汇川AM600系列中型可编程控制器编程手册（运动控制篇）_汇川运动控制器

AM600

运动控制

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可编程逻辑控制器编程手册

--运动控制篇

A00

资料编码：19010539

编程手册

《AM600系列可编程逻辑控制器编程手册（运动控制篇）》（本书），资料编码：19010539

前言..................................................................1

一

、

PLCopen 规范简介 ...................................................6

二

、

AM600 运动控制应用系统组成 ......................................... 8

三

、

AM600 运动控制程序的组成 ........................................... 10

3.1 AM600 的用户程序结构 .................................................. 10

3.1.1 AM600 的用户程序组成 ................................................................................................................. 10

3.1.2 AM600 中的任务类型 ..................................................................................................................... 11

3.1.3 用户程序由多个 POU 组成的好处 .................................................................................................. 12

3.1.4 用户程序如何同时做到逻辑控制与运动控制 .................................................................................. 12

3.2 一个简单的用户程序的编写调试过程 ...................................... 13

3.2.1 新建工程 ........................................................................................................................................ 13

3.2.2 编写功能处理的 POU .................................................................................................................... 15

3.2.3 电机参数的设置 ............................................................................................................................. 17

3.2.4 跑马灯控制逻辑的编写 .................................................................................................................. 18

3.2.5 将变量与硬件输出端口关联 ........................................................................................................... 19

3.2.6 用户程序编译排错.......................................................................................................................... 20

3.2.7 监控用户程序的运行 ...................................................................................................................... 20

3.2.8 编写一个 AM600 运动控制工程的典型步骤总结 ............................................................................ 21

四

、

AM600 运动控制程序执行机制 ......................................... 24

4.1 AM600 用户工程中的任务与配置 .......................................... 24

4.2 EtherCAT 总线网络的数据流分析 ......................................... 26

4.3 AM600 与伺服从站的通信数据流程 ........................................ 29

4.3.1 控制信息流程步骤说明 .................................................................................................................. 29

4.3.2 CiA402 数据对象字典与伺服驱动器常用对象 ................................................................................ 32

4.3.3 伺服轴电机参数的配置 .................................................................................................................. 46

4.3.4 EtherCAT 网络状态初始化与管理 .................................................................................................. 48

4.3.5 AM600 与伺服轴及 IO 端口控制数据刷新 ...................................................................................... 50

4.4 MC 运动控制数据的传送时序 ............................................. 52

4.5 AM600 执行 MC 功能块的处理机制

：

....................................... 52

4.5.1 AM600 对伺服的运动命令，采取周期同步位置的控制模式 ........................................................... 52

4.5.2 伺服轴的数据结构.......................................................................................................................... 53

4.5.3 伺服轴的状态及转移规则 ............................................................................................................... 54

4.5.4 MC 功能块的执行逻辑： ............................................................................................................... 55

4.5.5 不同优先级任务 POU 之间的数据交互 .......................................................................................... 56

五

、

AM600 用户程序的应用编程 ........................................... 60

5.1 单轴 MC 定位的运动控制编程 ............................................. 60

5.1.1 AM600 运控应用的编程要点提醒 ................................................................................................... 60

5.1.2 单轴控制常用的 MC 功能块 ........................................................................................................... 60

5.1.3 MC 指令与 PDO/SDO 配置 ........................................................................................................... 61

5.2 多轴 CAM 凸轮同步的运动控制编程 ........................................ 62

5.2.1 凸轮运行的主要功能块说明 ........................................................................................................... 63

5.2.2 当主轴和从轴都为相对位置模式时的运行特点 .............................................................................. 65

5.2.3 当主轴为绝对位置模式，从轴为相对位置模式 .............................................................................. 65

5.2.4 当主轴为相对对位置模式，从轴为绝对位置模式 ........................................................................... 66

5.3 凸轮表的周期模式特点 .................................................. 67

5.3.1 CamIn 运行的 Offset 功能 ............................................................................................................. 67

5.3.2 凸轮运行中的主轴 MasterScaling 计算 .......................................................................................... 68

5.3.3 凸轮运行中的从轴 SlaveScaling 计算 ............................................................................................ 68

5.3.4 凸轮运行中的 Offset、Scale 使用特性与注意事项 ........................................................................ 69

5.3.5 凸轮运行状态的退出 MC_CamOut 功能块 .................................................................................... 69

5.4 凸轮主轴相位调整 MC_Phasing 功能块 ..................................... 70

5.5 凸轮表设计与其数据结构 ................................................ 71

5.5.1 凸轮表的特点 ................................................................................................................................. 71

5.5.2 CAM 凸轮表的输入方法 ................................................................................................................ 72

