伺服編程及指令基礎(chǔ)教材

RAOEMTeamMotionBasicTraining

伺服編程（1）基礎(chǔ)課

伺服運(yùn)動(dòng)基礎(chǔ)編程10StepstoDevelopingControlLogixMotion:伺服運(yùn)動(dòng)基礎(chǔ)編程包含以下10個(gè)步驟Createnewprogram創(chuàng)建一個(gè)新程序Enabletimesynchronization使能時(shí)間同步Createmotiongrouptag創(chuàng)建運(yùn)動(dòng)組標(biāo)簽CreateAxistag創(chuàng)建軸標(biāo)簽Addmotionmodule添加伺服驅(qū)動(dòng)器Assignaxestomotionmodule分配軸到伺服驅(qū)動(dòng)器Configuremotiongroup配置運(yùn)動(dòng)組屬性Configureaxes配置軸的屬性Performhookuptestandtuneaxes執(zhí)行測(cè)試和整定軸Writelogictoperformmotion寫(xiě)執(zhí)行運(yùn)動(dòng)的邏輯程序2(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.31.CreatingaProject

1.創(chuàng)建一個(gè)項(xiàng)目程序1.EnableTimeSynchronization使能時(shí)間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動(dòng)組3.ConfiguretheMotionGroup配置運(yùn)動(dòng)組4.MotionControlTags運(yùn)動(dòng)控制標(biāo)簽CreatingaProject

TimeMasterInallControlLogixchassis(singleandmultiplecontrollers),oneofthecontrollersneedstobesetasthereferenceclock.Thiswillsynchroniseallthemotionmodules,otherLogixcontrollersandI/Ocardsinthechassistoasinglemasterclock.Theprocessofsettingupacontrollertobethereferenceclockiscalled“Makingthiscontrollerthemaster”.在所有的ControlLogix機(jī)架上（單個(gè)或多個(gè)控制器），控制器中的其中一個(gè)需要設(shè)定參考時(shí)鐘，這將使所有的運(yùn)動(dòng)模塊同步，其他機(jī)架上的Logix控制器和I/O卡使用單獨(dú)的主時(shí)鐘，設(shè)定控制器參考時(shí)鐘的過(guò)程被稱為“確定主控制”Note:Therecanonlybeonemastercontrollerperchassis.

注意：每個(gè)機(jī)架上只能有一個(gè)主控制器TechnoFact:

Ifyouhavemorethanonecontrollerinthechassis,chooseoneofthecontrollerstobethetimemaster.Youcan’thavemorethanonetimemasterforthechassis.InaControlLogixmotionapplication,youmustdefineacontrollerasthetimemaster.技術(shù)事實(shí)：如果機(jī)架上你有超過(guò)1個(gè)控制器的，選擇其中一個(gè)為主時(shí)鐘，在機(jī)架上你不能有超過(guò)1個(gè)的主時(shí)鐘，在ControlLogix運(yùn)動(dòng)應(yīng)用中，你必須定義一個(gè)控制器作主時(shí)鐘4(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CST&PTPCoordinatedSystemTime(CST)Master協(xié)調(diào)系統(tǒng)主時(shí)鐘RSLogix5000v17andearlier.

RSLogix5000v17版本及之前WhenthereisaCSTmasterinthechassis,allofthemotionmodules,I/Omodules,andcontrollersinthatchassiscankeeptheirCSTclockssynchronized.當(dāng)機(jī)架上有協(xié)調(diào)系統(tǒng)主時(shí)鐘時(shí)，所有機(jī)架上的的運(yùn)動(dòng)模塊，I/O模塊，和控制器能夠保持時(shí)鐘同步。PrecisionTimeProtocol(PTP)GrandmasterClock精度時(shí)間協(xié)議（PTP)RSLogix5000v18andlaterRSLogix5000v18版本及以后版本TheGrandmasterClockisusedtosynchronizemotionmodules,I/Omodules,communicationmodules,andcontrollerswithinaControlLogixchassis.頂級(jí)時(shí)鐘被用在ControlLogix機(jī)架上的運(yùn)動(dòng)模塊，I/O模塊，通訊模塊，和控制器Startinginv17,thereisanoptiontosettheCSTMaster/EnableTimeSynchronizationinthedownloaddialogifitisnotalreadyset從V17版本開(kāi)始，如果沒(méi)有被設(shè)定，在下載對(duì)話框里可以選擇設(shè)定CST主/使能時(shí)間同步TimeSynchronizationisrequiredformotiontooperateproperly!運(yùn)動(dòng)的正常操作必須要時(shí)間同步5(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierForRSLogix5000v17andearlier,thefollowingprocedureisusedtosettheCoordinatedSystemTimeMaster:RSLogix5000v17和早期版本，設(shè)定協(xié)調(diào)系統(tǒng)主時(shí)鐘如下步驟IntheControllerOrganizerwindow,rightclickonthecontrollerfolderandselect‘Properties’ORclickonthecontrollericon在控制器組織窗口中，點(diǎn)控制器文件夾右鍵選擇“屬性”或者點(diǎn)擊控制器符號(hào)Clickhere點(diǎn)這里Orright-clickandselectProperties或者右鍵選擇屬性6(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingthemastercoordinatedsystemtime:設(shè)定主協(xié)調(diào)系統(tǒng)時(shí)間Clickonthe‘Date/Time’taboftheControllerPropertiesdialogbox.點(diǎn)擊控制器屬性對(duì)話箱的“日期/時(shí)間”標(biāo)簽Clickhere7(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

