实例介绍
【实例截图】
【核心代码】
目 录 1 TwinCAT NC PTP 系统概述.....................................................................................................7 1.1 TwinCAT NC PTP 与 TwinCAT PLC 的关系........................................................................8 1.2 TwinCAT NC PTP 控制的轴的类型和数量..........................................................................9 1.3 TwinCAT NC PTP 的控制周期 ...........................................................................................10 1.4 TwinCAT NC PTP 的配置、编程、调试............................................................................11 2 TwinCAT NC 轴的配置..........................................................................................................12 2.1 添加一个 Axis......................................................................................................................12 2.2 NC 轴的参数设置................................................................................................................14 2.2.1 Enc 编码器设置................................................................................................................14 2.2.2 Drive 驱动器设置.............................................................................................................18 2.2.3 Ctrl 控制参数设置............................................................................................................20 2.2.4 NC 轴参数的 ADS 信息 ..................................................................................................24 2.3 NC 轴与 PLC 程序的对应...................................................................................................25 2.4 NC 轴的导出和导入............................................................................................................26 2.5 编码器轴 Encoder Axis.......................................................................................................26 2.6 时间轴 Time Generator .......................................................................................................27 3 TwinCAT NC 轴的调试..........................................................................................................28 3.1 Axis 调试界面......................................................................................................................28 3.1.1 General ..............................................................................................................................28 3.1.2 Settings..............................................................................................................................29 3.1.3 Parameter...........................................................................................................................30 3.1.4 Dynamic ............................................................................................................................33 3.1.5 Online................................................................................................................................34 3.1.6 Functions ...........................................................................................................................35 3.1.7 Coupling ............................................................................................................................35 3.1.8 Compensation....................................................................................................................36 3.2 使能和点动 ..........................................................................................................................37 3.2.1 准备工作...........................................................................................................................37 3.2.2 使能...................................................................................................................................37 3.2.3 点动...................................................................................................................................38 3.3 Function 测试.......................................................................................................................39 3.4 调试动态性能 Dynamics .....................................................................................................40 3.5 齿轮联动 ..............................................................................................................................41 3.6 凸轮联动 ..............................................................................................................................42 3.6.1 Cam Table 示例.................................................................................................................42 3.6.2 安装 Cam Design Tool......................................................................................................42 3.6.3 编辑 Cam Table 表............................................................................................................42 3.6.4 载入 Cam Table 表............................................................................................................47 3.6.5 准备运行 Cam Table 表....................................................................................................48 3.6.6 在 Scope View 中观察 Cam 运行情况.............................................................................49 3.7 位置补偿 ..............................................................................................................................52 TwinCAT NC PTP 实用教程 - 2 - 3.8 飞锯 ......................................................................................................................................54 4 编写 NC 单轴控制的 PLC 程序............................................................................................55 4.1 准备工作 ..............................................................................................................................55 4.1.1 引用引用 TcMc.lib............................................................................................................55 4.1.2 声明 PLC_TO_NC 及 NC_TO_PLC 类型的变量...........................................................55 4.1.3 PLC 程序说明...................................................................................................................56 4.2 轴的管理 ..............................................................................................................................57 4.2.1 使能 MC_Power...............................................................................................................57 4.2.2 复位 MC_Reset................................................................................................................58 4.2.3 读取当前位置 MC_ReadActualPosition.........................................................................58 4.2.4 设置当前位置 MC_SetActualPosition ............................................................................58 4.3 轴的动作 ..............................................................................................................................59 4.3.1 匀速运动 MC_MoveVelocity ...........................................................................................59 4.3.2 绝对定位 MC_MoveAbsolute ..........................................................................................60 4.3.3 相对定位 MC_MoveRelative ...........................................................................................60 4.3.4 点动 MC_Jog ....................................................................................................................61 4.3.5 停止 MC_Stop ..................................................................................................................62 4.3.6 模长内定位 MC_MoveModulo........................................................................................62 4.3.7 重置目标位置和速度 MC_NewPosAndVelo ..................................................................64 4.3.8 重置目标位置 MC_NewPos.............................................................................................65 4.4 寻参 MC_Home ..................................................................................................................65 4.4.1 可选的寻参方式...............................................................................................................65 4.4.2 寻参过程...........................................................................................................................66 