6K系列运动控制命令参考

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"6K运动控制"文档是一个关于6K系列命令的综合参考，旨在帮助用户理解和运用这些命令来实现特定功能。它建议配合6K系列程序员指南使用，以获取更深入的理解。此外，硬件相关的详细信息，如接线、规格和优化等内容，可以在6K系列硬件安装指南中找到。在6K系列命令中，包括了多个功能各异的指令，如`PCOMP`、`TIN`、`A`、`INFNC`、`OUTFNC`、`RESET`、`READ`、`DRES`等，这些命令是控制系统操作的核心。例如，`RESET`用于重置系统，`READ`用于读取数据，而`PCOMP`可能涉及脉冲补偿。`TIN`可能是用于输入时间间隔，`INFNC`和`OUTFNC`可能涉及输入和输出功能。 `GOWHEN`和`CMDDIR`可能与条件判断和指令方向有关，`ENC`和`ERES`可能涉及编码器和错误恢复，`GO`和`K`可能用于执行程序或跳转，`S`可能代表停止或速度控制。`C`、`PS`、`LS`、`LIMFNC`则可能涉及到循环、定位、速度限制和限位功能。`TPE`和`TRGFN`可能涉及目标函数或定位精度，`DEF`和`DEL`可能用于定义和删除变量，`ERASE`和`END`可能用于清除和结束程序。 `STARTP`、`ERROR`、`VAR`、`VARB`、`VARS`则与程序启动、错误处理、变量声明和不同类型变量（布尔型、整型、实型）相关。`SFB`、`HOM`、`JOY`、`JOG`可能涉及安全功能块、回零、操纵杆和手动 Jog 操作。`TIO`、`TASF`、`TSSF`、`TINOF`与输入输出和定时器操作相关，`DATSIZ`可能指数据大小，`TFSF`、`TREV`、`TOUT`涉及文件操作和输出控制，`SOFFS`可能是偏移设置，`TDIR`可能与传输方向有关。 `MA`、`MC`、`DRFEN`、`GOBUF`、`PRUN`可能涉及马达控制、宏命令、驱动器启用、缓冲区管理和程序运行。`IF`、`WHEN`、`LH`、`ELSE`、`WHILE`属于逻辑控制语句，用于条件分支和循环。`ONIN`、`OUT`、`HELP`可能分别对应输入事件、输出控制和帮助指令。`GOTO`、`WAIT`、`V`涉及跳转、等待和变量操作，`TSKAX`、`D`可能涉及任务管理和数据处理。该文档的有效日期为1998年11月5日，出版物编号为88-017136-01A。提供了多个地区的联系信息，包括北美洲和亚洲的Compumotor Division of Parker Hannifin，以及欧洲不同地区的代理商联系方式，以便提供技术支持和服务。 "6K运动控制"涵盖了6K系列控制器的广泛命令和功能，这些命令用于编程和控制自动化设备，包括运动路径规划、设备交互、错误处理、逻辑控制等多个方面。通过学习和掌握这些命令，用户能够有效地设计和调试6K系列系统的应用程序。

6K Series Command Reference

Determining the S-Curve Characteristics

The command values for average accel/decel (

ADA

, etc.) and maximum accel/decel (

, etc.) determine

the characteristics of the S-curve. To smooth the accel/decel ramps, you must enter average accel/decel

command values that satisfy the equation ½

≤

, where

represents maximum accel/decel and

represents average accel/decel. Given this requirement, the following conditions are possible:

Acceleration Setting Profiling Condition

AA > ½ A, but AA < A S-curve profile with a variable period of constant acceleration. Increasing the AA value above

the pure S-curve level (AA > ½ A), the time required to reach the target velocity and the target

distance is decreased. However, increasing AA also increases jerk.

AA = ½ A

Pure S-curve

(no period of constant acceleration—smoothest motion).

AA = A Trapezoidal profile (but can be changed to an S-curve by specifying a new AA value less than A).

