ACR9000 产品培训1.pptVIP

ACR9000产品培训 使能控制 ACR9000-only Drive Commands New commands added to support drive I/O DRIVE ON X Y(SET8465 : SET8497 ) 执行编码器错误检测(BIT2560，BIT2561，BIT2592,BIT2593) 自动对每个轴执行REN指令 开启使能输出(Enable Output)对驱动器使能 改变轴状态指示灯的颜色 Green = Enabled, Red = Faulted, Off = Disabled with no fault DRIVE OFF X Y(CLR8465 : CLR8497) 关闭控制器对驱动器的使能 DRIVE RES X Y 控制驱动器复位(Aries, Dynaserv G2, Gemini, E-AC) DRIVE X Y 显示当前使能的状态 ACR9000 Drive Enable 直接访问轴 直接访问坐标系 运动控制 运动控制 运动控制——累加点 联动，JOG运动，电子齿轮，电子凸轮运动及丝杠补偿功能可以同时完成 Master轨迹 Master 轨迹 运动轨迹 REM Jerk zero Trap profile ACC 100 DEC 100 VEL 10 STP 100 JRK 0 X4 运动轨迹 ACC 100 DEC 100 VEL 10 STP 100 REM Pure S-curve JRK 1000 X4 S曲线计算公式 JRK = (ACC**2)/ VEL 运动过程中调速 基础运动 Jogging——单轴运动 单轴运动轨迹 非插补运动 输入的数值单位为用户设置单位 (mm, inches, rev, etc.) scaled by PPU JOG ACC 设置JOG运动加速度 Units/second2 JOG DEC 设置JOG运动减速度 Units/second2 JOG VEL 设置JOG运动速度 Units/second Defaults are ZERO. Values used in Wizard will be ESAVEd on project download Code Samples JOG ACC X750 JOG DEC X750 JOG VEL X50 JOG VEL X50 Y100 -or- AXIS0 JOG VEL50 AXIS1 JOG VEL100 基础运动 JOG运动指令——连续运动 JOG FWD Jog Axis Forward 按照设置的JOG速度向正向连续运动 可以通过对Jog Forward位置位 JOG FWD X Y SET 796 : SET 828 JOG REV Jog Axis Reverse 按照设置的JOG速度向正向连续运动 可以通过对Jog Reverse位置位 JOG REV X Y SET 797 : SET 829 JOG OFF 停止JOG连续运动 JOG OFF X Y CLR 796 : CLR 828 基础运动 JOG运动指令——增量运动及绝对运动 JOG ABS Jog To Absolute Position JOG运动到某一绝对坐标位置 不依赖于某个坐标系 JOG INC Jog Axis Incremental JOG增量运动一段距离 不依赖于某个坐标系 JOG JRK Set Jog Jerk (S-curve) controls the slope of the acceleration versus time profile If jerk is zero, the acceleration profile is rectangular (linear acceleration). Jog moves are independent of Interpolated moves and use their own zero point and moves are considered OFFSETS 基础运动 ACR9000 Homing Example Homing Example with Boolean operation 杀死所有运动 Resetting Position Counters Command Position Control REN Match Position With Encoder Loads the command position register with the actua