IB STME 24 AI 4SF-2754383模块备件

IB STME 24 AI 4SF-2754383

PA 70004000设置所需的对位置
背景X开始X运动
BG Y开始Y运动
两个运动完成后，可以命令X轴和Y轴归零：
PA 0,0移动到0,0
BG XY启动两个动作
示例7-速度控制
目标：以指定速度驱动X和Y电机。
指令解释
JG 10000，-20000设定点动速度和方向
AC 100000，40000组加速
DC 5000050000组减速
BG XY起始运动
几秒钟后，命令：
JG-40000新X速度和方向
电视X以X速度返回
然后
JG，20000新Y速度
电视Y以Y速度返回
这些导致速度变化，包括方向反转。该运动可通过以下方式停止：
指示
一站
示例8-扭矩限制下的操作
马达命令的大小可以独立地由指令TL限制。
指令解释
TL 0.2将X轴的输出限制设置为0.2伏
JG 10000套X速
背景X开始X运动
在此示例中，X电机可能不会移动，因为输出信号不足以：
克服摩擦。如果运动开始，可以通过手指的触摸轻松停止。
注：响应由放大器的增益决定
通过以下说明逐渐增加扭矩水平：
指令解释
TL 1.0将扭矩限制增加到1伏。
TL 9.98将扭矩限制增加到大值9.98伏。
9.998伏的大电压水平提供全输出扭矩。
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DMC-18x22章入门•25
例9-审讯
可以询问参数的值。一些例子…
指令解释
金伯利进程？X轴的返回增益。
KP，，？Z轴的返回增益。
KP？，？，？，？返回所有轴的增益。
许多其他参数，如KI、KD、FA，也可以查询。命令参考表示
所有可以查询的命令。
示例10-缓冲模式下的操作
指令可以在执行之前缓冲，如下所示。
指令解释
PR 600000距离
SP 10000速度
WT 10000在读取下一条指令之前等待10000毫秒
BG X开始运动
示例11-使用机载编辑器
运动程序可以被编辑并存储在控制器存储器中。它们可以稍后执行
时间如果在三窗格视图中打开智能终端，则可以输入、编辑和编辑程序
从右侧的窗口下载。编辑器窗口中有一个文件和编辑菜单
窗玻璃上传或下载选项可在文件菜单中找到。
指令解释
#定义标签
PR 700距离
SP 2000速度
BGX开始X运动
End程序
通过从文件菜单中选择下载，可以将该程序下载到控制器。一旦
完成后，关闭编辑器。现在可以使用该命令执行该程序
XQ#A启动程序运行
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26● 2章DMC-18x2的入门
示例12-带循环的运动程序
运动程序可以包括条件跳跃，如下所示。
指令解释
#标签
DP 0将当前位置定义为零
V1=1000设置V1的初始值
#循环的循环标签
PA V1移动X电机V1计数
背景X开始X运动
完成X运动后的AM X
WT 500等待500毫秒
TP X告诉位置X
V1=V1+1000增加V1的值
在JP#循环中，V1＜10001，如果V1＜1000，则重复
后
输入上述程序并下载到控制器后，使用
命令：
XQ#A执行程序
示例13-具有三点的运动程序
运动程序可包括三点，如下所示。
指令解释
#B标签
DP 0,0定义初始位置
PR 300006000设定目标
SP 50005000设定速度
BGX开始X运动
AD 4000等待X移动到4000
BGY开始Y运动
AP 6000等待位置X=6000
SP 200050000更改速度
AP，50000，等待位置Y=50000
SP，10000 Y的变化速度
End程序
要启动程序，请执行以下命令：
XQ#B

IB STME 24 AI 4SF-2754383

IB STME 24 AI 4SF-2754383

PA 7000,4000 Sets the desired absolute positions BG X Start X motion BG Y Start Y motion After both motions are complete, the X and Y axes can be command back to zero: PA 0,0 Move to 0,0 BG XY Start both motions Example 7 - Velocity Control Objective: Drive the X and Y motors at specified speeds. Instruction Interpretation JG 10000,-20000 Set Jog Speeds and Directions AC 100000, 40000 Set accelerations DC 50000,50000 Set decelerations BG XY Start motion after a few seconds, command: JG -40000 New X speed and Direction TV X Returns X speed and then JG ,20000 New Y speed TV Y Returns Y speed These cause velocity changes including direction reversal. The motion can be stopped with the instruction ST Stop Example 8 - Operation Under Torque Limit The magnitude of the motor command may be limited independently by the instruction TL. Instruction Interpretation TL 0.2 Set output limit of X axis to 0.2 volts JG 10000 Set X speed BG X Start X motion In this example, the X motor will probably not move since the output signal will not be sufficient to overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger. Note: Response is determined by the gain of the amplifier Increase the torque level gradually by instructions such as Instruction Interpretation TL 1.0 Increase torque limit to 1 volt. TL 9.98 Increase torque limit to maximum, 9.98 Volts. The maximum level of 9.998 volts provides the full output torque. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com DMC-18x2 Chapter 2 Getting Started • 25 Example 9 - Interrogation The values of the parameters may be interrogated. Some examples … Instruction Interpretation KP ? Return gain of X axis. KP ,,? Return gain of Z axis. KP ?,?,?,? Return gains of all axes. Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes all commands that can be interrogated. Example 10 - Operation in the Buffer Mode The instructions may be buffered before execution as shown below. Instruction Interpretation PR 600000 Distance SP 10000 Speed WT 10000 Wait 10000 milliseconds before reading the next instruction BG X Start the motion Example 11 - Using the On-Board Editor Motion programs may be edited and stored in the controller memory. They may be executed at a later time. If the Smart Terminal is opened in the 3-pane view, then programs can be entered, edited and downloaded from the window on the right side. The editor window has a file and edit menu within the pane. The upload or download options are found in the file menu. Instruction Interpretation #A Define label PR 700 Distance SP 2000 Speed BGX Start X motion EN End program This program can be downloaded to the controller by selecting Download from the File menu. Once this is done, close the editor. Now the program may be executed with the command XQ #A Start the program running Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 26 ● Chapter 2 Getting Started DMC-18x2 Example 12 - Motion Programs with Loops Motion programs may include conditional jumps as shown below. Instruction Interpretation #A Label DP 0 Define current position as zero V1=1000 Set initial value of V1 #LOOP Label for loop PA V1 Move X motor V1 counts BG X Start X motion AM X After X motion is complete WT 500 Wait 500 ms TP X Tell position X V1=V1+1000 Increase the value of V1 JP #LOOP,V1<10001 Repeat if V1<10001 EN End After the above program is entered and downloaded to the controller, start the motion with the command: XQ #A Execute Program #A Example 13 - Motion Programs with Trippoints The motion programs may include trippoints as shown below. Instruction Interpretation #B Label DP 0,0 Define initial positions PR 30000,60000 Set targets SP 5000,5000 Set speeds BGX Start X motion AD 4000 Wait until X moved 4000 BGY Start Y motion AP 6000 Wait until position X=6000 SP 2000,50000 Change speeds AP ,50000 Wait until position Y=50000 SP ,10000 Change speed of Y EN End program To start the program, command: XQ #B