AA < ½ A; or AA > A When you issue the GO command, the move will not be executed and an error message,

*INVALID

CONDITIONS

FOR

S_CURVE

ACCELERATION—FIELD

, will be displayed.

AA = zero S-curve profiling is disabled. Trapezoidal profiling is enabled. AA tracks A. (

Track

means the

command's value will match the other command's value and will continue to match whatever

the other command's value is set to.)

AA ≠ zero and AA ≠ A S-curve profiling is enabled

only for standard moves

(e.g., not for contouring, which requires

the PADA and/or PAA commands). All subsequent standard moves for that axis must comply

with this equation: ½ A ≤ AA < A.

AA > ½ A Average accel/decel is raised above the pure S-curve level; this decreases the time required

to reach the target velocity and distance. However, increasing AA also increases jerk. After

increasing AA, you can reduce jerk by increasing A, but be aware that increasing A requires a

greater torque to achieve the commanded velocity at the mid-point of the acceleration profile.

No AA value ever entered Profile will default to trapezoidal. AA tracks A.

If you never change the

deceleration commands,

deceleration

will track

acceleration

However, once you change

deceleration

deceleration will no longer track changes in

acceleration.

The calculation for determining S-curve average accel and decel move times is as follows (calculation

method identical for S-curve and trapezoidal moves):

Time =

Velocity

or Time =

2 Distance

avg

∗

Scaling affects the

average acceleration (

ADA

, etc.) the same as it does for the

maximum

acceleration (

, etc.). See page 16 for details on scaling.

NOTE: Equations for calculating jerk are provided on page 15.

Programming Example

(see move profile drawings below)

; In this example, axis 1 executes a pure S-curve and takes 1 second

; to reach a velocity of 5 rps; axis 2 executes a trapezoidal profile

; and takes 0.5 seconds to reach a velocity of 5 rps.

SCALE0 ; Disable scaling

DEF SCURV ; Begin definition of program SCURV

@MA0 ; Select incremental positioning mode

@D40000 ; Set distances to 40,000 positive-

; direction steps

A10,10 ; Set max. accel to 10 rev/sec/sec

; on axes 1 and 2

AA5,10 ; Set avg. accel to 5 rev/sec/sec on

; axis 1, & 10 rev/sec/sec on axis 2

AD10,10 ; Set max. decel to 10 rev/sec/sec

; on axes 1 and 2

ADA5,10 ; Set avg. decel to 5 rev/sec/sec on

; axis 1, & 10 rev/sec/sec on axis 2

V5,5 ; Set velocity to 5 rps on axes 1 & 2

GO11 ; Execute motion on axes 1 and 2

END ; End definition of program

Axis 2

01 23

Axis 1

01 23

Move profiles

6K Series Command Reference

Units of Measure and Scaling

Units of Measure without Scaling

Scaling is disabled (

SCALEØ

) as the factory default condition:

• Stepper axes: All distance values entered are in commanded counts (sometimes referred to as motor

steps), and all acceleration, deceleration and velocity values entered are internally multiplied by the

DRES

command value.

• Servo axes:

Units of Measure

(per feedback source)

Motion Attribute Encoder Analog Input

Accel/Decel Revs/sec/sec * volts/sec/sec

Velocity Revs/sec * volts/sec

Distance Counts ** Counts **

* All accel/decel & velocity values are internally multiplied by the ERES command value.

** Distance is measured in the counts received from the feedback device.

Contouring & Linear Interpolated Motion: Path acceleration, velocity, and distance are based on the

resolution (

DRES

for steppers,

ERES

for servos) of axis 1. If multi-tasking is used, path motion units are

based on the resolution of the first (lowest number) axis associated with the task (

TSKAX

What is Scaling?