SettingtheCSTMaster,v17andearlierSettingtheMasterCoordinatedSystemTime設(shè)定主協(xié)調(diào)系統(tǒng)時(shí)間AfterselectingtheMastercontroller,click‘OK’tocompletetheoperation在設(shè)定主控制器后，點(diǎn)擊OK完成操作TechnoFact:

AmotionmodulecanbeownedbyaControlLogixcontrollereventhoughthecontrollerisnottheCSTmaster.SinceanothercontrollerinthechassisistheCSTmaster(musthaveamasterinamotionapplication)youwillreceiveawarningwhiledownloadingandduringprogramverificationregardingtheCSTmaster.技術(shù)事實(shí)：一個(gè)運(yùn)動(dòng)模塊可以擁有一個(gè)ControlLogix控制器，即使控制器沒(méi)有主協(xié)調(diào)時(shí)間。因?yàn)闄C(jī)架其他控制器是CST主（在運(yùn)動(dòng)引用中必須有一個(gè)主），當(dāng)下載和程序核實(shí)CST主時(shí)你將收到警告Click8(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

EnableTimeSynchronization,v18andlaterEnableTimeSynchronization使能時(shí)間同步Click‘OK’tocompletetheoperation點(diǎn)擊“OK”完成操作Click9(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.10CreatingaProject

CreatingtheMotionGroup1.EnableTimeSynchronization使能時(shí)間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動(dòng)組3.ConfiguretheMotionGroup配置運(yùn)動(dòng)組4.MotionControlTags運(yùn)動(dòng)控制標(biāo)簽CreatingaProject

CreatingaMotionGroupCreatingaMotionGroup:創(chuàng)建運(yùn)動(dòng)組Allusedaxesmustbepartofthemotiongroup所有軸必須是運(yùn)動(dòng)組的一部分OnlyonemotiongroupisallowedperControlLogixprocessorControlLogix處理器只能運(yùn)行一個(gè)運(yùn)動(dòng)組AMotionGroupisacollectionofaxesthatcanbecontrolledbyasinglegroupinstruction.Therearefivemotiongroupinstructions.一個(gè)運(yùn)動(dòng)組是一個(gè)軸的集合，能被單獨(dú)的組指令控制，這里有5個(gè)運(yùn)動(dòng)組指令Therearemultiplewaystocreateanewmotiongroup.這里有多種方法創(chuàng)建一個(gè)新運(yùn)動(dòng)組TechnoFact:

OnlyonemotiongrouptagisallowedperControlLogixcontroller.Allusedaxesmustbeassignedtoamotiongroup.技術(shù)要點(diǎn)：只有一個(gè)運(yùn)動(dòng)組標(biāo)簽允許在每個(gè)ControlLogix控制器中，所有的軸必須被分配至運(yùn)動(dòng)組中。11(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CreatingaMotionGroupRight-clickonthe‘MotionGroups’folderintheControllerOrganizer在控制器組織中‘MotionGroups’文件夾上右鍵點(diǎn)擊Select‘NewMotionGroup’選擇“新運(yùn)動(dòng)組”Givethemotiongroupaname給運(yùn)動(dòng)組取個(gè)名字12(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.13CreatingaProject

