Axis_Consumed（消费者）Scope–ReadOnlyafteraxiscreated.NameofaProgramortheController.范围_在轴创建后只读，控制器或程序名字ExternalAccess–Readonlyafteraxiscreated.Read/Write,ReadOnly,orNone.外部接口_在轴创建后只读，写/写，只读或从不ParameterNameAnalogSERCOSCIPNameTagTagTagDescriptionTagTagTagTypeTagTagTagDataTypeTagTagTagScopeTagTagTagExternalAccessTagTagTag(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.45MotionModules&AxisTags

AssociateAnalogAxistotheAnalogModuleRight-clickonthe1756-M02AEanalogmotionmoduleintheControllerOrganizerandselect‘Properties’在控制器组织里的1756-M02AE模拟运动轴模块上点击右键并选择“属性”Gotothe‘AssociatedAxes’Tab转到“关联轴”表46(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AssociateAnalogAxistotheAnalogModuleAnalogMotionModulehasalreadybeenadded模拟运动模块已经被添加AxisoftypeAxis_Servohasalreadybeencreated数据类型为Axis_Servo的轴被创建Assigntheanalogaxistotheappropriatechannel分配模拟轴到恰当的通道MustassociatetheaxistothecorrectchanneloftheAnalogMotionModule必须关联轴到模拟运动模块的正确通道Click‘OK’toexittheconfigurationwindow点击“OK”退出配置窗口Axis05_AnalogisnowassociatedwithChannel0ofthe1756-M02AEmotionmoduleAxis05_Analog现在被关联到了1756-M02AE模块的0号通道47(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.AxisProperties

HowtoAccessAccessAxisProperties:轴属性访问Right-clickonthedesiredaxisandselected‘Properties’在需要的轴上点击右键并设定“属性”(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.48Right-clickontheaxisChoosePropertiesAxisProperties

AnalogAxisDialogAnalogAxis模拟轴UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_SERVO:使用这个对话框配置数据类型是AXIS_SERVO的轴属性Analogaxeshavethefollowing“Tabs”:模拟轴如下“标签”General常规MotionPlanner运动规划Units单位Servo*伺服*Feedback反馈Conversion转换Homing回零Hookup连接Tune整定Dynamics动态Gains增益Output输出Limits极限Offset偏移FaultActions故障处理Tag标签(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.491756-M02AEAxisAxisProperties

SERCOSAxisDialogSERCOSAxisSERCOS轴UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_SERVO_DRIVE:使用这个对话框配置数据类型是AXIS_SERVO_DRIVE的轴属性SERCOSaxeshavethefollowing“Tabs”:SERCOS轴如下“标签”General常规MotionPlanner运动规划Units单位Drive/Motor*驱动/电机MotorFeedback*电机反馈AuxFeedback*辅助反馈Conversion转换Homing回零Hookup连接Tune整定Dynamics动态Gains增益Output输出Limits极限Offset偏移FaultActions故障处理Tag标签(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.50SERCOSAxisAxisProperties

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(Confidential–ForInternalUseOnly)Copyright©2011RockwellAutomation,Inc.Allrightsreserved.51CIPAxisAxisProperties

CIPAxisDialogCIPAxisParameterPageCIP轴参数页面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup:除了上