Scaling allows you to program acceleration, deceleration, velocity, and position values in units of measure

that are appropriate for your application. The

SCALE

command is used to enable or disable scaling

(

SCALE1

to enable,

SCALEØ

to disable). The motion type(s) you are using in your application determines

which scale factor commands you need to configure:

Type of Motion Accel/Decel Scaling Velocity Scaling Distance Scaling

Standard Point-to-Point Motion

SCLA SCLV SCLD

Contouring,

Linear Interpolation

SCLD

SCLD SCLD

Following

SCLA SCLV

SCLD for follower distances

SCLMAS for master distances

When Should I Define Scaling Factors?

Scaling calculations are performed when a program is defined or downloaded. Consequently, you must

enable scaling (

SCALE1

) and define the scaling factors (

SCLD

SCLA

SCLV

SCLMAS

) prior to defining

(

DEF

), uploading (

TPROG

), or running (

RUN

) the program.

RECOMMENDATION: Place the scaling commands at the beginning of your program file, before the

location of any defined programs. This ensures that the motion parameters in subsequent programs in your

program file are scaled correctly. When you use Motion Planner’s Setup Generator wizard, the scaling

commands are automatically placed in the appropriate location in your program file.

ALTERNATIVE: Scaling factors could be defined via a terminal emulator just before defining or

downloading a program. Because scaling command values are saved in battery-backed RAM (remembered

until you issue a

RESET

command), all subsequent program definitions and downloads will be scaled

correctly.

NOTES

• Scaling commands are not allowed in a program. If there are scaling commands in a program, the controller

will report an error message (“COMMAND NOT ALLOWED IN PROGRAM“) when the program is downloaded.

• If you intend to upload a program with scaled motion parameters, be sure to use Motion Planner. Motion

Planner automatically uploads the scaling parameters and places them at the beginning of the program file

containing the uploaded program from the controller. This ensures correct scaling when the program file is

later downloaded.

Introduction

Servo Axes

Scaling can be used with encoder or analog input feedback sources.

When the scaling commands

(

SCLA

SCLD

, etc.) are executed, they are specific only to the current feedback source selected

with the last

SFB

command.

If your application requires switching between feedback sources for the same axis, then for each

feedback source, you must select the feedback source with the appropriate

SFB

command and

issue the scaling factors specific to operating with that feedback source.

For example, if you have two axes and will be switching between encoder and ANI feedback, you

should include code similar to the following in your setup program:

SFB1,1 ; Select encoder feedback (subsequent scaling

; parameters are specific to encoder feedback)

SCLA4000,4000 ; Program accel/decel in revs/sec/sec

SCLV4000,4000 ; Program velocity in revs/sec

SCLD4000,4000 ; Program distances in revs

SFB2,2 ; Select ANI feedback (subsequent scaling

; parameters are specific to ANI feedback)

SCLA205,205 ; Program accel/decel in volts/sec/sec

SCLV205,205 ; Program velocity in volts/sec

SCLD205,205 ; Program distances in volts

Acceleration & Deceleration Scaling (

SCLA

)

Stepper Axes: If scaling is enabled (

SCALE1

), all accel/decel values entered are internally multiplied by

the acceleration scaling factor to convert user units/sec/sec to commanded counts/sec/sec.

The scaled values are always in reference in commanded counts, regardless of the existence

of an encoder.

Servo Axes: If scaling is enabled (

SCALE1

), all accel/decel values entered are internally multiplied by

the acceleration scaling factor to convert user units/sec/sec to encoder or analog input

counts/sec/sec.

All accel/decel commands (e.g.,

HOMA

HOMAD

JOGA

, etc.) are multiplied by the

SCLA

command value. NOTE: Path accel/decel commands (

PAD

, etc.) are multiplied by the

SCLD

value.

As the accel/decel scaling factor (

SCLA

) changes,

the resolution of the accel and decel values and

the number of positions to the right of the

decimal point also change (see table at right). An

accel/decel value with greater resolution than

allowed will be truncated (e.g., if scaling is set to

SCLA1Ø

, the

A9.9999

command would be

truncated to

A9.9

SCLA value

(counts/unit/unit) Decimal Places

1 - 9 ........................................... 0

10 - 99 ....................................... 1

100 - 999 ................................... 2

1000 - 9999 ............................... 3

10000 - 99999............................ 4

100000 - 999999........................ 5

The following equations can help you determine the range of acceleration and deceleration values.

