2、伺服PTP功能块定义
2.1定义轴变量
_axis1: AXIS_REF; //轴变量
2.2添加轴控制指令
定义功能块变量:
MC_POWER_0: MC_POWER; //轴使能
MC_Reset_0: MC_Reset; //轴复位
MC_Stop_0: MC_Stop; //轴停止
MC_Jog_0: MC_Jog;
MC_MoveAdditive_0: MC_MoveAdditive;
MC_MoveRelative_0: MC_MoveRelative;
MC_MoveAbsolute_0: MC_MoveAbsolute;
MC_MoveVelocity_0: MC_MoveVelocity;
MC_SetOverride_0: MC_SetOverride; //设置轴速度缩放系数
MC_SetPosition_0: MC_SetPosition; //设置当前位置
MC_ReadActualPosition_0: MC_ReadActualPosition;
MC_ReadActualVelocity_0: MC_ReadActualVelocity;
MC_ReadStatus_0: MC_ReadStatus;
2.3添加全局变量
定义控制的全局变量:
//轴控制指令
bi_Power: BOOL; //使能
bi_Reset: BOOL; //复位
bi_Stop: BOOL; //停止
bi_JogForward: BOOL; //正向点动
bi_JogBackwards: BOOL; //反向点动
bi_MoveAdditive: BOOL; //增量位置运动
bi_MoveRelative: BOOL; //相对位置运动
bi_MoveAbsolute: BOOL; //绝对位置运动
bi_MoveVelocity: BOOL; //速度方式运动
bi_SetOverride: BOOL; //轴速度缩放启用
bi_SetPosition: BOOL; //增量式伺服,设置当前位置值
bi_AxisRead: BOOL; //读取轴的状态
定义输入的控制参数变量:
//轴运动参数设置
di_Stop_Deceleration: LREAL:=4000; //停止速度(MC_Stop)
di_SetPosition: LREAL:=0; //
di_Jog_Velocity: LREAL;
di_Jog_Acceleration: LREAL:=3000;
di_Jog_Deceleration: LREAL:=3000;
di_Jog_Jerk: LREAL:=0; //加加速度。
di_MoveAdditive_Distance: LREAL:=0;
di_MoveAdditive_Velocity: LREAL:=100;
di_MoveAdditive_Acceleration: LREAL:=500;
di_MoveAdditive_Deceleration: LREAL:=500;
di_MoveAdditive_Jerk: LREAL:=0;
di_MoveRelative_Distance: LREAL:=0;
di_MoveRelative_Velocity: LREAL:=100;
di_MoveRelative_Acceleration: LREAL:=500;
di_MoveRelative_Deceleration: LREAL:=500;
di_MoveRelative_Jerk: LREAL:=0;
di_MoveAbsolute_Position: LREAL:=0;
di_MoveAbsolute_Velocity: LREAL:=100;
di_MoveAbsolute_Acceleration: LREAL:=500;
di_MoveAbsolute_Deceleration: LREAL:=500;
di_MoveAbsolute_Jerk: LREAL:=0;
di_MoveVelocity_Velocity: LREAL:=100;
di_MoveVelocity_Acceleration: LREAL:=500;
di_MoveVelocity_Deceleration: LREAL:=500;
di_MoveVelocity_Jerk: LREAL:=0;
di_MoveVelocity_Direction: MC_Direction:=1; //1:Positive 3:Negative
di_VelFactor: LREAL:=1.0; //1.0=100% 范围:0.01-1.0
定义存储反馈得轴状态变量
//轴状态反馈
bo_AxisError: BOOL;
bo_ErrorStop: BOOL; //故障未复位的情况下再次转动电机输出故障停车信号
bo_Homing: BOOL; //轴回原点进行中
bo_Homed: BOOL; //轴已经回原点
bo_Moving: BOOL; //轴运动中
bo_Disabled: BOOL;
bo_Stopping: BOOL; //停止信号输出一次
bo_StandStill: BOOL; //待机中
bo_DiscreteMotion: BOOL; //不连续运动
bo_ContinuousMotion: BOOL; //连续运动
bo_SynchronizedMotion: BOOL; //同步运动
bo_ConstantVelocity: BOOL; //恒速运行中
bo_Accelerating: BOOL; //加速中
