,E-MOTION,PMAC多轴运动控制卡 （中级培训）,LINEAR 插补方式,对PMAC 用户直线插补是最通用的方式. 直线插补轨迹包括加减速时间和运动时间.,需要学习: 什么是直线插补模式的轨迹 如何改变轨迹的特征 如何实现多个运动的速度混合,Linear 模式的轨迹 小Acceleration 时间,Linear 模式的轨迹(continued) 小Acceleration 时间,Linear 模式的轨迹(continued) 加速时间等于运动时间,Linear 模式的轨迹(continued) 加速时间等于运动时间,Linear 模式的轨迹 大 (速度限制) 加速时间,Linear 模式的轨迹 大 (速度限制) 加速时间,加速参数,TA 编程加速时间 (单位: msec); 整数 TS 编程S-曲线时间 (单位: msec); 整数,加速参数(continued),例 3: 一个复杂的运动,This example introduces incremental and time-specification of moves, looping logic, using variables, scaling of axes, and simple arithmetic. Note that logical and mathematical operations do not delay moves.,;* Set-up and Definitions * 坐标系1, 指向运动程序2,运行,例 3: 一个复杂的运动,直线插补测验,曲线的水平和垂直轴的含义? 什么是 TS, TA, TM and F? TM 和 F 的关系是什么? 以100msTA时间和20ms的TS时间，TM为500ms的时间外成一个运动，总的运动时间是多少? 如果程序表达 TS100 TA100 TM100，完成3个混合运动的总时间是多少?,PMAC 运动速度混合,PMAC 在如下情况下速度无法混合: 两个运动指令中间有 DWELL指令 2 个向后跳转指令 (GOTO, ENDW) 速度混合功能无效设定 (Ix92=1),DWELL Vs. DELAY,DWELL 总使用固定的时基 (I10) 暂停时间不包括减速过程 直到DWELL结束才执行下面运动的计算 (add I11 time),DWELL Vs. DELAY (continued),DELAY 使用可变的时基 (% value) 暂停时间包括减速过程 最小暂停时间是当前 TA时间 下面运动时间开始于DELAY指令,例4: 速度混合有效的例程,This example shows how to program a blended move on the PMAC and the function of Ix92. First the program specifies how to do the move, then commands the move.,* Set-up and Definitions * DEL GAT ; Erase any defined gather buffer GATHER, CS. 1, point to Beginning of Program 1, Run,例4: 速度混合有效的例程,例5: 速度混合无效的例程,This example shows how to program moves on the PMAC and the function of Ix92. First the program specifies how to do the move, then commands the move.,* Set-up and Definitions * DEL GAT ; Erase any defined gather buffer GATHER, CS. 1, point to Beginning of Program 1, Run,例5: 速度混合无效的例程,速度混合测验,使用 速度指令 (F) 在增量方式 (INC) ，指令 X1000 和指令 X100 X400 X500如果 Ix92=0, TA TM or (TAP/F), 和 2TSTA有何区别?,矢量速率,PMAC 可以自动计算运动时间（TM)使电机运行与希望的速度速率下.,需要学习: 速率指令的表达 PMAC如何计算速率,这用于多个电机在一个坐标系下控制一个刀具，来自动分配各自的速度,矢量速度轴,INC FRAX (X,Y) X3 Y4 F10,INC FRAX (X,Y) X3 Y4 Z12 F10,矢量速度轴(续),INC FRAX (X,Y,Z) X3 Y4 Z12 F10,INC FRAX (X,Y) C10 F10,速度时间单位,Ix90 速度时间单位 (单位: msec),例: #1 - 2000X Ix90 = 1000,速率测验,如果坐标系1 的 I190=60000，那么速率时间单位是什么? 如果X 和 Y 是速率轴, 如果指令 X100 Y200，各自速度如何分配? 如果你编程指令 F5 定义速度为 5 inches/sec,如何设定 Ix90和轴的定义?,Exercise 1: Indexing a Motor,Problem:,You have been asked to use PMAC in an indexing application, PMAC must index motor #1, which drives a leadscrew, a distance of 10 cm, pause at this location for 4 seconds then return to its original location. Each of the moves must take place in 2 seconds. The program will be started by an ASCII command string sent to PMAC from a Programmable Logic Controller over the RS232 port.,Hardware:,2000 counts per revolution encoder 5:1 gear reduction 1cm/rev pitch leadscrew SET Ix92=0 to enable blending,Exercise 2: Indexing a Motor,Problem:,As is the case with all applications, the requirements have been changed. The following must be added to the basic requirements of exercise 1.,The desired motion profile has been changed. The system must now move from its zero location to 10 cm, pause for 4 seconds and then move to 20 cm in 2 more seconds and pause for 1 second. It then must return to 0 cm in 1.5 seconds. The system has now become a multi-axis project. Not one but four identical leadscrews must simultaneously execute this profile.,Exercise 2: Indexing a Motor (continued),To minimize wear and tear on the mechanical components, instantaneous changes in acceleration (jerk) must be eliminated. This machine will be sold to a European company which will write some new programs for it. They only want to program in centimeters so your programs must also use centimeters. A feedrate override switch has also been added to the system. Your programmed pauses must now change as the feedrate override changes. This means that a 1.5 second pause will last 3 seconds at 50% feedrate override. Use M197-X:$0806,0,24,s for feedrate override control.,Exercise 3: Conditional Branching,Problem:,The European Company is having a lot of success with your machine and your boss now has some extra R&D money. He wants you to write another application based on the same platform. 2 input switches have been connected to PMACs machine inputs 1 and 2. He wants these switches to control the motion of the stages as follows.,If machine input 1 is on, the stages should move from 0 cm to 10 cm at a speed of 1 cm/sec, pause for 1 second then return to 0 cm at the same speed and pause for 100 milliseconds until looking for the next input.,Exercise 3: Conditional Branching (continued),If machine input 2 is on, the stages should move from 0 cm to -10 cm at a speed of 2 cm/sec, pause for 1 second then return to 0 cm at the same speed and pause for 100 milliseconds until looking for the next input. If both machine inputs 1 and 2 are on, or if neither are on, the stages should not move from 0 cm and should pause for 100 milliseconds until looking for the ne