ConfiguretheMotionGroup1.EnableTimeSynchronization使能時(shí)間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動(dòng)組3.ConfiguretheMotionGroup配置運(yùn)動(dòng)組4.MotionControlTags運(yùn)動(dòng)控制標(biāo)簽CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動(dòng)組屬性Right-clickontheMotionGroupfolder右鍵點(diǎn)擊運(yùn)動(dòng)組文件夾Select‘Properties’選擇“屬性”Select‘Properties’14(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動(dòng)組屬性AxisAssignmentTab軸分配標(biāo)簽AddorRemoveaxesfromtheMotionGroupasnecessary根據(jù)需要從運(yùn)動(dòng)組中添加或移除軸15(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

ConfiguretheMotionGroupConfiguringMotionGroupProperties:配置運(yùn)動(dòng)組屬性AttributeTab屬性標(biāo)簽SettheCoarseUpdatePeriod設(shè)置大致更新周期EnableorDisableAutoTagUpdate,asdesired根據(jù)需要激活或禁止自動(dòng)更新標(biāo)簽Enabledbydefault,thisisOKforthemajorityofapplications默認(rèn)是激活，對(duì)大多數(shù)應(yīng)用是OK的ViewMotionPlannerScanTimes查看運(yùn)動(dòng)規(guī)劃掃描時(shí)間(readOnly)ScantimemustbelessthantheCUP

掃描時(shí)間必須小于CUP16(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Selectstheperiodicrateatwhichthemotionplannerexecutestocomputetheservocommandedpositionandvelocityinformationtobesenttotheanalogmotionmodules,SERCOSdrives,orCIPdriveswhenexecutingmotioninstructions.選擇運(yùn)動(dòng)規(guī)劃執(zhí)行的周期，執(zhí)行運(yùn)動(dòng)指令時(shí)，計(jì)算伺服命令被發(fā)送到模擬運(yùn)動(dòng)模塊，SERCOS的驅(qū)動(dòng)器，或CIP驅(qū)動(dòng)器的位置和速度信息Ifthecoarseupdateperiodistoosmall,thecontrollermaynothavetimetoexecutenon-motionrelatedladderlogic.如果伺服更新周期太小，控制器可能沒(méi)時(shí)間執(zhí)行運(yùn)動(dòng)和梯形邏輯的關(guān)聯(lián)Thenumberofaxesintheprojectsetsthelowerlimitonthecoarseupdateperiod.項(xiàng)目中軸的數(shù)量的設(shè)定低于更新周期限制17(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

CoarseUpdatePeriod

CoarseUpdatePeriod伺服更新周期Rangeofvalues:0.5msec–32msec值范圍：0.5毫秒–32毫秒General“ruleofthumb:”1.0msecperaxisasastartingpoint常用的“經(jīng)驗(yàn)法”：1毫秒每軸為出發(fā)點(diǎn)·Lessthan11axes—Setthecoarseupdateperiodto10ms.·11axesormore—Setthecoarseupdateperiodto1msperaxis.MinimumrecommendationsbasedonLogixprocessor:Logix處理器為基礎(chǔ)的最低建議1756-L55:1.5msecperaxis(onlyavailablethroughv16)1.5毫秒每軸1756-L6x:0.25msecperaxis0.25毫秒每軸1768-L4x:0.25msecperaxis0.25毫秒每軸1756-L7x:0.125msecperaxis0.125毫秒每軸Onceconfigured,themotionplannerscantimesshouldbemonitoredwiththeapplicationrunningandmodifiedasneeded一旦配置好后，運(yùn)動(dòng)規(guī)劃的掃描時(shí)間應(yīng)與正在運(yùn)行的應(yīng)用程序進(jìn)行監(jiān)測(cè)，并根據(jù)需要進(jìn)行修改Ifthecycletimeis2ms,setthecoarseupdateperiodto8ms,10ms,12ms,andsoon.18(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.CreatingaProject

AutoTagUpdateAutoTagUpdate自動(dòng)更新標(biāo)簽WhentheAutoTagUpdateisenabled,thefollowing8AxisAttributeswillbeautomaticallyupdatedattheCoarseUpdateRate:當(dāng)自動(dòng)更新標(biāo)簽激活時(shí)，如下8個(gè)軸特性將自動(dòng)更新 ActualPosition實(shí)際位置 CommandPosition位置命令 ActualVelocity實(shí)際速度CommandVelocity速度命令 ActualAcceleration實(shí)際加速度CommandAcceleration加速命令 AverageVelocity 平均速度MasterOffset主軸偏移EnablingAutoTagUpdateadds100μsecperaxistotheoverallCoarseUpdatePeriod激活自動(dòng)更新標(biāo)簽整體增加更新周期每個(gè)軸100usExample:Having8axesinthemotiongroupwilladd800μsectothecoarseUpdatePeriod例如：在8個(gè)軸的運(yùn)動(dòng)組中更新周期將增加800us19(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.20CreatingaProject

