PL7 Junior/Pro sercos模块手册.pdfPL7 Junior/Pro sercos

文件名称: PL7 Junior/Pro sercos模块手册.pdf

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详细说明：PL7 Junior/Pro sercos模块手册pdf,PL7 Junior/Pro sercos模块手册Related Documentation Related documentation At a Glance This manual is made up of 8 volumes Vol. 1 Common Application-specific Functions Discrete Application AS-i Implementation Operator Dialog Application Vol 2 · Counting Application Vol. 3 Axis Command Application Vol Step-by-step Axis Command Application ●Vol.5 Electronic Cam Application VoL 6 SERCOSO Application e VoL. 7 Analog Application PID Control Application · Weighing Application Vol. 8 Process Control Application TLX DS 57 PLT XX Related documentation TLXDS57PL7XX Table of contents About the be 13 Part The sercos offer in TsX Premium PlCs.,.,,, 15 At a glance 15 Chapter1 SERCOS Architecture....…….17 At a glance 17 Introduction 18 Introduction to sercos architecture Chapter2 Setup methodology..…∴∴ 23 At a glance Introduction 26 Implementation of a co-ordinated or slave axis group 28 Chapter 3 Tutorial. 29 At a glance Description of the example 30 Trajectory descriptive 32 Description of commands in manual mode Prerequisites and methodology Variable Speed Controller Configuration Module TSX CsY 84 configuration .36 Symbolization 8 Symbolization of TOR input/output modules 39 Axis command module symbolisation 40 Programming preprocessing Programming the Grafcet chart Transitions programming 45 Actions programming 47 Programming of post-processing Program transfer 53 Adjusting the Parameters Introduction to the Debug Mode Part motion control with a tsx csy 84 module.,. 57 At a glance 57 Chapter 4 Functional description ................59 Introduction 59 Module functio 60 SERCOS function 62 63 Imaginary Axis" Function 64 Remote AxisFunction ...65 Concept of the Group Co-ordinated AXis Group"Function 67 Slave Axis Group"Function 70 Cam Profile"Function 72 Chapter 5 Configuration ,,,,,,,,,,,,,,.,,,,75 a glar Presymbolization 76 Module Configuration Configuration of the channels 79 Configuration of the SERCOSO Function(channel 0) 80 Configuring an Independent Axis(Channels 1 to 12) 81 Configuration of a Remote Axis(Channels 13 to 16) Configuration of a set of coordinated axes(channels 17 a 20 88 Configuration of a set of follower axes (channels 21 to 24) 90 CamProfile configuration(channels 25 to 31) Chapter 6 Programming ...................1...................97 Introd 97 6.1 Motion status bits 98 At a glar RAMPING (%lxy. LO) 100 STEADY Bit (%lxy. i 1) 101 STOPPING Bit (%lxy. 1.2) 102 PROFILE END Bit (%lxy. 1. 3 IN POSITION Bit (%Ixy. 1. 4) 104 AXIS_HOMING bit(%lxy. 1.5 AXIS_ HOMED bit(%lxy. 1.6) AXIS NOT FOLLOWING bit (%xy 1.7 10 HOLDING bit (%Ixy. i 8) .108 RESUMING bit (/lxy. 1.9 DRIVE ENABLED bit (%lxy. 1. 10) 110 DRIVE_ DIAG bit (%lxy. 1. 11) DRIVE_WARNING bit(%Ixy. i 12) 112 DRIVE FAULT bit (%lxy. i. 13) 113 DRIVE DISABLED bit(%lxy. i 14) AXIS SUMMARY FAULT bit %xy. i. 15) 115 AXIS COMM OK bit (%lxy. i 16 116 AXIs_ Is_ LINKED bit (%lxy. 1. 17). AXIs_IN COMMAND bit(%Ixy. 1. 18). ...118 AXIS_AT TARGET bit (%Ixy.. 20) ..,,119 AXIs POs LIMIT bit ( %lxy. 1. 21) 120 AXIS NEG LIMIT bit (%lxy. 1.22 121 AXIS WARNING bit (%xy. 1. 23) 122 BIAS_REMAIN Bit(%lxy. 1.24 AXIS MANUAL MODE BIT(%lxy. 1.25 124 DRIVE REALTIME BIT1 bit (%xy. 1.26) 125 DRIVE REALTIME BIT2 bit (%xy.L 27) AXIS HOLD bit (%xy. 1.28) 127 AXIs HALT bit(%xy. 1. 29) 128 AXIs FASTSTOP bit (%lxy. 1.30) AXIs READY bit % xy 1.31) 130 CoNF OK Bit(%×y.i.32) 6.2 Motion control functions ..132 At a glan 132 Movement control functions general Management of ALloW and ConTROL bits 134 MovementControl Bits Modifiable on edge 135 Control Bits Modifiable on Change of state 137 Status bits and word 139 Manual mode 140 Set Functional mode function 142 Home function 143 Reference point with the home function ....,145 Forcedhomed function 146 Unhome Function 147 SetPosition Function 148 6.3 Move Functions 149 At a glance about movement functions 150 Move Type Data Type Movelmmed Function 153 Movequeue Function 155 GetMoveQueueLength funct 157 Getspeed Override and setspeedoverride Function 158 Enablereal Time CtrlBit Function 9 6. 4 Functions of actual speed/position 160 Introduction 160 GetActualSpeedFunction 161 Getcommand speed Function ..,,,162 GetUnrolledPosition function GetUnrolledcommanded Position function 164 GetcommandedPosition Function 165 6.5 Following Functions ....166 About Following Functions. 