4.4.3 几种寻参方式的比较.......................................................................................................67 4.4.4 寻参功能块 MC_Home ....................................................................................................69 4.4.5 寻参的速度.......................................................................................................................70 4.4.6 参考点的位置...................................................................................................................70 4.5 位置外部设定值发生器(External set value generation) ................................................71 4.5.1 MC_ExtSetPointGenEnable..............................................................................................71 4.5.2 MC_ExtSetPointGenDisable.............................................................................................72 4.5.3 MC_ExtSetPointGenFeed .................................................................................................72 4.6 位置补偿 ..............................................................................................................................74 4.6.1 MC_MoveSuperImposedExt.............................................................................................74 4.6.2 适用位置补偿的场合.......................................................................................................75 4.7 TwinCAT NC 全闭环控制. ..................................................................................................79 4.8 从 PLC 程序修改 NC 轴的参数设置..................................................................................83 4.9 轴的状态函数 ......................................................................................................................85 5 编写 NC 多轴联动程序 .........................................................................................................87 5.1 电子齿轮 ..............................................................................................................................87 5.1.1 齿轮耦合...........................................................................................................................87 5.1.2 齿轮解耦...........................................................................................................................88 5.2 电子凸轮 ..............................................................................................................................90 5.2.1 凸轮表 Cam Table............................................................................................................90 5.2.2 凸轮表的耦合与解耦.......................................................................................................90 TwinCAT NC PTP 实用教程 - 3 - 5.2.3 扩展凸轮耦合...................................................................................................................91 5.2.4 凸轮缩放...........................................................................................................................93 5.2.5 凸轮在线修改的激活模式...............................................................................................93 5.2.6 凸轮缩放的模式...............................................................................................................95 5.2.7 从文件装载凸轮表...........................................................................................................97 5.2.8 修改凸轮表的关键点.......................................................................................................98 5.3 收放卷及张力控制 ..............................................................................................................99 5.3.1 功能块...............................................................................................................................99 5.3.2 张力控制的原理框图.....................................................................................................100 5.4 万能飞锯 ............................................................................................................................102 5.4.1. Interfaces 接口 ...............................................................................................................103 5.4.2. 速度同步.........................................................................................................................103 5.4.3. 位置同步.........................................................................................................................104 5.4.4. 在 PLC 程序中实现飞锯功能........................................................................................104 5.4.5. 同步模式.........................................................................................................................107 5.4.6. 飞锯同步特征值 FlyingSawCharacValues.....................................................................108 5.5 TwinCAT NC Fifo...............................................................................................................110 5.5.1 配置 TwinCAT NC Fifo 组.............................................................................................110 5.5.2 Fifo 控制的 PLC 程序....................................................................................................112 6 TwinCAT NC 控制 AX5000.................................................................................................114 6.1 AX5000 功能介绍..............................................................................................................114 6.2 AX5000 接线说明..............................................................................................................115 6.3 在 System Manager 中配置和调试 AX5000.....................................................................115 6.3.1 安装 AX5000 配置工具 .................................................................................................115 6.3.2 更新 Firmware ................................................................................................................115 6.3.3 Drive Manager 界面介绍................................................................................................116 6.3.4 扫描 AX5000 ..................................................................................................................118 6.3.5 配置 AX5000, ..............................................................................................................121 6.3.6 配置 TwinCAT NC 轴。.................................................................................................122 6.3.7 AX5000 的工作模式 OP Mode ......................................................................................125 6.3.8 AX5000 的 Process Data.................................................................................................127 6.4 从 PLC 程序中访问 AX5000 的参数 ...............................................................................127 6.5 从 PLC 程序控制 AX5000 硬件动作。............................................................................127 6.6 AX5000 的 PID 参数调整。 .............................................................................................128 6.6.1 准备工作.........................................................................................................................128 6.6.2 在 Scope View 中设置监视的变量................................................................................132 6.6.3 AX5000 速度环调节 ......................................................................................................133 6.6.4 AX5000 位置环调节 ......................................................................................................138 6.6.5 保存调试结果.................................................................................................................144 7 AX5000 带第三方电机.........................................................................................................145 7.1 第三方同步电机 ................................................................................................................145 7.1.1 准备电机文件.................................................................................................................145 7.1.2 扫描 AX5000 驱动器 .....................................................................................................146 7.1.3 选择电机类型.................................................................................................................147 