MotionControlTags1.EnableTimeSynchronization使能時(shí)間同步2.CreatingtheMotionGroup創(chuàng)建運(yùn)動(dòng)組3.ConfiguretheMotionGroup配置運(yùn)動(dòng)組4.MotionControlTags運(yùn)動(dòng)控制標(biāo)簽CreatingaProject

MotionControlTagsAMotionControltagmustbedefinedforeachmotioninstructionused一個(gè)運(yùn)動(dòng)控制標(biāo)簽必須定義每一個(gè)使用的運(yùn)動(dòng)指令Data-type:MOTION_INSTRUCTION數(shù)據(jù)類(lèi)型：MOTION_INSTRUCTIONTagstoresstatusinformationabouttheinstruction標(biāo)簽存儲(chǔ)關(guān)于指令的狀態(tài)信息Eachmotioninstructionmustuseauniquecontroltag每一個(gè)運(yùn)動(dòng)指令必須使用唯一的控制標(biāo)簽Examples(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.21CreatingaProject

UDTsforMotionControlTagsAUser-DefinedDataType(UDT)isrecommendedtoorganizemotioncontroltagswithinaproject

在一個(gè)項(xiàng)目里用戶自定義數(shù)據(jù)類(lèi)型被推薦為運(yùn)動(dòng)控制標(biāo)簽的組織Mayalsohelptoavoidreusingmotioncontroltags

也可幫助避免重復(fù)使用運(yùn)動(dòng)控制標(biāo)簽UDTsetup自定義數(shù)據(jù)類(lèi)型MemberswithintheUDTreflectthemotioninstructionsDatatypeisMOTION_INSTRUCTIONforallmembersMOTION_INSTRUCTION數(shù)據(jù)類(lèi)型為所有的成員TocreatetheUDT創(chuàng)建UDTRight-clickontheUser-Defineddatatypefolder在自定義數(shù)據(jù)類(lèi)型文件夾上點(diǎn)擊右鍵Select“NewDataType”選擇“新數(shù)據(jù)類(lèi)型”(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.22CreatingaProject

CreateaNewUDTAddthemembersoftheUDTbasedonthemotioninstructions

添加基于運(yùn)動(dòng)指令的UDT成員CreateanarrayfortheMOTION_INSTRUCTIONdatatype為MOTION_INSTRUCTION數(shù)據(jù)類(lèi)型創(chuàng)建一個(gè)數(shù)組(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.23CreatingaProject

CreateNewTagswiththeUDTCreatecontroller-scopedtagsforeachaxis為每一個(gè)軸創(chuàng)建控制器范圍標(biāo)簽AxisName_ControlData-typeistheUDTpreviouslycreated數(shù)據(jù)類(lèi)型先于UDT創(chuàng)建(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.24CreatingaProject

UsingUniqueMotionControlTagsUsetheelementsofthecontroller-scopedtagasuniquemotioncontroltagswithinmotioninstructions在運(yùn)動(dòng)指令里使用控制器范圍標(biāo)簽元素作為唯一的運(yùn)動(dòng)控制標(biāo)簽(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.25CreatingaProject

UsingCross-ReferenceUsecross-referencetoidentifytagsthathavealreadybeenused使用前后參照識(shí)別已經(jīng)用到的標(biāo)簽Example例如Arrayelements2and3havealreadybeenusedforMAFRinstructions數(shù)組元素2和3已經(jīng)被MAFR指令使用NextMAFRforAxis01shoulduseadifferentarrayelement軸的下一個(gè)MAFR應(yīng)該使用一個(gè)不同的數(shù)組元素(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.26These2tagshavealreadybeenusedandshouldnotbeusedagainMotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAddingAnalogandSERCOSMotionModulestoaControlLogixProject:添加模擬和SERCOS運(yùn)動(dòng)模塊到一個(gè)ControlLogix項(xiàng)目中SameprocessisusedforAnalogandSERCOSmodules模擬和SERCOS模塊使用一樣的流程Mustbeofflinetoaddmotionmodules必須離線添加運(yùn)動(dòng)模塊Right-clickontheBackplaneiconintheControllerOrganizerWindowandselect‘NewModule’在控制器組織窗口的背板符號(hào)上點(diǎn)擊右鍵并且選擇“新模塊”Right6-click,thenselectNewModule27(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAddingaMotionModuletoaControlLogixProject:添加運(yùn)動(dòng)模塊到Controllogi項(xiàng)目Select‘Motion’fromthemoduletypeslist

