Telemecanique Premium Atrium SERCOS Motion用户手册（英文）

文件名称: Telemecanique Premium Atrium SERCOS Motion用户手册（英文）.pdf

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详细说明：Telemecanique Premium Atrium SERCOS Motion用户手册（英文）pdf,Telemecanique Premium Atrium SERCOS Motion用户手册（英文）Table of contents Safety Information 13 About the book 15 Part I The sercoS package in premium Plcs 17 At a glar Chapter 1 SERCOSe Architecture.,...,..........19 At a glance .19 Introduction Introduction to seRcOS( architecture Development of the TSX CSY .4 Modules 24 Chapter 2 Implementation methodology .27 At a glance 27 ntroduction 28 Implementing an Independent Axis Implementation of a co-ordinated or slave axis group Overview 33 Chapter3 nitiation example∴.……….………∴…………….37 At a glance 37 Description of the example ,,,,,,,39 Trajectory descriptio 4 Description of commands in manual mode ,42 Requirements and methodology Variable Speed controller configuration Module TSX CsY 84 configuration Creation of IODDTs and project variables 47 Symbolization of discrete input/output modules 48 Description of the IOddTs of module tsX csy 84 ....49 Programming of preliminary processing SFC programming 54 Transition programmIng∴ Actions programming .57 Programming of subsequent processing 60 Program transfer 63 Adjusting the Parameters. 64 Introduction to the Debug Mode .....65 Part hardware installation for the modules TSX CSY84164...,, 67 At a glance 67 Chapter 4 Presentation of the TSX CSY 84/164 modules ...,69 At a glance Introduction to the modules in their environment 70 Physical presentation of the modules Chapter 5 Installing the modules ,,,,,,∴∴∴..,.75 At a glance 75 Mounting modules in a PLC station rack 6 Installing the modules in a Plc station Number of application specific channels managed by a TSX CSY 84 or CSY 164 Station Installation precautions Module displays 80 Initialization of the module following an internal error TSX CSY 84 and TSX CSY 164 module operating mode Chapter6 Description of the multi-axis control system∴.……∴87 At a glance 87 Multi-axis control system for SERCOS Premium PLC 88 SERCOSO ring network Chapter 7 Fiber optic cables ............ .95 At a glance Pre-assembled fiber optic cables 96 Kits for creating custom fiber optic cables 97 Chapter 8 Characteristics, Standards and service conditions.... 99 At a glar Characteristics of the module ,100 Characteristics of the sercos network 101 Standards and Operating Conditions 102 Chapter9 Compatible servodrives.∴.…103 List of variable speed controllers .103 Part ll Motion control common to tsx csy 84 and TSX CSY164 modules..,,,,,,,,,,,,,,,105 At a glance 105 Chapter 10 Functional description 107 At a glance 107 Module Functions 108 SErCOS(R function 110 Real axis" function Imaginary Axis"Function 112 Remote axis" Functio 113 Concept of the g 115 Coordinated Axis Group"Function 117 Slave Axis g Function 120 Cam Profile function 123 Chapter 11 Configuration 125 At a glance 125 lODDT association 26 Module configuration 127 Configuration of the Channels 131 Configuration of the SERCOSO function(channel O 132 Configuring an Individual axis (Channels 1 to 12) 133 Configuration of an external measurement axis(channels 13 to 16) 138 Configuration of a coordinated set (channels 17 to 20 140 Configuration of a Slave Axis Group(Channels 21 to 24) 141 Configuration of a cam profile(channels 25 to 31) 144 Chapter 12 Programming the TSX CSY 84 and TSX CSY 164 modules. 147 At a glance 147 12.1 Motion status bits 148 At a glance 148 Bit RAMPING (%r m.c. O) 150 STEADY Bit (%olr. m c STOPPING Bit(%Ir m.c. 2) .,152 PROFILE END Bit(%Ir. m.c. 3) IN_POSITION Bit (%r m.c. 4) 154 AXIS_HOMING bit (%Ir m.c. 5) 155 AXIS_HOMED bit %Ir m.C. 6) 156 AXIS_NOT_FOLLOWING bit (%r. m c7) 157 HOLDING Bit %lr m.c. 8 158 RESUMING bit(%lr. m.c. 9) ..159 DRIVE_ENABLED bit (%Ir.mc 10 160 DRIVE_DIAG bit(%Ir. m.c. 11) 161 DRIVE- WARNING bit ( %Ir m.c. 12) DRIVE FAULT bit (%Ir m c. 13) 163 DRIVE_DISABLED bit(%Ir m.c. 14) 164 AXIs_SUMMARY_FLT bit (%Ir m.c. 15) 165 AXIS_ COMM_OK bit (%lr m.c. 16 AXIS_Is_LINKED bit(%Ir m.c. 17) 167 AXIS_IN_ CMD bit( %lr. m.c. 18) AXIS AT TARGET bit (%Ir. mC20 .......169 