南区GOTC(全球OEM技术顾问) 李金贤 139 2889 2963 jlira.rockwellautomation.com,Motion Basic Training 伺服编程（1）-基础课,伺服运动基础编程,10 Steps to Developing ControlLogix Motion: 伺服运动基础编程包含以下10个步骤 Create new program创建一个新程序 Enable time synchronization使能时间同步 Create motion group tag创建运动组标签 Create Axis tag创建轴标签 Add motion module添加伺服驱动器 Assign axes to motion module分配轴到伺服驱动器 Configure motion group配置运动组属性 Configure axes配置轴的属性 Perform hookup test and tune axes执行测试和整定轴 Write logic to perform motion写执行运动的逻辑程序,2,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,3,1.Creating a Project 1.创建一个项目程序,1. Enable Time Synchronization使能时间同步,2. Creating the Motion Group创建运动组,3. Configure the Motion Group配置运动组,4. Motion Control Tags运动控制标签,Creating a Project Time Master,In all ControlLogix chassis (single and multiple controllers), one of the controllers needs to be set as the reference clock. This will synchronise all the motion modules, other Logix controllers and I/O cards in the chassis to a single master clock. The process of setting up a controller to be the reference clock is called “Making this controller the master”. 在所有的ControlLogix机架上（单个或多个控制器），控制器中的其中一个需要设定参考时钟，这将使所有的运动模块同步，其他机架上的Logix控制器和I/O卡使用单独的主时钟，设定控制器参考时钟的过程被称为“确定主控制” Note: There can only be one master controller per chassis. 注意：每个机架上只能有一个主控制器,Techno Fact : If you have more than one controller in the chassis, choose one of the controllers to be the time master. You cant have more than one time master for the chassis. In a ControlLogix motion application, you must define a controller as the time master. 技术事实：如果机架上你有超过1个控制器的，选择其中一个为主时钟，在机架上你不能有超过1个的主时钟，在ControlLogix运动应用中，你必须定义一个控制器作主时钟,4,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project CST & PTP,Coordinated System Time (CST) Master 协调系统主时钟 RSLogix5000 v17 and earlier. RSLogix5000 v17 版本及之前 When there is a CST master in the chassis, all of the motion modules, I/O modules, and controllers in that chassis can keep their CST clocks synchronized. 当机架上有协调系统主时钟时，所有机架上的的运动模块，I/O模块，和控制器能够保持时钟同步。 Precision Time Protocol (PTP) Grandmaster Clock精度时间协议（PTP) RSLogix5000 v18 and later RSLogix5000 v18 版本及以后版本 The Grandmaster Clock is used to synchronize motion modules, I/O modules, communication modules, and controllers within a ControlLogix chassis. 顶级时钟被用在ControlLogix机架上的运动模块，I/O模块，通讯模块，和控制器 Starting in v17, there is an option to set the CST Master/Enable Time Synchronization in the download dialog if it is not already set 从V17版本开始，如果没有被设定，在下载对话框里可以选择设定CST主/使能时间同步 Time Synchronization is required for motion to operate properly! 运动的正常操作必须要时间同步,5,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project Setting the CST Master, v17 and earlier,For RSLogix5000 v17 and earlier, the following procedure is used to set the Coordinated System Time Master: RSLogix5000 v17 和早期版本，设定协调系统主时钟如下步骤 In the Controller Organizer window, right click on the controller folder and select Properties OR click on the controller icon在控制器组织窗口中，点控制器文件夹右键选择“属性”或者点击控制器符号,Click here点这里,Or right-click and select Properties 或者右键选择属性,6,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project Setting the CST Master, v17 and earlier,Setting the master coordinated system time:设定主协调系统时间 Click on the Date/Time tab of the Controller Properties dialog box.点击控制器属性对话箱的“日期/时间”标签,Click here,7,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project Setting the CST Master, v17 and earlier,Setting the Master Coordinated System Time设定主协调系统时间 After selecting the Master controller, click OK to complete the operation 在设定主控制器后，点击OK完成操作,Techno Fact : A motion module can be owned by a ControlLogix controller even though the controller is not the CST master. Since another controller in the chassis is the CST master (must have a master in a motion application) you will receive a warning while downloading and during program verification regarding the CST master. 技术事实：一个运动模块可以拥有一个ControlLogix 控制器，即使控制器没有主协调时间。因为机架其他控制器是CST主（在运动引用中必须有一个主），当下载和程序核实CST主时你将收到警告,Click,8,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,Creating a Project Enable Time Synchronization, v18 and later,Enable Time Synchronization使能时间同步 Click OK to complete the operation点击“OK”完成操作,Click,9,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,(Confidential For Internal Use Only) Copyright 2011 Rockwell Automation, Inc. All rights reserved.,10,Creating a Project Creating the Motion Group,1. Enable Time Synchronization使能时间同步,2. Creating the Motion Group创建运动组,3. Configure the Motion Group配置运动组,4. Motion Control Tag