從模塊類(lèi)型列表中選擇“運(yùn)動(dòng)”SelectMotion28(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesAllapplicableAnalogandSERCOSMotionModuleswillbelisted所有適合的模擬和SERCOS運(yùn)動(dòng)模塊將列出SelectthedesiredmoduleandclickOKtoaddthismodule.選擇需要的模塊并點(diǎn)擊OK添加這個(gè)模塊Example:Select1756-M16SEClick‘OK’29(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesOncetheservomoduleisselected,somebasicconfigurationdatamustbeenteredtocompletetheprocess一旦有伺服模塊被選擇，一些基本的配置數(shù)據(jù)必須輸入完成流程N(yùn)ame名字SlotNumber槽號(hào)ElectronicKeyingLevel電子校驗(yàn)等級(jí)Note:Themajorrevisionlevelofallmotionmodulesmustmatchthemajorfirmwarerevisionleveloftheassociatedprocessor.注意：所有運(yùn)動(dòng)模塊的主要修訂等級(jí)必須忽略關(guān)聯(lián)處理器主要固件的修訂等級(jí)30MotionModules&AxisTags

AddingAnalogandSERCOSMotionModulesConnectiontab:連接表Makeselectionfor‘InhibitModule,’ifdesired為“禁止模塊”做出選擇，如果需要Optiontoselect‘MajorFaultonControllerifConnectionFailsWhileinRunMode’選擇“當(dāng)在運(yùn)行模式時(shí)如果連接失敗產(chǎn)生主錯(cuò)誤在控制器上”31(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingaSERCOSMotionModuletoaProjectSpecifictoSERCOSMotionModules:指定SERCOSInterfacetab:SERCOS接口表SelectionoptionsforDataRate,CycleTime,TransmitPower,andTransitiontoPhase選擇數(shù)據(jù)率，循環(huán)時(shí)間，發(fā)射功率和變更相位Defaultvaluesarecommonlyused常使用默認(rèn)值BaudratefortheSERCOSRing;typicallyuseAutoDetectSERCOS環(huán)的波特率常通使用自動(dòng)UpdateratefortheSERCOSring;dependentonnumberofdrivesSERCOS環(huán)的更新率取決于驅(qū)動(dòng)的數(shù)量OpticaltransmitpowerlevelfortheSERCOSRing;HighistypicallyusedSERCOS環(huán)的光發(fā)射功率等級(jí)，通常選高Phaseforcyclicdataexchange;mustbe4forRASERCOSapplication循環(huán)數(shù)據(jù)交換的相位，SERCOS應(yīng)用必須使用432(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.NumberofAxesvs.RingCycleTime軸數(shù)量和循環(huán)時(shí)間TechnoFact:TheCoarseUpdatePeriodoftheMotionGrouppropertieshastobesettoanevenmultipleoftheCycleTimeparameter.MotionModules&AxisTags

SERCOSRingCycleTimeTechnoFact:AneasywaytorememberthemaximumnumberofdrivesforaparticularDatarateistomultiplytheDataRatebytheCycleTime.Ex.DataRate=4Mb,CycleTime=.5ms 4*0.5=2Drives33(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesAddingCIPMotionModulestoaControlLogixProject:添加CIP運(yùn)動(dòng)模塊到ControlLogix項(xiàng)目SimilarprocesstoaddingAnalogorSERCOSmotionmodules和添加模擬或SERCOS模塊一樣的流程Mustbeofflinetoaddmodules必須離線添加模塊Right-clickontheBackplaneiconintheControllerOrganizerWindowandselect‘NewModule’在控制組織窗口的背板圖標(biāo)上點(diǎn)右鍵并選擇“新模塊”Right-click,thenselectNewModule34(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesSelect‘Communications’fromthemoduletypeslist在模塊類(lèi)型表中選擇“通訊”ScrolldowntoseetheEtherNet/IPmodules下拉窗口欄看到EtherNet/IP模塊SelectthedesiredmoduleandclickOKtoaddthismodule選擇想要的模塊并點(diǎn)擊OK添加這個(gè)模塊35(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesSelect‘Communications’fromthemoduletypeslist在模塊類(lèi)型表中選擇“通訊”ScrolldowntoseetheEtherNet/IPmodules下拉窗口欄看到EtherNet/IP模塊SelectthedesiredmoduleandclickOKtoaddthismodule選擇想要的模塊并點(diǎn)擊OK添加這個(gè)模塊Click‘OK’Example:Select1756-EN2T36(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AddingCIPMotionModulesEnterthebasicconfigurationdata輸入基本的配置數(shù)據(jù)Name名字SlotNumber槽號(hào)ElectronicKeyingLevel電子校驗(yàn)等級(jí)ChangetheModuleDefinition改變模塊定義Select“TimeSync&Motion”選擇“時(shí)間同步&運(yùn)動(dòng)”WithoutselectingTimeSyncandMotion,youwon’tbeabletorunCIPMotion沒(méi)有選擇時(shí)間同步和運(yùn)動(dòng)，你將不能運(yùn)行CIP運(yùn)動(dòng)37(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