bo_Decelerating: BOOL; //减速中
//
do_ActualPosition: LREAL; //轴当前位置
do_ActualVelocity: LREAL; //轴当前速度
do_AxisErroID: DWORD; //故障代码
dg_ActualTorque AT%I*: INT; // Axises's Actual Torque
2.4轴控功能块ST语言实现
//*轴使能
MC_POWER_0(
Axis:= _axis1,
Enable:= bi_Power, //TRUE使能,FALSE去使能
Enable_Positive:= TRUE,
Enable_Negative:= TRUE,
Override:= ,
BufferMode:= ,
Options:= ,
Status=> ,
Busy=> ,
Active=> ,
Error=> ,
ErrorID=> );
//*轴复位
MC_Reset_0(
Axis:= _axis1,
Execute:= bi_Reset, //上升沿信号触发
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
//*轴停机
MC_Stop_0(
Axis:= _axis1,
Execute:= bi_Stop, //上升沿信号触发
Deceleration:= di_Stop_Deceleration,
Jerk:= ,
Options:= ,
Done=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//Jog点动
MC_Jog_0(
Axis:= _axis1,
JogForward:= bi_JogForward,
JogBackwards:= bi_JogBackwards,
Mode:= MC_JOGMODE_CONTINOUS, //点动模式
Position:= ,
Velocity:= di_Jog_Velocity,
Acceleration:=di_Jog_Acceleration ,
Deceleration:= di_Jog_Deceleration,
Jerk:= di_Jog_Jerk,
Done=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//*轴相对定位-MoveAdd //
MC_MoveAdditive_0(
Axis:= _axis1,
Execute:= bi_MoveAdditive, //上升沿信号触发
Distance:= di_MoveAdditive_Distance,
Velocity:= di_MoveAdditive_Velocity,
Acceleration:= di_MoveAdditive_Acceleration,
Deceleration:= di_MoveAdditive_Deceleration,
Jerk:= di_MoveAdditive_Jerk,
BufferMode:= ,
Options:= ,
Done=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//*轴相对定位-MoveRela //
MC_MoveRelative_0(
Axis:= _axis1,
Execute:= bi_MoveRelative, //上升沿信号触发
Distance:= di_MoveRelative_Distance,
Velocity:= di_MoveRelative_Velocity,
Acceleration:= di_MoveRelative_Acceleration,
Deceleration:= di_MoveRelative_Deceleration,
Jerk:= di_MoveRelative_Jerk,
BufferMode:= ,
Options:= ,
Done=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//**轴绝对定位启动
MC_MoveAbsolute_0(
Axis:= _axis1,
Execute:= bi_MoveAbsolute, //上升沿信号触发
Position:= di_MoveAbsolute_Position,
Velocity:= di_MoveAbsolute_Velocity,
Acceleration:= di_MoveAbsolute_Acceleration,
Deceleration:= di_MoveAbsolute_Deceleration,
Jerk:= di_MoveAbsolute_Jerk,
BufferMode:= ,
Options:= ,
Done=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//**以速度方式运行
MC_MoveVelocity_0(
Axis:= _axis1,
Execute:= bi_MoveVelocity, //上升沿信号触发
Velocity:=di_MoveVelocity_Velocity ,
Acceleration:= di_MoveVelocity_Acceleration,
Deceleration:= di_MoveVelocity_Deceleration,
Jerk:= di_MoveVelocity_Jerk,