AXIs_POS_LIMIT bit ( %Ir m.c. 21) 170 AXIS_NEG_ LIMIT bit (%Ir.mc. 22) 17 AXIS_WARNING bit (%Ir m.c. 23 172 BIAS_REMAIN Bit (%Ir m.C. 24 ,,,,,,174 AXIS MANUAL MODE BIT %Ir m.c. 25) 175 DRIVE_REALTIME_BIT1 bit(%Ir. m c 26) ,,,,,,,,,176 DRIVE_REALTIME_BIT2 bit (%Ir m.c. 27) 177 AXIS_HOLD bit (%olr m.c. 28) 178 AXIS HALT bit (%lr. m.C. 29 179 AXIs FASTSTOP bit (%Ir m.C. 30 180 AXIs_READY bit ( %Ir m.C. 31) ....181 CONF OK Bit %Ir mc32 182 12.2 Movement Control functions 183 At a glance 183 Motion Control Functions: General 184 Management of aLLoW and CoNtROL bits 185 MovementControl Bits Modifiable on Edge 187 Control Bits Modifiable on Change of State 189 Status bits and word 190 Manual mode ........191 Set Functional mode function 193 Home functio Reference point with the home function Forcedhomed function 197 Unhome function 198 SetPosition Function 12.3 Movement Functions 200 At a glance About movement functions Move Type data type .,,,,,,,,,.,203 Movelmmed Function MoveQueue Function 206 GetMove QueueLength Function 208 GetspeedOverride and SetspeedOverride Function Enable real time CtrlBit function ,,,,,,,,,,,,,,,,,,,210 12.4 Motion Function Following Deactivation of the Sequence .211 At a glance 211 Overview of the function 212 Movelmmed"Function 213 MoveQueue Function 12.5 Functions of actual speed/position 220 At a glance 220 GetActualSpeedFunctiol 221 GetcommandSpeedFunction 222 Modulo counter service 223 GetUnrolled Position Function 224 GetUnrolledCommanded Position Function 225 GetCommandedPosition Function 226 12.6 Following Functions. 7 At a glance About Following Functions 228 Target sequence activation"function 231 Estimation of Remaining Time Before Activation of Sequence"Function 234 Sequence stop(Unlink) of the slave group set off by a trigger 236 Chapter 13 Adjusting the TSX CSY 84 and TSX CsY 164 modules.. 239 At a glance 239 13.1 SERCOSQ Module Adjustment General 240 At a glance 240 Description of the sercos Module Adjustment Screens: General.... 241 Adjustment Principles 244 13.2 Adjustment of the Parameters of a real, Imaginary or remote axis 245 At a glance 245 Description of the Adjustment Screen of a sERCOS Module: Real or imaginary axes 246 Description of the Adjustment Screen of a sERCOSe Module: Remote A Xes 249 Description of the trf reciPE screen for Real Axes 251 TRF RECIPE ..253 TRF RECIPE EXample 255 Speed Parameter: Defaultspeed 256 Speed Parameter: SpeedLimit 257 About acceleration/deceleration parameters 258 Acceleration/Deceleration Parameter: Accel 259 Acceleration/Deceleration Parameter: Decel Acceleration/Deceleration Parameter: AccelMax 26 Acceleration/ Deceleration Parameter: DecelMax 263 Acceleration/Deceleration Parameter: Accel ype Data type Accele 266 Resolution Parameters: GearRatio .267 Position limit and modulo parameter positionlimit 269 About the modulo 271 Position limit and modulo parameter: rolloverlimit 273 Position limit and modulo parameter: Enablerollover 274 about the In-Position band 275 Position limit parameter: In Position Band 276 About enable mode 277 Position limit parameter: Enable Mode 279 Behavior Slave Axis Disable 281 13.3 Parameters of a group of slave Axes ..282 At a glance .:::: .282 Description of the Adjustment Screen of a seRCos Module: Slave Axes... 283 About a Group of Slave Axes SlaveMode data 288 Slave Group Parameters: FollowerMode 9 Slave Group Parameter: FollowerConfig .....,..290 Slave Group Parameter: Follower Ratio .......292 about the master offset 295 Slave Group Parameter MasterOffset Slave Group Parameter: Master Trigger Position 298 Slave Group Parameter: AbsFollowerBias Slave Group Parameter: Follower Bias Alignment Function of the Emergency Stop Inclines Propagation of stops in a slave group 304 13.4 Cam Profile Adjustment ,,,,,,308 At a glance 308 bout Cam Profile Cam Profile Parameter: Lengt 310 Cam Profile Parameter LookUp FollowerPosition Function 311 Cam Profile parameter: coord 312 Cam Profile Parameter Interptyp 314 Cam Profile parameter: Profiled .315 Description of the tRF RECIPE Screen for Cam Profiles ....316 TRF RECIPE Instruction 13.5 Sercose ring parameters 321 At a glance Description