InhibitaMotionModuleConnectiontab:連接表Makeselectionfor‘InhibitModule,’ifdesired選擇“InhibitModule”，如果想要Optiontoselect‘MajorFaultonControllerifConnectionFailsWhileinRunMode’選擇“在運(yùn)行模式期間如果連接失敗控制將產(chǎn)生主要錯(cuò)誤”SameprocessusedforAnalog,SERCOS,andCIPmotionmodules使用模擬量，SERCOS，和CIP運(yùn)動(dòng)模塊是一樣的流程(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.38MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule:手動(dòng)復(fù)位運(yùn)動(dòng)模塊IftheOKLEDonthemotionmoduleisflashingredorsteadyred,themotionmodulewillneedtoberest如果運(yùn)動(dòng)模塊的OK燈閃紅燈或者一直是紅，運(yùn)動(dòng)模塊將需要復(fù)位Onemethodistowritelogicthatwilldetectthefaultandexecuteafaulthandlingsequence寫(xiě)邏輯是發(fā)現(xiàn)故障和執(zhí)行故障處理順序的一種方法Asecondmethodistomanuallyresetthemoduleviathemoduleproperties第二種方法是通過(guò)模塊屬性復(fù)位手動(dòng)模塊MustbeOnlinewiththeprocessorstomanuallyresetthemodule處理器必須在線手動(dòng)復(fù)位模塊SameprocessusedforAnalog,SERCOS,andCIPmotionmodules和使用模擬，SERCOS和CIP運(yùn)動(dòng)模塊一樣(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.39MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule：手動(dòng)復(fù)位一個(gè)運(yùn)動(dòng)模塊Right-clickonthemoduleintheControllerOrganizerwindow在控制器組織窗口中的模塊上右鍵Select‘Properties’選擇“屬性”Gotothe‘ModuleInfo’tab到“模塊信息”表中(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.40MotionModules&AxisTags

ManuallyResettingaMotionModuleManuallyResettingaMotionModule:手動(dòng)復(fù)位一個(gè)運(yùn)動(dòng)模塊Select‘ResetModule’選擇“復(fù)位模塊”AccepttheWarningmessage接受警告信息Allconnectiontothemoduleandassociatedaxeswillbeinterrupted.Anymotionwillstopimmediately.所有連接到模塊的關(guān)聯(lián)軸將被中斷，運(yùn)動(dòng)將立刻停止(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.41MotionModules&AxisTags

AxisTagsOnceamotionmoduleisaddedandthebasicconfigurationinformationiscompleted,amotionaxiscanbeadded.一旦運(yùn)動(dòng)模塊被添加并且基本配置信息完成，一個(gè)運(yùn)動(dòng)軸能被添加Axistypeisselectedbasedonthetypeofconfiguration軸類(lèi)型選擇基于配置的類(lèi)型Analog,SERCOS,orCIP模擬，SERCOS，或者CIPAnalogaxesareassociatedwiththeAnalogMotionModules模擬軸和模擬運(yùn)動(dòng)模塊關(guān)聯(lián)SERCOSandCIPaxesareassociatedwithSERCOSandCIPdrives,respectivelySERCOS和CIP軸分別和SERCOS和CIP驅(qū)動(dòng)器關(guān)聯(lián)TechnoFact:

