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PLCopen
for efficiency in automation
Total number of pages: 119
Technical Paper
PLCopen Technical Committee 2 – Task Force
Function Blocks for motion control:
Part 4 –Coordinated Motion
PLCopen Document
Version 1.0, Published
DISCLAIMER OF WARANTIES
THIS DOCUMENT IS PROVIDED ON AN “AS IS” BASIS AND MAY BE SUBJECT TO FUTURE ADDITIONS,
MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR
ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN
THIS DOCUMENT OR FROM ANYONE’S USE OF OR RELIANCE ON THIS DOCUMENT.
Copyright © 2002 - 2008 by PLCopen. All rights reserved.
Date: December 3, 2008
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PLCopen
for efficiency in automation
TC2 - Task Force Motion Control December 3, 2008 © PLCopen – 2007 - 2008
Part 4 – Coordinated Motion V 1.0 page 2/ 119
Function blocks for motion control
The following paper is a document under construction within the PLCopen Task Force Motion Control. As such it is an
addition to the PLCopen Task Force Motion Control, Technical Document Version 1.0.
It summarizes the results of the PLCopen Task Force Motion Control, containing contributions of all its members.
The present specification was written thanks to the following members of the Task Force:
Hilmar Panzer 3S – Smart Software Solutions
Christian Müller ABB
Klaus Bernzen Beckhoff
Josef Papenfort Beckhoff
Wilfried Plaß Beckhoff
Wolfgang Czech Bosch Rexroth
Friedrich Forthuber B & R
Martin Schrott B & R
Ed Baker Control Techniques
Roland Schaumburg Danfoss
Ryszard Bochniak Eckelmann
Djafar Hadiouche GE Fanuc
Jürgen Hipp ISG
Joachim Mayer ISG
Harald Buchgeher Keba
Joachim Strobel Kuka Robotics
Candido Ferrio Omron
Josep Lario Omron
Yoshikazu Tachibana Omron
Christian Ruf Parker Hannifin
Klas Hellmann Phoenix Contact
Markus Müller SEW Eurodrive
Willi Gagsteiger Siemens Automation & Drives
Hans Peter Otto Siemens Automation & Drives
Jürgen Fieß Schneider Electric Motion Deutschland (formerly Berger Lahr)
Wolfgang Fien Schneider Electric Motion Deutschland (formerly Berger Lahr)
Istvan Ulvros TetraPak
Eelco van der Wal PLCopen
Change Status List:
Version
number
Date Change comment
V 0.1 April 27, 2005 Initial version as generated by EvdW
V 0.2 May 3, 2005 As result of meeting with Klas Hellmann, Joachim Mayer and EvdWal
V 0.3 May 20, 2005 As send to group. Includes feedback KH, JM and EvdWal
V 0.4 July 14, 2005 As result of kick off meeting at Siemens
V 0.5 Sept. 9, 2005 As result of the meeting near Amsterdam
V 0.6 Dec 14, 2005 As result of the meeting at Kuka. Not released.
V 0.6a Dec 21, 2005 New order in FBs. Pictures added in Ch. 2. Homework ISG on transformation
FBs added
V 0.7 March 13, 2006 As result of the Meeting at Salzburg, and items of workgroups 1 & 3
V 0.8 May 10 & 11, 2006 As result of the meeting in Sitges, Spain
V 0.9 July 5 & 6, 2006 As a result of the meeting at Control Techniques. All changes accepted from V
0.8
V 0.91 September 20, 2006 As result of the meeting in Hamburg
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PLCopen
for efficiency in automation
TC2 - Task Force Motion Control December 3, 2008 © PLCopen – 2007 - 2008
Part 4 – Coordinated Motion V 1.0 page 3/ 119
V 0.92 November 22, 2006 As result of the meeting at SEW Eurodrive, Bruchsal, Germany
V 0.93 March 07, 2007 As result of the meeting at 3S, Kempten, Germany and editing by EvdW
V 0.94 May 16, 2007 As result of the meeting at Eckelmann, Wiesbaden, Germany
V 0.95 July 10, 2007 As result of the meeting at Berger Lahr, Germany
V 0.96 Sept. 21, 2007 As result of the meeting at Keba, Linz, Austria
V 0.97 Nov. 23, 2007 As result of the meeting at Phoenix Contact, Germany
V 0.98 February 1, 2008 As result of the meeting at GE Fanuc, Luxembourg and homework done
V 0.99 April 17, 2008 As result of the meeting at Danfoss, Germany. Basis for ‘Release for comments’
V 0.99A November 6, 2008 Basis for version 1.0. Result of meeting Frankfurt a Main.
