Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 94
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5-8
2-Axis Servo Module M/N 57C422B
5.6 Electronic Gearing
The following example illustrates the software necessary to
use electronic gearing. Three examples are provided, one
each for turning the gearing mode on, changing the gear
ratio while the drive is active, and turning the gearing mode
off.
6992 !
6993 ! Turn on gearing mode
6994 !
6995 ! FDBK_SCALING = feedback encoder counts/engineering unit
6996 ! REF_SCALING = gearing encoder counts/engineering unit
6997 ! GEAR = gear ratio
6998 ! GEAR_DIR_SAME@ = gear direction switch
6999 !
7000 GEAR_RATIO!=(FDBK_SCALING*GEAR/REF_SCALING\ *65536.*256.
7005 MODES%=MODES% AND 0ADH
7010 IF NOT GEAR_DIR_SAME@ THEN MODES%= MODES% OR 010H
7015 MODES%=MODES% OR 2
7020 RETURN
7100 !
7293 !
7294 ! Change gear ratio while drive is active
7295 !
7296 ! FDBK_SCALING = feedback encoder counts/engineering unit
7297 ! REF_SCALING = gearing encoder counts/engineering unit
7298 ! GEAR = gear ratio
7299 !
7300 GEAR_RATIO!=(FDBK_SCALING*GEAR/REF_SCALING) *65536.*256.
7305 CMD67%=8 \GOSUB 25000
7310 RETURN
7400 !
7497 !
7498 ! Turn off gearing mode
7499 !
7500 MODES%= MODES% AND 0ADH
7505 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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