MotionmodulescanonlybeaddedwhenworkingOffline.技術(shù)事實(shí)：運(yùn)動(dòng)模塊只能在離線工作時(shí)添加42(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisTagsMotionAxisTypes:運(yùn)動(dòng)軸類(lèi)型：Axis_Servo:aphysicalaxiswhichisconnectedtoanAnalogmotionmodule(1756-M02AE,1756-M02AS,or1756-HYD02).Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).連接到擬運(yùn)動(dòng)模塊的一個(gè)物理軸（1756-M02AE,1756-M02AS,or1756-HYD02）。這些軸能有電機(jī)和反饋設(shè)備或僅僅反饋設(shè)備（只反饋）Axis_Servo_Drive:aphysicalaxiswhichisconnectedtoaSERCOSDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸伺服驅(qū)動(dòng)：連接到SERCOS驅(qū)動(dòng)的物理軸，這些軸能有電機(jī)和反饋裝置或僅僅反饋設(shè)備（只反饋）Axis_CIP_Drive:

aphysicalaxiswhichisconnectedtoaCIPDrive.Thisaxiscanconsistofamotorandfeedbackdevice(Servo)orsimplyafeedbackdevice(FeedbackOnly).軸CIP驅(qū)動(dòng)：連接到CIP驅(qū)動(dòng)的物理軸。這個(gè)軸能有電機(jī)和反饋設(shè)備或僅僅反饋設(shè)備（只反饋）Axis_Virtual:atheoretical(imaginary)axiswhichisexistsintheControlLogixprocessor.Thereisnohardwareassociatedwithavirtualaxis.虛軸：一個(gè)存在于ControlLogix處理器中的理想軸，沒(méi)有硬件關(guān)聯(lián)一個(gè)虛軸43(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisTagsMotionAxisTypes:運(yùn)動(dòng)軸類(lèi)型Axis_Consumed:aphysicalorvirtualaxiswhichisownedbyanotherControlLogixprocessorwithinthesamerack.OneControlLogixprocessorproducestheaxisinformationtobeconsumedbyotherControlLogixprocessors.ProducedandconsumedaxisareusedtoshareaxisinformationbetweenmultipleControlLogixprocessors軸消費(fèi)者：一個(gè)物理或虛擬軸被其他在同一個(gè)機(jī)架里的ControlLogix處理器擁有。一個(gè)ControlLogix處理器產(chǎn)生軸信息被其他處理器所消費(fèi)。軸的生產(chǎn)者和消費(fèi)者被用來(lái)在多ControlLogix處理器及之間共享軸信息Axis_Generic:agenericaxisobjectrepresentsanaxiswithfullmotionplannerfunctionality,butnotassociatedwithanydevicethatrequiresmotionconfigurationsupport(e.g.,DriveLogixor1756-DM).軸_通用：一個(gè)通用的軸對(duì)象代表一個(gè)完整的運(yùn)動(dòng)規(guī)劃功能軸，但是不關(guān)聯(lián)任何需要運(yùn)動(dòng)配置支持的設(shè)備Axis_Generic_Drive:ThirdpartySERCOSdrive;i.e.Indramat,Bosch,etc.軸_通用_驅(qū)動(dòng)：三方SERCOS驅(qū)動(dòng)；如，Indramat，博士等等44(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AxisProperties–Tag:Name–TagnameforAxis.名稱-軸的標(biāo)簽名字Description

-Optional.DescriptionofAxis描述_可選，軸描述Type–ReadOnlyafteraxiscreated.Base,produced,alias,orconsumed.類(lèi)型_在軸被創(chuàng)建后只讀，基本，生產(chǎn)者，別名，或消費(fèi)者DataType

–ReadOnlyafteraxiscreated.Axis_Servo(Analog),Axis_Servo_Drive(SERCOS),Axis_CIP_Drive(CIP),orAxis_Consumed(Consumed).數(shù)據(jù)類(lèi)型_在軸創(chuàng)建后只讀，Axis_Servo（模擬），Axis_Servo_Drive（SERCOS），Axis_CIP_Drive（CIP），或Axis_Consumed（消費(fèi)者）Scope–ReadOnlyafteraxiscreated.NameofaProgramortheController.范圍_在軸創(chuàng)建后只讀，控制器或程序名字ExternalAccess–Readonlyafteraxiscreated.Read/Write,ReadOnly,orNone.外部接口_在軸創(chuàng)建后只讀，寫(xiě)/寫(xiě)，只讀或從不ParameterNameAnalogSERCOSCIPNameTagTagTagDescriptionTagTagTagTypeTagTagTagDataTypeTagTagTagScopeTagTagTagExternalAccessTagTagTag(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.45MotionModules&AxisTags

AssociateAnalogAxistotheAnalogModuleRight-clickonthe1756-M02AEanalogmotionmoduleintheControllerOrganizerandselect‘Properties’在控制器組織里的1756-M02AE模擬運(yùn)動(dòng)軸模塊上點(diǎn)擊右鍵并選擇“屬性”Gotothe‘AssociatedAxes’Tab轉(zhuǎn)到“關(guān)聯(lián)軸”表46(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.MotionModules&AxisTags