5.5.3 CAM 凸轮表的内部数据结构与数组 .............................................................................................. 73

5.5.4 CAM 凸轮表的引用与动态切换 ...................................................................................................... 74

六

、

常用 MC 指令详解....................................................76

6.1 单轴指令 .............................................................. 76

MC_AccelerationProﬁle .......................................................................................................................... 76

MC_Halt ................................................................................................................................................. 78

MC_Home .............................................................................................................................................. 80

MC_MoveAbsolute ................................................................................................................................. 82

MC_MoveAdditive .................................................................................................................................. 87

MC_MoveRelative .................................................................................................................................. 90

MC_MoveSuperImposed........................................................................................................................ 92

MC_MoveVelocity................................................................................................................................... 94

MC_PositionProﬁle ................................................................................................................................. 96

MC_Power.............................................................................................................................................. 98

MC_ReadActualPosition ........................................................................................................................ 100

MC_ReadAxisError ................................................................................................................................ 101

MC_ReadBoolParameter ....................................................................................................................... 102

MC_ReadStatus ..................................................................................................................................... 104

MC_ReadParameter .............................................................................................................................. 106

MC_Reset .............................................................................................................................................. 108

MC_Stop ................................................................................................................................................ 109

MC_VelocityProﬁle ................................................................................................................................. 111

MC_WriteBoolParameter ....................................................................................................................... 113

MC_WriteParameter ............................................................................................................................... 115

MC_AbortTrigger .................................................................................................................................... 116

MC_ReadActualTorque .......................................................................................................................... 117

MC_ReadActualVelocity ......................................................................................................................... 118

MC_SetPosition...................................................................................................................................... 119

MC_TouchProbe..................................................................................................................................... 120

SMC_MoveContinuousAbsolute ............................................................................................................ 122

SMC_MoveContinuousRelative ............................................................................................................. 124

MC_Jog .................................................................................................................................................. 126

SMC_Inch............................................................................................................................................... 128

SMC3_PersistPosition............................................................................................................................ 130

SMC3_PersistPositionSingleturn ........................................................................................................... 132

SMC3_PersistPositionLogical ................................................................................................................ 134

SMC_Homing ......................................................................................................................................... 136

6.2 轴组指令 ( 主 / 从轴指令 ) .............................................. 140

SMC_CamRegister ................................................................................................................................ 140

SMC_GetCamSlaveSetPosition ............................................................................................................. 143

SMC_GetTappetValue ............................................................................................................................ 145

MC_CamTableSelect.............................................................................................................................. 147

MC_Camin ............................................................................................................................................. 149

MC_CamOut .......................................................................................................................................... 162

MC_GearIn ............................................................................................................................................. 165

MC_GearOut .......................................................................................................................................... 167

MC_GearInPos....................................................................................................................................... 169

MC_Phasing ........................................................................................................................................... 173

SMC_CAMBounds ................................................................................................................................. 176

SMC_CAMBounds_Pos ......................................................................................................................... 178

SMC_WriteCAM ..................................................................................................................................... 179

SMC3_PersistPosition............................................................................................................................ 181

SMC3_PersistPositionSingleturn ........................................................................................................... 183

SMC_CheckAxisCommunication ........................................................................................................... 185

SMC3_PersistPositionSingleturn .......................................................................................................... 187

SMC_FollowPosition .............................................................................................................................. 189

SMC_FollowPositionVelocity .................................................................................................................. 194

SMC_FollowVelocity............................................................................................................................... 196

SMC_FollowSetValues ........................................................................................................................... 198

SMC_SetControllerMode ....................................................................................................................... 200

SMC_CheckLimits .................................................................................................................................. 202

SMC_CheckAxisCommuication ............................................................................................................. 204

SMC_GetMaxSetAccDec ....................................................................................................................... 206

SMC_GetMaxSetVelocity ....................................................................................................................... 208

MC_GetTrackingError ............................................................................................................................ 210

SMC_InPosition...................................................................................................................................... 212

SMC_ReadSetPosition........................................................................................................................... 215

SMC_SetTorque ..................................................................................................................................... 216

SMC_BacklashCompensation................................................................................................................ 217

SMC_AxisDiagnosticLog ........................................................................................................................ 219

SMC_ChangeGearingRatio.................................................................................................................... 221

SMC_ReadFBError ................................................................................................................................ 223

SMC_ClearFBError ................................................................................................................................ 226

七

、

仿真与调试.........................................................230

7.1 仿真 AM600 控制器 ..................................................... 230

7.2 仿真伺服驱动器 ........................................................ 231

附录 A IS620N 支持的原点回归模式 .......................................232

附录 B IS620N 支持的 CiA402 常用数据对象速查表 ..........................245