GE PLC 课件DSM324i_1.pptVIP

内容： 1、典型运动控制系统结构Typical Motion Control System Diagram 1.1 运动控制系统的组成部分 — 反馈装置 1.2 运动控制系统的组成部分 — 执行器 1.3 运动控制系统的组成部分 — 放大器 1.4 运动控制系统的组成部分 —运动控制器 2、运动控制中常见术语 3、对运动控制模块 DSM324i基本功能的认识 3.1 运动控制模块 DSM324性能 3.2 DSM324面板布置 3.3 DSM324模块面板 － LED 指示灯 3.4 DSM324模块与 伺服及 I/O的连接 4、DSM324i工作原理（数字轴）… 5.1 DSM运动控制 －运动程序指令 5.1.1 PMOVE – 位置运动 5.1.2 CMOVE – 连续运动 综合运动 5.1.3 流向控制命令 举例：条件跳转 Conditional Jump 5.1.4 多轴运动程序中的同步处理 6、DSM324 模块参数的设置 6.1 基本参数配置 6.2 轴参数配置 6.2 轴参数配置 6.2 轴参数配置 6.2 轴参数配置 6.3 CPU 与 DSM 数据接口 6.4 自动传送数据定义 － ％I 状态位 Lab Exercise 1: ? ?Position Error Limit The Position Error Limit represents the maximum allowed following error Acts as an upper clamp on the velocity command, will halt integrator to avoid wind-up FF% affects following error, indirectly affecting Position error limit, set FF% first Pauses the path generator allowing the axis to catch up Set to 10-20% higher than the normal following error Position Loop Proportional Gain: KP A Proportional only system gain curve is exponential KP contributes 63% of the error correction per time constant A time constant in the DSM is 0.5-2 milliseconds based on configuration At least 3 time constants are needed to reduce 98% of the steady state error High load inertias will require de-tuning the position loop (high PosLoopTC) Velocity at MaxCmd (10V) Used for analog axis and DSM302 digital axis Scales the digital to analog converter channel so that the velocity command represents unity gain Assumes a linear, bi-directional system response with no hysterisis Must be reasonably close to system response to remain stable When not scaled properly gains KP and KI and FF% are offset Don’t guess, scale the position feedback and measure this value on the actual axis Changes to the velocity loop may require re-calibrating the Vel@MaxCMD ? ? ? ? 10: PMOVE AXIS1 20000, INCR, LINEAR 15: PMOVE AXIS2 25000, INCR, LINEAR CMOVE AXIS1 30000, INCR, LINEAR 20: SYNC PMOVE AXIS1 50000, INCR, LINEAR PMOVE