电子凸轮培训

Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,20031ElectronicCam培训Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003(optional)Coupling1xMastercycle(maincycle)cyclicallySlavecycle(optional)Uncoupling1xXMXS电子凸轮特性:•主机位置和从机位置之间的固定的位置关系。•通常以图形的方式表示；•主机为实际的编码器（或控制器）或虚拟编码器通常曲线有3部分:Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,20033MOVIDRIVE和MOVIDRIVEcompact要求•编码器反馈•适用于MDS、MDV和MCH控制器•采用应用版MOVIDRIVE控制器(以...0T结尾)•虚拟编码器（软件计数器）---可作为主机•通过SBUS总线最大64台控制器注意!•不支持DPI11A和DRS11A选项•不支持VFC控制方式•不支持IPOS-Assemblers电子凸轮技术要求Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003•P077（Technologyfunction）=Cam•控制模式P700=CFC&IPOS,orSERVO&IPOS•P916（Ramptype）=5(Cam斜率类型)电子凸轮参数要求Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,20035电子凸轮和标准功能的比较H00-H15可存储在EEPROM中(IPOS标准H00-H127)变量H370和以上变量用于CAM控制CAM控制功能只使用compiler程序电子凸轮编辑器自动生成一个头文件，该文件包含CAM曲线参数值电子凸轮功能比较Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,20036--曲线点的数量：512----无起动曲线256----包含起动曲线--DirectionBlock：Off----允许正向和反向运行LockRight----禁止正向运行LockRight----禁止反向运行--Stiffness：设定范围：0.5---2默认值：1增加该值可增加系统的响应--主机脉冲源：X14口H变量虚拟编码器电子凸轮曲线编辑器说明Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003电子凸轮曲线有5种主要的状态(CamStateH436)CamState0:Uncoupledstate速度控制CamState1:CouplingstateCamState2:MainCurvestateCamState3:Uncoupledstate位置控制CamState4:Uncouplingstate起动曲线的镜像Z0:Uncoupledstatespeedcontrolled(speedsetpoint=H439)Z1:CouplingZ3:Uncoupledstate(PositioncontrolledwithmasterencoderOFF)Z2:CurveoperationmaincurvewithrepeatedcycleIPOS-Program||Couplingcontrolif([lxMasterPosCouplingMasterpulse]||[CouplingMasterpulse==0])IPOS-Program||UncouplingcontrolIPOS-Program||CouplingcontrolIPOS-ProgramIPOS-Program||Uncouplingcontrol1123123Couplecontrol(Statemachine)Uncouplecontrol(Statemachine)Markcontrol(Statemachine)Z4:Uncouple(oninvertedcouplecurve)Uncouplecontrol(Mode2)if((Uncouplecurvepassed)&&(StopCycleModeControll.1==1))2if((Uncouplecurvepassed)&&(StopCycleModeControll.1==0))Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003StartupCycleModeH410:StartupCycleMode=0:manualcouple(IPOS-program)StartupCycleMode=1:Inputcontrolledcouple,withinputselectedby“StartupCycleInputMasks”(resolution1ms)StartupCycleMode=2:Interruptcontrolled(DI02orX14-zeropulse)withmasteroffset(StartupCycleCounterMaxValue)StartupCycleMode=3:Countercontrolledcouple(StartupCycleCounterMaxValueH415)Note:StartupCycleModeControl.0=AutoRestartflag(Mode2/3)StartupCycleModeControl.1=Coupeldisable(Mode2/3)StartupCycleModeControl.2=Interruptselect(Mode2DI02/zeropulse)Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003电子凸轮StartupCycle模式变量H410----H416定义StartupCycle过程；手动方式、事件方式、中断方式可以触发StartupCycle过程；StartupCycle模式由H410（StartupCycleMode）定义；StartupCycle包括256点曲线，仅仅运行一次。StartupCycle模式分类：StartupCycleMode=0Manualengaging（IPOS程序触发）当H436（CamState）=1，触发StartupCycle过程Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003StartupCycleMode=1Event-driven（二进制输入触发）当H436（CamState）=1，StartupCycle过程开始电子凸轮StartupCycle模式由二进制输入来触发StartupCycle过程；H413（StartupCycleInputMask）定义二进制输入：DI17DI16DI15DI14DI13DI12DI11DI10DI05DI04DI03DI02DI01DI0021321221121029282726252423222120例：DI02触发StartupCycle过程：H413=0x0004H413=0b0000000000100将二进制输入定义为“IPOSINPUT”；Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200311电子凸轮StartupCycle模式1可直接选择相应的二进制输入或通过IPOS程序设定：Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200312DI01---触发曲线运行H511显示Speed显示电子凸轮StartupCycle模式1说明：H511=0H511=10000DIO1用于触发曲线运行；采用StartupCycle模式1；Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003StartupCycleMode=2Event-driven（二进制DI02输入触发）电子凸轮StartupCycle模式由二进制DI02输入来触发StartupCycle过程；将二进制输入DI02定义为“NOFUCTION”；H415（StartupCycleCounterMaxValue）定义触发StartupCycle过程的位置偏置；Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200314电子凸轮StartupCycle模式2说明：Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200315DI02---触发曲线运行H511显示Speed显示H511=0H511=10000电子凸轮StartupCycle模式2说明：Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200316DI02---触发曲线运行H414显示Speed显示H414=0H414=5000电子凸轮StartupCycle模式2说明：H414（StartupCycleCounter）---StartupCycle计数器；当检测到DI02的上升沿时，H414开始由0记数；当H414的记数值大于H415（StartupCycleCounterMaxValue）的值时，自动触发曲线运行；Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,2003StartupCycleMode=3Event-driven（H414StartupCycleCounterH415StartupCycleCounterMaxValue）电子凸轮StartupCycle模式H414（StartupCycle计数器）的值大于H415（StartupCycle计数器的最大值）时，自动触发StartupCycle过程；H415（StartupCycle计数器的最大值）必须大于StartupCycle+MasterCycle+StopCycleTraining\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200318电子凸轮StartupCycle模式3说明：Training\TASC\DrivingControlProductsDrivingtheworldTASC/Malijun/May8,200319H414显示Speed显示H414=0H414=15000Speed显示电子凸轮StartupCycle模式3说明：1000015000Training\TASC\DrivingControlProductsDrivingtheworldTASC/Mal