V 0.99B November 20, 2008 Version with editorial feedback from group on Version 0.99A
V 1.0 December 3, 2008 Official release
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PLCopen
for efficiency in automation
TC2 - Task Force Motion Control December 3, 2008 © PLCopen – 2007 - 2008
Part 4 – Coordinated Motion V 1.0 page 4/ 119
Table of Contents
1
GENERAL ................................................................................................................................................................8
1.1 OBJECTIVES .............................................................................................................................................................8
1.2 INTRODUCTION ........................................................................................................................................................8
1.3 OVERVIEW OF THE DEFINED FUNCTION BLOCKS......................................................................................................9
1.3.1 Length of FB names and ways to shorten them ..............................................................................................9
1.4 GLOSSARY.............................................................................................................................................................11
2 PRINCIPLES OF COORDINATED MOTION..................................................................................................13
2.1 COORDINATE SYSTEM AND KINEMATIC TRANSFORMATION ...................................................................................13
2.1.1 Kinematic Transformation............................................................................................................................14
2.2 HOW DO COMMANDS BEHAVE IN DYNAMIC COORDINATE SYSTEMS .......................................................................15
2.3 MOVEMENTS .........................................................................................................................................................16
2.4 BLENDING AND BUFFERING OF MOVEMENTS.........................................................................................................17
2.4.1 General Information.....................................................................................................................................17
2.4.2 Overview of Buffer Modes ............................................................................................................................17
2.4.3 Overview of Transition Modes......................................................................................................................18
2.4.4 Matrix of available transition modes............................................................................................................18
3 MODEL...................................................................................................................................................................19
3.1 STATE DIAGRAM ....................................................................................................................................................19
3.2 RELATIONSHIP SINGLE AXIS AND GROUPED AXES STATE DIAGRAMS...................................................................20
3.3 INPUT EXECUTION MODE ......................................................................................................................................21
4 AXES GROUPING.................................................................................................................................................22
4.1 CREATING AND USING AN AXESGROUP .................................................................................................................23
5 FUNCTION BLOCKS FOR COORDINATED MOTION.................................................................................25
5.1 MC_ADDAXISTOGROUP ......................................................................................................................................25
5.2 MC_REMOVEAXISFROMGROUP ...........................................................................................................................26
5.3 MC_UNGROUPALLAXES ......................................................................................................................................27
5.4 MC_GROUPREADCONFIGURATION .......................................................................................................................28
5.5 MC_GROUPENABLE..............................................................................................................................................30
5.6 MC_GROUPDISABLE.............................................................................................................................................31
5.7 MC_GROUPHOME.................................................................................................................................................32
5.8 TRANSFORMATION FBS .........................................................................................................................................33
5.8.1 MC_SetKinTransform (ACS to MCS)...........................................................................................................33
5.8.2 MC_SetCartesianTransform (MCS to PCS).................................................................................................35
5.8.3 MC_SetCoordinateTransform (MCS to PCS)...............................................................................................37
5.8.4 MC_ReadKinTransform (ACS to MCS)........................................................................................................38
5.8.5 MC_ReadCartesianTransform (MCS to PCS)..............................................................................................39
5.8.6 MC_ReadCoordinateTransform (MCS to PCS) ...........................................................................................40
5.9 MC_GROUPSETPOSITION......................................................................................................................................41
5.10 MC_GROUPREADACTUALPOSITION .....................................................................................................................42
5.11 MC_GROUPREADACTUALVELOCITY....................................................................................................................43
5.12 MC_GROUPREADACTUALACCELERATION ...........................................................................................................44
5.13 MC_GROUPSTOP ..................................................................................................................................................45
5.14 MC_GROUPHALT..................................................................................................................................................49
