Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 91
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APPLYING THE MODULE
5-5
5.3 Initialization
The following example illustrates the software required to
initialize one axis. The variables reference the configuration
data in Appendix H.
1000 !
1010 ! Initialize Axis Parameters
1020 !
2000 ENCODER_SETUP%=01414H\!Rotary, polarity reversed, *4
2010 DRIVE_SETUP%=02H \!Polarity reversed, current ref
2020 SWITCHES%=01DH \!Marker pulse, home negative
2030 PGAIN%=18700 \!Position Gain
2040 IGAIN%=1575 \!Integral Gain
2050 VGAIN%=140 \!Velocity Gain
2060 FGAIN%=8256 \!V Feedforward Gain
2070 DBCOMP%=27 \!Deadband Compensation
2080 MAX_FOLL_ERR%=1000 \!Maximum following error
2090 MAX_VEL_ERR%=8 \!Maximum velocity error
2100 IN_TOLERANCE%=40 \!In position tolerance
2110 GEAR_RATIO!=16777216 \!Gear ratio
2120 MAX_VOLTS%=1984 \!Maximum drive reference value
2130 P_CONST%=-1 \!Positive linearization constant
2140 N_CONST%=-1 \!Negative linearization constant
2150 FDBK_UNWIND!=4000 \!V Fdbk unwind = 1 revolution
2160 GEAR_UNWIND!=4000 \!Gearing unwind = 1 revolution
2170 MODES%=0
2180 CMD66%=0200H\GOSUB 25000\!Change default setups
2190 !
10000 !
24997 !
24998 ! Subroutine to write command to module
24999 !
25000 DELAY 2 TICKS \IF NOT (CMD_ACK@ OR ILLEGAL_CMD@)
THEN GOTO 25000
25005 FAULT
@=
ILLEGAL_CMD@
25010 CMD66%=0 \CMD67%=0
25015 DELAY 2 TICKS \IF CMD_ACK@ THEN GOTO 25015
25020 RETURN
30000 END
- 2-Axis Servo Module 1
- Table Of Contents 3
- Appendices 6
- List of Figures 7
- CHAPTER 1 9
- FROM EXTERNAL SOURCES 10
- CHAPTER 2 11
- Figure 2.1 – Module Faceplate 12
- 2.2 Electrical Description 13
- CHAPTER 3 17
- INSTALLATION 19
- 3.3 Module Replacement 27
- CHAPTER 4 29
- 4.1 Configuration 30
- 4.2 Register 0: Encoder Setup 31
- 4.3 Register 1: Drive Setup 32
- 4.4 Register 2: Switch Setup 33
- 4.6 Register 4: Integral Gain 35
- 4.7 Register 5: Velocity Gain 35
- PROGRAMMING 37
- Reference 39
- (encoder counts/sec) * 65.536 40
- Acceleration 41
- Deceleration 42
- 4.21 Register 27: User LEDs 43
- " command 44
- Constant 46
- Constant 46
- Format, Ramp Velocity 48
- Compensation 49
- Detection 50
- 4.34 Register 65: Mode 51
- Figure 4.33 – Mode Register 52
- 4.35 Register 66: Command 55
- 4.36 Register 67: Command 60
- 4.37 Register 72: Status 62
- 4.38 Register 73: Fault 65
- Position 66
- 4.49 Interrupt Registers 70
- (ISCR) Register 75
- 4.50 Cam Registers 77
- Position Cam 78
- 4.50.5 Register 130: Cam Mode 82
- 4.50.7 Cam Data Registers 85
- CHAPTER 5 87
- 5.2.1 Auto-Tuning 88
- 5.2.2 Manual Tuning 88
- APPLYING THE MODULE 89
- 5.3 Initialization 91
- 5.4 Homing 92
- 5.5 Moving 93
- 5.6 Electronic Gearing 94
- 5.7 Velocity 95
- 5.8 Cam Mode 96
- CHAPTER 6 97
- APPENDIX A 99
- APPENDIX B 101
- APPENDIX C 103
- Field Connections (Continued) 104
- APPENDIX D 107
- APPENDIX E 109
- Register Summary 110
- APPENDIX F 111
- M/N 57C422B 112
- APPENDIX G 113
- APPENDIX H 115
- APPENDIX I 119
- For additional information 122
- 1 Allen-Bradley Drive 122
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