葆德伺服电机MINT编程实战指南

5星 · 超过95%的资源需积分: 10 116 浏览量更新于2024-07-30 收藏 3.48MB PDF 举报

"MINT在葆德伺服电机应用中的编程指导文档主要涵盖了MINT编程语言在葆德伺服电机驱动器上的使用方法。该文档可能是MN1261系列的第3.2版，由Baldor Optimised Control Ltd于1998-1999年发布，并强调了所有版权保护。手册禁止未经授权的复制或重制。同时，Baldor Optimised Control声明不对文档内容的准确性或适合特定目的提供任何明示或暗示的保证，并且保留更改信息而不预先通知的权利。MINT是Baldor Optimised Control Ltd的注册商标。此外，手册还提到了有限保修政策，即购买一年内，如果产品在材料或工艺上存在缺陷，BALDOR将免费维修或更换，但前提是设备未被未经授权的人员篡改、误用、滥用或不当安装。" 详细知识点: 1. **MINT编程语言**: MINT是一种专用于葆德伺服电机驱动器的编程语言，它允许用户对伺服电机的控制逻辑进行高级编程，实现更精确和复杂的运动控制。 2. **葆德伺服电机**: 葆德是一家知名的电机和驱动解决方案提供商，其伺服电机常用于需要高精度定位和速度控制的自动化系统中。 3. **NextMove平台**: "MINT for NextMove"可能是指葆德的一种运动控制平台，它集成了MINT编程环境，为葆德伺服电机提供了用户友好的编程和调试工具。 4. **编程指南**: 文档MN126102/99是针对MINT编程的详细指南，帮助开发者理解如何使用MINT语言编写控制葆德伺服电机的程序。 5. **版权与法律条款**: 文档明确指出所有权利归Baldor Optimised Control Ltd所有，未经许可不得复制或以任何形式重制。同时，Baldor不对文档内容的适用性做任何保证，并且有权随时更改内容。 6. **有限保修服务**: 提供了一年的有限保修，保修范围不包括未经授权的维修、误用、滥用或不当安装导致的问题。 7. **维修与更换政策**: 如果葆德的控制设备在购买后的一年内因材料或工艺缺陷而损坏，公司承诺免费修复或替换。这个文档对于那些需要使用葆德伺服电机并利用MINT编程的工程师来说非常有价值，因为它提供了详细的编程指导和支持，有助于优化伺服电机的性能和效率。通过深入学习和实践，开发者可以充分利用MINT语言的功能，实现更高效、更精确的运动控制系统设计。

MINT for NextMove Programmer’s Manual

MN1261 02/99

REM Set levels for inputs

INACTIVEMODE = 0xF80000 : REM bits/inputs 18 - 23 edge triggered

POSEDGEIN = 0xF80000 : REM bits/inputs 18 - 23 RISING edge triggered

REM Hardware limits

REVLIMITIN[myservo] = 0,2,4

FWLIMITIN[myservo] = 1,3,5

REVLIMITIN[mystepper] = 6,7

FWLIMITIN[mystepper] = 6,7

HWLIMIT = 3;

REM Home inputs

HMINPUT[myservo] = 8,9,10

HMINPUT[mystepper] = 11;

REM STOP, ERROR inputs

STOPINPUT[myservo] = 12;

STOPINPUT[mystepper] = 13;

ERRORIN [myservo] = 14;

ERRORIN [mystepper] = 15;

REM Outputs

REM Drive enables

ENOUTPUT[myservo] = 0,1,2

ENOUTPUT[mystepper] = 3;

REM Set servo gains

GAIN[myservo] = 1.5;

KVELFF[myservo] = 3.2;

REM Set scale factor

SCALE[myservo,mystepper] = 400,400,400,50,50

REM Set software limits

REVSOFTLIMIT[myservo] = -250, -500, -10

FWSOFTLIMIT[myservo] = 350, 600, 100

SOFTLIMIT = 3;

REM Velocities and accelerations

SPEED = 100,100,100,10,10

ACCEL = 1000,1000,1000,500,500

REM Miscellaneous

ERRORDECEL = 5000,5000,5000,1000,1000

REM Set maximum following error

MFOLERR[myservo] = 50

FEMODE[myservo] = 1;

RESETALL : REM Clear errors and enable drives

MINT for NextMove Programmer’s Manual

MN1261 02/99

The NextMove controller differs fundamentally from other motion controllers due to its high speed

floating point Digital Signal Processor core. Since the controller can process floating point numbers

efficiently, most of the operating firmware, including the servo loop closure algorithms use floating

point numbers. This is a major advantage for generation of motion profiles etc. since all calculations

can be performed in meaningful units before conversion to machine units (encoder quadrature counts

or steps) within the loop closure algorithm. The real time portion of the code consists of two basic

interrupt driven routines:

•

Every 2ms (500Hz), the profiling algorithm generates set point data for 8 axes of motion.

•

Every 1000

s* (1KHz) the controller samples the axes positions, calculates the instantaneous

axis demand on the basis of linear interpolation of the profiler output and generates a new servo

demand by running the PIDVF loop. This is referred to as the servo loop.

In addition, there is a 2ms interrupt routine which services the Dual Port RAM and stepper motors.

3.1

The Servo Loop

At the lowest level of control software instantaneous axis position demands produced by the

controller software must be translated into motor demands. This is achieved by closed loop control

of the motor. The motor is controlled to minimize the error between demand and actual position

measured with an incremental encoder. Every 1000

the controller compares desired and actual

positions and calculates the correct demand for the motor. The torque is calculated by a PIDVF

(Proportional, Derivative, Integral, Velocity Feedback and Velocity Feed forward) algorithm.

Control could be achieved by applying a torque proportional to the error alone, but this is a rather

simplistic approach. Imagine that there is a small error between demanded and actual position. A

proportional controller will simply multiply the error by some constant, the Proportional gain, and

apply the resultant to the motor via an amplifier. If the gain is too high this may cause overshoot,

which will result in the motor vibrating back and forth around the desired position. As the gain is

increased, the controller will present more resistance to positional error, but oscillations will increase

in magnitude until the system becomes unstable.

To reduce the onset of instability a damping term is incorporated in the servo loop algorithm, called

Velocity feedback gain. Velocity feedback acts to resist rapid movement of the motor and hence

allows the proportional gain to be set higher before vibration sets in. (In some applications, the

velocity feedback is handled by the amplifier, called a velocity servo). The effect of too high

proportional gain, or too low velocity feedback gain is illustrated by the "Under damped" line.

* Software selectable for 500 or 1000 micro-seconds. 1000 micro-seconds is the default setting.

剩余420页未读，继续阅读

磁金刚

粉丝: 0
资源: 5

葆德伺服电机MINT编程实战指南

葆德 Mint自动化软件及应用介绍.pdf

ABB伺服调试软件Mint WorkBench 5874-安装包-链接地址.txt

葆德伺服电机驱动器MintBasic编程指南

setup-mint-action:此操作将安装Mint（用于编写单页应用程序的编程语言）

mint-runtime:Mint编程语言的运行时

vscode-mint-lang:Mint编程语言的VSCode扩展

double_mint:Ember 动手应用

Mint

mint-lang:一种编程语言。 编译为字节码，对游戏有用

bookkeeper:受mint.com启发的应用程序，可让您跟踪和分析您的长期支出和收入，以及创建和管理预算

最新资源

mint-lang:一种编程语言。编译为字节码，对游戏有用