5.15 MC_GROUPINTERRUPT .........................................................................................................................................51
5.16 MC_GROUPCONTINUE ..........................................................................................................................................52
5.17 MC_GROUPREADSTATUS .....................................................................................................................................53
5.18 MC_GROUPREADERROR ......................................................................................................................................54
5.19 MC_GROUPRESET ................................................................................................................................................55
5.20 MC_MOVELINEARABSOLUTE...............................................................................................................................56
5.21 MC_MOVELINEARRELATIVE................................................................................................................................59
5.22 MC_MOVECIRCULARABSOLUTE ..........................................................................................................................64
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PLCopen
for efficiency in automation
TC2 - Task Force Motion Control December 3, 2008 © PLCopen – 2007 - 2008
Part 4 – Coordinated Motion V 1.0 page 5/ 119
5.23
MC_MOVECIRCULARRELATIVE ...........................................................................................................................69
5.24 MC_MOVEDIRECTABSOLUTE...............................................................................................................................72
5.25 MC_MOVEDIRECTRELATIVE ................................................................................................................................73
5.26 MC_PATHSELECT .................................................................................................................................................75
5.27 MC_MOVEPATH ...................................................................................................................................................76
5.28 MC_GROUPSETOVERRIDE ....................................................................................................................................77
6 AXES GROUP SYNCHRONIZED MOTION.....................................................................................................79
6.1 SYNCHRONIZATION ...............................................................................................................................................80
6.1.1 Synchronization of single axis to an axes group...........................................................................................80
6.1.2 Synchronization of an axes group to a single axis........................................................................................81
6.2 TRACKING .............................................................................................................................................................83
6.3 MC_SYNCAXISTOGROUP .....................................................................................................................................85
6.4 MC_SYNCGROUPTOAXIS .....................................................................................................................................86
6.5 MC_SETDYNCOORDTRANSFORM .........................................................................................................................88
6.6 MC_TRACKCONVEYORBELT ................................................................................................................................89
6.7 MC_TRACKROTARYTABLE ..................................................................................................................................92
7 DETAILS OF BLENDING AND BUFFERING OF MOVEMENTS................................................................94
7.1 TERMINOLOGICAL DEFINITIONS .............................................................................................................................94
7.2 INPUT PARAMETER FOR BLENDING.........................................................................................................................95
7.3 BUFFER MODES .....................................................................................................................................................96
7.3.1 BufferMode “Aborting”................................................................................................................................96
7.3.2 BufferMode “Buffered”................................................................................................................................96
7.3.3 BufferMode “Blending” ...............................................................................................................................96
7.4 TRANSITIONMODE.................................................................................................................................................98
7.4.1 TransitionMode “TMNone” (insert no transition curve).............................................................................98
7.4.2 TransitionMode “TMStartVelocity” (Transition with given maximum velocity) .........................................98
7.4.3 TransitionMode “TMConstantVelocity”(Transition with given constant velocity)......................................99
7.4.4 TransitionMode “TMCornerDistance” (Transition with given corner distance) ......................................100
7.4.5 TransitionMode “TMMaxCornerDeviation” (Transition with given maximum corner deviation)............100
APPENDIX 1. COMPLIANCE PROCEDURE AND COMPLIANCE LIST.....................................................101
APPENDIX 1.1. STATEMENT OF SUPPLIER ....................................................................................................................102
APPENDIX 1.2. SUPPORTED DATA TYPES .....................................................................................................................103
APPENDIX 1.3. SUPPORTED BUFFER MODES................................................................................................................103
APPENDIX 1.4. SUPPORTED TRANSITION MODES.........................................................................................................103
APPENDIX 1.5. SHORT OVERVIEW OF THE FUNCTION BLOCKS .....................................................................................104
APPENDIX 1.6. THE PLCOPEN MOTION CONTROL LOGO AND ITS USAGE ...................................................................119
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