of the Adjustment Screen of a SERCOSO Module: SERCOS Adjustment graph for optical power 325 Sercos( ring parameter: OpticalPower ....326 13.6 SERCOSO IDN Read/write Functions 327 At a glance ,,,327 Servodrive Parameters: IDN S and IDN P 328 Servodrive Parameters: idN US and IDN UP .331 Standard SERCOS Identification Numbers (IDN) 334 IDNs for customized telegrams .....337 Chapter 14 Debugging the TSX CSY 84/164 modules 339 At a glance 339 Description of the debug screen General .340 Debug Screen User Interface Debug Enable .,,,,,,,.344 Debug: Diagnostics ..346 Debug: Movement ..349 Debug: Sending commands(Auto mode) 351 Debug: Manual command(Manual mode) 352 Debug Reference Debug: Following...... 354 Debug: Drive 355 Debug: Position 356 Module diagnostic .357 Channel Diagnostics Chapter15 Diagnostics and Maintenance∴.∴….361 At a glance 15. 1 SERCOSB Phase Diagnostics Introduction 362 At a glance About sERCOS Phases standard GetActualPhase Function ...364 GetCommanded Phase Function 15.2 Reading Actual Data for the Ring Introduction 366 At a glance 366 GetsercosAddress Function GetNumberofDrivesIn Ring function 368 IsLoopUp function ...369 15.3 Axis Identification 370 GetNumberIn Set Function 370 15.4 Status and fault information 371 At a glance 37 Implicit Exchange objects 372 Faults Accessible via the GetMotion Fault Command ..,,,,,,.,373 GetMotion Fault function 375 Faults Accessible via the GetMotionWarning command 376 GetMotion Warning Function 378 15.5 Faults ar 379 At a glance ,,,,,,,,.,,379 Module faults which can be accessed by explicit reading 380 Channel faults which can be accessed by explicit reading List of Configuration and Adjustment Errors 382 Faulty Registers 385 List of error codes for a write cmd command 390 WRITE_CMD Command: Programming Errors. 39 WRITE CMD Command: Communication errors WRITE_ CMD Command: System errors 394 WRITE_CMD Command: System warnings 396 TRF_ RECIPE Command Explicit Writing Faults 397 Operating 4面 398 Logic diagrams of faults ...,,,,399 Servodrive faults 401 15.6 Performances of the TsX csy 84 403 Performances of the TsX csy 84 403 Chapter 16 SERCos language objects.............. 407 At a glar 407 16. 1 The language objects and lOdDTs of the SERCOS module At a glance 408 Introduction to lodd ts associated with tsx csy 84 modules mplicit exchange language objects associated with the application-specific function 410 Explicit exchange language objects associated with the application-specific function 411 Management of Exchanges and Reports with Explicit Objects ,,,,413 Interface Language 417 Parameter Management WRITE PARAM and read param 420 SAVE PARAM and RESTORE PArAm 421 WRITE CMD 422 WRITE CMD Examples...... 424 READ STS 426 TRF RECIPE and MOD Param .427 16.2 Language objects and IODDTs associated specifically with the SERCOS module ,,.428 At a glance 428 Details concerning T_CSY CMD-type IODDT implicit exchange objects ... 429 Details concerning T_CSY CMD-type IODDT explicit exchange objects Details concerning T_CSY_ RING-type IODDT implicit exchange objects 433 Details concerning T_CSY_ RING-type IODDT explicit exchange objects... 436 Details concerning T CSY TRF-type IODDT explicit exchange objects...... 440 Details concerning T_CSY_IND-type IODDT implicit exchange objects... 442 Details concerning T_ CSY_IND-type lODDT explicit exchange objects .446 Details concerning T_CSYFOLLOW-type IODDT implicit exchange objects. 450 Details concerning T_CSYFOLLOW-type IODDT explicit exchange objects. 453 Details concerning T CSY COORD-type IODDT implicit exchange objects.. 464 Details concerning T_CSY_ COORD-type lODDT explicit exchange objects.. 467 Details concerning T_ CSY CAM-type IODDT implicit exchange objects..470 Details concerning T_CSY_ CAM-type IODDT explicit exchange abjects 471 16.3 The lOddT type T_gEN_ MOd applicable to all modules Details of the Language objects of the IODDT of Type T_GEN_MOD....474 Chapter 17 Appendices 493 At a glance 493 17. 1 List of accessible functions 494 At a glance 494 Accessible Functions for sercoS( Channel 0 495 Accessible functions for a real axis 497

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