AssociateAnalogAxistotheAnalogModuleAnalogMotionModulehasalreadybeenadded模擬運(yùn)動(dòng)模塊已經(jīng)被添加AxisoftypeAxis_Servohasalreadybeencreated數(shù)據(jù)類(lèi)型為Axis_Servo的軸被創(chuàng)建Assigntheanalogaxistotheappropriatechannel分配模擬軸到恰當(dāng)?shù)耐ǖ繫ustassociatetheaxistothecorrectchanneloftheAnalogMotionModule必須關(guān)聯(lián)軸到模擬運(yùn)動(dòng)模塊的正確通道Click‘OK’toexittheconfigurationwindow點(diǎn)擊“OK”退出配置窗口Axis05_AnalogisnowassociatedwithChannel0ofthe1756-M02AEmotionmoduleAxis05_Analog現(xiàn)在被關(guān)聯(lián)到了1756-M02AE模塊的0號(hào)通道47(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.AxisProperties

HowtoAccessAccessAxisProperties:軸屬性訪問(wèn)Right-clickonthedesiredaxisandselected‘Properties’在需要的軸上點(diǎn)擊右鍵并設(shè)定“屬性”(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.48Right-clickontheaxisChoosePropertiesAxisProperties

AnalogAxisDialogAnalogAxis模擬軸UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_SERVO:使用這個(gè)對(duì)話框配置數(shù)據(jù)類(lèi)型是AXIS_SERVO的軸屬性Analogaxeshavethefollowing“Tabs”:模擬軸如下“標(biāo)簽”General常規(guī)MotionPlanner運(yùn)動(dòng)規(guī)劃Units單位Servo*伺服*Feedback反饋Conversion轉(zhuǎn)換Homing回零Hookup連接Tune整定Dynamics動(dòng)態(tài)Gains增益Output輸出Limits極限Offset偏移FaultActions故障處理Tag標(biāo)簽(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.491756-M02AEAxisAxisProperties

SERCOSAxisDialogSERCOSAxisSERCOS軸UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_SERVO_DRIVE:使用這個(gè)對(duì)話框配置數(shù)據(jù)類(lèi)型是AXIS_SERVO_DRIVE的軸屬性SERCOSaxeshavethefollowing“Tabs”:SERCOS軸如下“標(biāo)簽”General常規(guī)MotionPlanner運(yùn)動(dòng)規(guī)劃Units單位Drive/Motor*驅(qū)動(dòng)/電機(jī)MotorFeedback*電機(jī)反饋AuxFeedback*輔助反饋Conversion轉(zhuǎn)換Homing回零Hookup連接Tune整定Dynamics動(dòng)態(tài)Gains增益Output輸出Limits極限Offset偏移FaultActions故障處理Tag標(biāo)簽(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.50SERCOSAxisAxisProperties

CIPAxisDialogCIPAxisCIP軸UsethisdialogtoconfiguretheaxispropertiesforanaxisofdatatypeAXIS_CIP_DRIVE:使用這個(gè)對(duì)話框配置數(shù)據(jù)類(lèi)型是AXIS_CIP_DRIVE的軸屬性CIPaxeshavethefollowing“Categories”:CIP軸如下“類(lèi)別”General常規(guī)Motor(SubModel)電機(jī)（替代模式）MotorFeedback電機(jī)反饋Scaling比例HookupTests連接測(cè)試Polarity極性Autotune自整定Load(SubsBacklashCompliance,Friction)負(fù)載（替代間隙，統(tǒng)一，對(duì)立）PositionLoop位置閉環(huán)VelocityLoop速度閉環(huán)AccelerationLoop加速閉環(huán)Torque/CurrentLoop力矩/電流閉環(huán)Planner規(guī)劃Homing回零Actions激活DriveParameters驅(qū)動(dòng)參數(shù)Status狀態(tài)FaultsandAlarms故障和報(bào)警Tag標(biāo)簽(Confidential–ForInternalUseOnly)Copyright?2011RockwellAutomation,Inc.Allrightsreserved.51CIPAxisAxisProperties

CIPAxisDialogCIPAxisParameterPageCIP軸參數(shù)頁(yè)面InadditiontotheparametersthatareaccessibleontheCategorypage,theparameterspageshowsalldriveparameterswithinthegroup:除了上