TwinCAT NC PTP 实用教程 - 4 - 7.1.4 校正磁偏角.....................................................................................................................150 7.1.5 将磁偏角的校正结果手动输入 Startup List..................................................................151 7.1.6 检查磁偏角设置值与实际值的偏差.............................................................................154 7.1.7 导出电机参数文件(可选).........................................................................................155 7.2 同步电机调试中的其它注意事项(可选).....................................................................156 7.2.1 接线.................................................................................................................................156 7.2.2 如何确定编码器极数? ...................................................................................................156 7.2.3 如何确定电机极对数? ...................................................................................................156 7.2.4 松开抱闸.........................................................................................................................157 7.2.5 编码器类型与磁偏角的关系.........................................................................................157 7.2.6 关于几种反馈类型.........................................................................................................157 7.2.7 编码器与电机的方向一致性.........................................................................................158 7.2.8 Commutation 的原理:.....................................................................................................158 7.2.9 直流母线电压和电压常数.............................................................................................158 7.3 第三方异步电机 ................................................................................................................159 8 TwinCAT NC 通过 KL2531/KL2541 端子模块控制步进电机 ..........................................167 8.1 KL2531/KL2541 功能介绍................................................................................................167 8.2 使用 TwinCAT NC 控制之前的准备工作 ........................................................................168 8.2.1 KL2531/KL2541 的接线 ................................................................................................168 8.2.2 参数设置.........................................................................................................................169 8.3 脱离 PLC 及 NC 测试硬件................................................................................................173 8.4 在 System Manager 中配置 KL2531/3541 类型的轴 .......................................................174 8.4.1 TwinCAT NC Axis 设置..................................................................................................174 8.5 使用 TwinCAT NC 控制步进电机轴 ................................................................................179 8.6 从 PLC 程序访问 KL2531/3541 的参数...........................................................................179 8.6.1 KL2531/KL2541 的 Process Data...................................................................................179 8.6.2 功能块 FB_RegisterComKL25xx...................................................................................179 8.7 专用功能块 MC_PowerStepper.........................................................................................180 9 第三方驱动:经脉冲输出模块 KL2521..............................................................................182 9.1 KL2521 功能介绍..............................................................................................................182 9.2 硬件准备 ............................................................................................................................182 9.3 KL2521 参数设置..............................................................................................................183 9.4 驱动器参数设置 ................................................................................................................184 9.5 调节驱动器的速度环 PID .................................................................................................184 9.6 在 System Manager 中配置 KL2521 类型的轴 ................................................................185 9.6.1 编码器设置.....................................................................................................................185 9.6.2 驱动器设置.....................................................................................................................185 9.6.3 NC 轴参数设置 ..............................................................................................................186 9.7 使用 TwinCAT NC 通过脉冲输出模块控制第三方伺服.................................................186 9.8 KL2521 的参数化..............................................................................................................186 10 第三方驱动:CanOpen(DS402)......................................................................................187 10.1 CanOpen(DS402)介绍........................................................................................................187 10.2 硬件准备 ............................................................................................................................187 10.3 驱动器参数设置 ................................................................................................................187 TwinCAT NC PTP 实用教程 - 5 - 10.4 在 System Manager 中配置 CanOpen(DS402)类型的轴..................................................189 10.4.1 轴的类型设置.................................................................................................................189 10.4.2 扫描或添加 CanOpen 主站及从站. ...............................................................................190 10.4.3 PDO 参数设置................................................................................................................190 10.4.4 TwinCAT NC 参数设置..................................................................................................193 10.5 CanOpen(DS402)型驱动器的参数化................................................................................197 10.5.1 CanOpen 驱动器的参数化.............................................................................................197 10.5.2 CanOpen Over EtherCAT 驱动器的参数化...................................................................198 11 第三方驱动:经模拟量输出模块........................................................................................199 11.1 硬件要求 ............................................................................................................................199 11.2 驱动器参数设置 ................................................................................................................199 11.3 在 System Manager 中配置和调试....................................................................................200 11.4 调节驱动器的速度环 PID .................................................................................................203 11.5 使用 TwinCAT NC 通过模拟量控制第三方伺服. ...........................................................203 12 编程软件................................................................................................................................204 12.1 准备工作 ............................................................................................................................204 12.2 安装 TwinCAT 软件...........................................................................................................204 12.3 编程 PC 与控制器的连接..................................................................................................209 12.4 用 TwinCAT 开发第一个项目...........................................................................................214 12.5 调试画面 TwinCAT HMI ...................................................................................................221 文本和图形...................................................................................................................................222 按钮(Button)............................................................................................................................224 数组的显示...................................................................................................................................224
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