Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 93
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Valorado. / 5. Basado en revisión del cliente
APPLYING THE MODULE
5-7
5.5 Moving
The following example illustrates the software required to
move the axis. The move could be either an incremental or
absolute move depending on the state of register 65, bit 5.
5990 !
5991 ! Move Sequence
5992 !
5993 ! FDBK_SCALING = encoder counts/engineering unit
5994 ! FDBK_POS = position (in engineering units)
5995 ! SPD = velocity (in engineering units)
5996 ! ACCEL = acceleration (in engineering units)
5997 ! DECEL = deceleration (in engineering units)
5998 ! FAULT@ = fault status
5999 !
6000 CMD_ POS!=FDBK_POS*FDBK_SCALING
6005 CMD_VEL!=SPD*FDBK_SCALING*65.536
6010 CMD_ACC!=ACCEL*FDBK_SCALING*.065536
6015 CMD_DEC!=DECEL*FDBK _SCALING*.065536
6020 CMD66%= 1 \GOSUB 25000 \IF FAULT@THEN RETURN
6047 REM
6D48 REM Loop until MOVE complete or a fault occurs
6049 REM
6050 DELAY 20 TICKS \IF AXIS_BUSY@ THEN GOTO 6050
6055 FAULT@=(FAULTS% AND 037FH)<>0
6060 RETURN
- 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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