Direction:= di_MoveVelocity_Direction, //MC_Negative_Direction -> 反向 MC_Positive_Direction -> 正向
BufferMode:= ,
Options:= ,
InVelocity=> ,
Busy=> ,
Active=> ,
CommandAborted=> ,
Error=> ,
ErrorID=> );
//**轴速度缩放系数设置
MC_SetOverride_0(
Axis:= _axis1,
Enable:= bi_SetOverride, //TRUE生效,FALSE无效
VelFactor:= di_VelFactor, //1.0=100% 0.01-1.0
AccFactor:= ,
JerkFactor:= ,
Enabled=> ,
Busy=> ,
Error=> ,
ErrorID=> );
//*当前轴位置设置(增量式编码器电机)
MC_SetPosition_0(
Axis:= _axis1,
Execute:= bi_SetPosition, //TRUE生效,FALSE无效
Position:= 0,
Mode:= ,
Options:= ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
IF MC_SetPosition_0.Done THEN
bi_SetPosition:=FALSE;
END_IF
//*读轴位置
MC_ReadActualPosition_0(
Axis:= _axis1,
Enable:= bi_AxisRead, //TRUE生效,FALSE无效
Valid=> ,
Busy=> ,
Error=> ,
ErrorID=> ,
Position=> do_ActualPosition);
//*读轴速度
MC_ReadActualVelocity_0(
Axis:= _axis1,
Enable:= bi_AxisRead, //TRUE生效,FALSE无效
Valid=> ,
Busy=> ,
Error=> ,
ErrorID=> ,
ActualVelocity=>do_ActualVelocity );
//*读轴状态
MC_ReadStatus_0(
Axis:= _axis1,
Enable:= bi_AxisRead, //TRUE生效,FALSE无效
Valid=> ,
Busy=> ,
Error=> bo_AxisError,
ErrorID=>do_AxisErroID ,
ErrorStop=> bo_ErrorStop,
Disabled=> bo_Disabled,
Stopping=> bo_Stopping,
StandStill=> bo_StandStill,
DiscreteMotion=> bo_DiscreteMotion,
ContinuousMotion=> bo_ContinuousMotion,
SynchronizedMotion=> bo_SynchronizedMotion,
Homing=> bo_Homing,
ConstantVelocity=> bo_ConstantVelocity,
Accelerating=> bo_Accelerating,
Decelerating=> bo_Decelerating,
Status=> );
2.5轴控功能块梯形图(LD)实现
1
2.6程序在线监控
ST程序在线
优点:注释和程序一目了然
梯形图程序在线
优点:逻辑功能清晰,功能块得输入和输出清清楚楚
3、第三方伺服其它功能
3.1扭矩读取
读取第三方伺服的扭矩,需要通过关联PDO Maping的输出来读取,有的厂家伺服在IO扫描出来PDO Mapping中就有Torque,有的伺服厂家扫描出来没有,PDO Maping中没有Torque的需要手动添加。以台达A2和汇川IS620N分别举例:
首先在PLC程序添加变量:
hmi_ActualTorque AT%I*: INT; // Axises’s Actual Torque
变量添加好以后,PLC程序工程重新编译。
汇川IS620N
3.2增量式伺服回零
第三方增量式伺服回零方式主要有两种
方式1:DS402协议内部PDO方式回零。
优点:伺服自己运行、定位精度高
缺点:程序逻辑复杂、不同厂家数据协议不一样
具体用法参见:
TwinCAT3中台达A2增量编码器伺服使用PDO方式回零_panjinliang066333的博客-CSDN博客
方式2:使用伺服功能块MC_Jog和MC_SetPosition
优点:不同的厂家都可以通用、程序逻辑简单
缺点:定位精度低
用法:回零指令起动,伺服以Jog运动方式缓慢向零运动,当零点传感器检测到伺服到达信号Jog运动停止,然后使用MC_SetPosition设置当前位置为0,即伺服回零完成。若伺服刚开始就在零点传感器上,则Jog不会运动,伺服位置直接设置为零。
具体用法参见:
(注意:因为伺服回零是往一个方向运动,因此不管用哪种方式回零,在第一次回零的时候务必确保零点传感器在Jog运动的方向范围之内)
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版权声明:本文为CSDN博主「Big_潘大师」的原创文章,遵循CC 4.0 BY-SA版权协议,转载请附上原文出处链接及本声明。
原文链接:https://blog.csdn.net/panjinliang066333/article/details/123423911