166 chapter 7 Adjustment..,,..,..,,. Introduction 169 7.1 SERCOS Module Adjustment: General .170 Introduction 170 Description of the Adjustment Screens of SERCOSe Module: General... 171 Adjustment Principles 173 7.2 Adjustment of the Parameters of a Real, Imaginary or Remote Axis 174 Introduction 174 Description of the Adjustment Screen of a SERCOSe Module: Real or imaginary axes 175 Description of the Adjustment Screen of a SERCOSO Module: Remote Axes. 177 Description of the TRF RECIPE Screen for Real Axes 179 TRE RECIPE 181 TRF RECIPE Examples .183 Speed Parameter: Default Speed 184 Speed Parameter: SpeedLimit 185 About acceleration/deceleration parameters 186 Acceleration/Deceleration Parameter: Accel 187 Acceleration/Deceleration parameter Decel 188 Acceleration/ Deceleration parameter Acce max 189 Acceleration/ deceleration parameter decelmax 190 Acceleration/Deceleration Parameter: AccelType 191 AccelerationType Data type 193 Resolution parameters Gearratio 194 Position limit and modulo parameter: Positionlimit 196 about the modulo 198 Position limit and modulo parameter: rolloverlimit 200 Position limit and modulo parameter enable rollover 201 about the in-Position band Position limit parameter: In Position band 203 about enable mod 204 Position limit parameter: Enable mode 7.3 Parameters of a group of slave axe 208 At a glance 208 Description of the Adjustment Screen of a SERCOS Module: Slave Axes... 209 About a Group of Slave SlaveMode data 214 Slave Group Parameters: FollowerMode 216 Slave Group Parameter: FollowerConfig .,..,,,,,217 Slave Group Parameter: FollowerRatio 219 about the master offset Slave Group parameters: Master Offset 223 Slave Group Parameters: Master I riggerposition 225 Slave Group Parameters: FollowerBias Slave Group Parameters: AbsFollower Bias 228 7. 4 Cam Profile Adjustment 231 Introduction 23 About cam profiles 232 Cam Profile Parameters: Length 233 Cam Profile Parameters: LookUpFollowerPosition Function 2 Cam Profile parameters Coord 235 Cam Profile Parameter: Interp Type 237 Cam Profile parameter: Profiled 23 Description of the TRF RECiPE Screen for Cam Profiles 239 TRE RECIPE Instruction 241 7.5 Sercos ring parameters......... 244 Introduction 244 Description of the Adjustment Screen of a SERCOS Module: SERCOS( ring245 Adjustment graph for optical power. 246 Sercos(r ring parameters: OpticalPower ..,247 7. 6 SERCOSO DN Read/rite Functions 248 At a glance 248 Drive parameters : idn S and idn P 249 Drive Parameters: idn US and DN UP 25 Standard sERCos Identification Numbers(IDN) 253 IDNS for customized telegrams 256 Chapter 8 Debugging the TSX CSY 84 module.......,..,. 257 Introduction 257 Description of the Debug Screens of a SERCOS Module: General 258 Debug Screen User Interface 261 Debug: Enable 262 Debug: DiagnostIcs 2∈ Debug: Movement 267 Debug: Sending commands(Auto mode) 269 Debug Manual command(Manual mode) ....,270 Debug: Reference 271 Debug: Following 272 Debug: Drive 273 Debug: Position 274 Diagnostics of the Module 275 Channel Diagnostics 276 Chapter 9 Diagnostics and Maintenance 277 At a glance..... 277 9. 1 SERCOS Phase Diagnostics Introduction 278 At a glar 278 about sercos phases standard .279 GetActualPhase Function 280 GetcommandedPhase function 281 9.2 Reading Actual Data for the Ring Introduction 282 At a glance..... .282 GetsercosAddress function GetNumberOfDrivesInRing function 284 IsLoopUp function .,..285 9.3 Axis ldentification GetNumberln set function 286 9.4 Status and default information 287 At a glai 287 Implicit Exchange Objects 288 Faults accessible via the getmotion Fault command GetMotion fault function 291 Faults Accessible via the GetMotion Warning Command 292 GetMotion Warning Function 9.5 Faults and Warnings ...,294 At a gla 294 Module faults which can be accessed by explicit reading Channel faults accessible via explicit reading 296 List of Configuration and adjustment errors 297 Faulty Registers List of error codes for a write cmd command 303 WRITE CMD Command: Programming Errors ..304 WRITE CMD Command: Communication errors WRITE CMD Command: System errors WRITE CMD Command: System warnings ...309 TRF RECIPE Command Explicit Writing Faults 310 Operating modes for the TsX CSY 84 module Logic diagrams of faults 312 Drive faults 314 Chapter 10 Interface language................. 317 Introduction ....317 10.1 PL7 Interface 318 Introduction 318 Interface Language 319 Parameter Management......... 320 WRITE PARAM and READ Param 322 SAVE PARAM and REstORE PArAM WRITE CMD 324 WRITE CMD Examples READ STS 10.2 List of variables 329 329

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