TwinCST NC PTP 实用教程

【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 
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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 
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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 
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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 
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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