Axis Type Min. Accel or Decel (resolution) Max. Accel or Decel

Stepper

0.001

∗

DRES

SCLA

999.9999

∗

DRES

SCLA

Servo

Encoder Feedback:

0.001

∗

ERES

SCLA

ANI Feedback: *

0.205

SCLA

Encoder Feedback:

999.9999

∗

ERES

SCLA

ANI Feedback: *

204799.9795

SCLA

* This calculation assumes the analog input range (ANIRNG value) is left in its default setting (range is -10V to +10V).

6K Series Command Reference

Velocity Scaling (

SCLV

)

Stepper Axes: If scaling is enabled (

SCALE1

), all velocity values entered are internally multiplied by the

velocity scaling factor to convert user units/sec to commanded counts/sec. The scaled values

are always in reference to commanded counts (sometimes referred to as “motor steps”).

Servo Axes: If scaling is enabled (

SCALE1

), all velocity values entered are internally multiplied by the

velocity scaling factor to convert user units/sec to encoder or analog input counts/sec.

All velocity commands (e.g.,

HOMV

HOMVF

JOGVH

JOGVL

, etc.) are multiplied by the

SCLV

command value. NOTE: Path velocity (

) is multiplied by the

SCLD

value.

As the velocity scaling factor (

SCLV

) changes, the velocity command's range and its decimal places also

change (see table below). A velocity value with greater resolution than allowed will be truncated. For

example, if scaling is set to

SCLV10

, the

V9.9999

command would be truncated to

V9.9

SCLV Value

(counts/unit)

Velocity Resolution

(units/sec)

Decimal Places

1 - 9

10 - 99

100 - 999

1000 - 9999

10000 - 99999

100000 - 999999

0.1

0.01

0.001

0.0001

0.00001

Use the following equations to determine the maximum velocity range for your product type.

Max. Velocity for Stepper Axes

Max. Velocity for Servo Axes

(determined by feedback source selected for axis #1)

SCLV

= maximum velocity is determined

by the PULSE command setting.

Encoder Feedback:

6,500,000

SCLV

ANI Feedback: *

1000 205

∗

SCLV

* This calculation assumes the analog input range (ANIRNG value) is left in its default setting (range is -10V to +10V).

Distance Scaling (

SCLD

and

SCLMAS

)

Stepper Axes: If scaling is enabled (

SCALE1

), all distance values entered are internally multiplied by the

distance scaling factor to convert user units to commanded counts (“motor steps”).

Servo Axes: If scaling is enabled (

SCALE1

), all distance values entered are internally multiplied by the

distance scaling factor to convert user units to encoder or analog input counts.

All distance commands (e.g.,

PSET

REG

SMPER

) are multiplied by the

SCLD

command value. The

only exception is for master distance values (see table below)

Scaling for Following Motion: The SCLD command defines the follower axis distance scale factor, and the

SCLMAS command defines the master’s distance scale factor. The Following-related commands that are affected

by SCLD and SCLMAS are listed in the table below.

Commands Affected by Master Scaling (

SCLMAS

) Commands Affected by Follower Scaling (

SCLD

)

FMCLEN:

Master Cycle Length

FMCP:

Master Cycle Position Offset

FOLMD:

Master Distance

FOLRD:

Follower-to-Master Ratio (Denominator)

GOWHEN:

Conditional GO

(left-hand variable is PMAS)

TPMAS & [

PMAS

Position of Master Axis

TVMAS & [

VMAS

Velocity of Master Axis

FOLRN:

Follower-to-Master Ratio (Numerator)

FGADV:

Geared Advance

FSHFD:

Preset Phase Shift

GOWHEN:

Conditional GO

(left-hand variable ≠ PMAS)

TPSHF & [

PSHF

Net Position Shift of Follower

TPSLV & [

PSLV

Position of Follower Axis

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