Difference between revisions of "PIPEMODE/zh-hans"

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== PIPEMODE ==
 
== PIPEMODE ==
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The softMC controller can be used as a pure Motion-Bus interface card between your application and drives (PIPEMODE feature). The host computer controls all of what normally occurs in the motion module of the softMC . It must send a real-time stream of data through the softMC to the drives. In this case, the softMC functions as a data pipe. The feature is enhanced by the option of flexibly switching between pipe mode and regular mode. In typical applications, the softMC starts in regular mode where homing, jogging and initial position adjustments are made. After that, the softMC can be switched to pipe mode and the host computer takes control. There can be both softMC -controlled and pipe-controlled axes at same time in the system. Following error and velocity over-speed errors are not checked with piped axes, but by the host.
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softMC控制器可用作应用程序和驱动器之间的纯运动总线接口卡（PIPEMODE功能）。主机控制softMC运动模块中通常发生的所有内容。它必须通过softMC将实时数据流发送到驱动器。在这种情况下，softMC作为数据通道。通过在通道模式和常规模式之间灵活切换的选项来增强功能。在典型的应用中，softMC以常规模式启动，进行回零，点动和初始位置调整，之后，可以将softMC切换到通道模式，主机进行控制。在系统中可以同时使用softMC控制和通道道控制的轴。跟随误差和速度超速错误不使用通道轴检查，而是由主机检查。
  
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An external profiler path can be designed and fed to the softMC  point-by-point. The controller functions only as a pipe and is not responsible for the correctness of the applied profiler. No system limits are checked except for position error and feedback velocity limitation. While running under this mode, no other movements are allowed.
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外部轨迹路径可以被设计为逐点反馈到softMC。 控制器仅用作通道，不对应用的分析器的正确性负责。 除了位置误差和反馈速度限制外，不检查系统限制。 在此模式下运行时，不允许其他动作。
  
  
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HostDouble数据接口可以使用[[MC-Basic:SYSTEM.PIPEMODE|'''SYS.PIPEMODE''']]在四种通信协议之一进行配置: <br>
  
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The HostDouble data interface can be configured in one of four communication protocols using [[MC-Basic:SYSTEM.PIPEMODE|'''SYS.PIPEMODE''']]: <br>
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* 1 – 发送位置命令
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* 2 – 发送位置和速度命令
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* 3 - 只发送速度命令
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* 4 - 只发送转矩指令(TCMD)
  
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* 1 – sending position command only
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当系统的通道模式仅使用位置命令时，控制器计算当前速度。
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* 2 – sending both position and velocity commands
 
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* 3 - sending only velocity commands
 
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* 4 - sending only torque commands (TCMD)
 
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When the system's pipe mode uses only position commands, the controller computes the current velocity.
 
  
 
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Depending on the pipe mode configuration, the controller limits the number of axes that can be operated in this mode. When system uses only position command, eight (8) axes can operate. When using both position and velocity values, only four (4) axes can operate.
 
Depending on the pipe mode configuration, the controller limits the number of axes that can be operated in this mode. When system uses only position command, eight (8) axes can operate. When using both position and velocity values, only four (4) axes can operate.
 
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=== Data Structure ===
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=== 数据结构 ===
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The host CPU passes position , velocity  and torque commands commands via a data containers. User's API maps the data to [[MC-Basic:SYSTEM.HOSTDOUBLE|'''SYS.HOSTDOUBLE''']] to external source (usually TCP/IP). The Motion-Bus operation mode of every drive connected to an axis working in Pipe Mode must be configured (Position/Velocity/Torque).
 
  
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主机CPU通过数据容器传送位置，速度和扭矩命令命令。用户的API将数据映射到[[MC-Basic:SYSTEM.HOSTDOUBLE|'''SYS.HOSTDOUBLE''']]到外部源（通常是TCP / IP）。在通道模式下，必须配置连接到工作轴的每个驱动器的运动总线运行模式（位置/速度/转矩）。
  
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The data structure mapping depends on the '''PIPEMODE''' state:
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数据结构映射取决于'''PIPEMODE'''状态:
  
 
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Every sample, the controller sends the operation mode to the drive. Without any dependency at the drive’s operation mode, the controller sends the position and velocity commands to the drive.
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每个样本，控制器将操作模式发送到驱动器。 驱动器的运行模式没有任何依赖关系，控制器将位置和速度命令发送到驱动器。
 
<pre>
 
<pre>
 
Program
 
Program

Latest revision as of 06:58, 14 July 2017

语言: English  • 中文（简体）‎

PIPEMODE

softMC控制器可用作应用程序和驱动器之间的纯运动总线接口卡（PIPEMODE功能）。主机控制softMC运动模块中通常发生的所有内容。它必须通过softMC将实时数据流发送到驱动器。在这种情况下，softMC作为数据通道。通过在通道模式和常规模式之间灵活切换的选项来增强功能。在典型的应用中，softMC以常规模式启动，进行回零，点动和初始位置调整，之后，可以将softMC切换到通道模式，主机进行控制。在系统中可以同时使用softMC控制和通道道控制的轴。跟随误差和速度超速错误不使用通道轴检查，而是由主机检查。

外部轨迹路径可以被设计为逐点反馈到softMC。 控制器仅用作通道，不对应用的分析器的正确性负责。 除了位置误差和反馈速度限制外，不检查系统限制。 在此模式下运行时，不允许其他动作。


HostDouble数据接口可以使用SYS.PIPEMODE在四种通信协议之一进行配置:

  • 1 – 发送位置命令
  • 2 – 发送位置和速度命令
  • 3 - 只发送速度命令
  • 4 - 只发送转矩指令(TCMD)

当系统的通道模式仅使用位置命令时，控制器计算当前速度。


数据结构

主机CPU通过数据容器传送位置，速度和扭矩命令命令。用户的API将数据映射到SYS.HOSTDOUBLE到外部源（通常是TCP / IP）。在通道模式下，必须配置连接到工作轴的每个驱动器的运动总线运行模式（位置/速度/转矩）。

数据结构映射取决于PIPEMODE状态:

MC variables
SYSTEM.PIPEMODE
Position (1) Position and Velocity (2)
Velocity (3)
Torq (2)
Sys.HostDouble[1]
A1.PCMD
A1.PCMD
A1.PCMD
A1.PCMD
Sys.HostDouble[2]
A2.PCMD
A1.VCMD
A2.PCMD
A2.PCMD
Sys.HostDouble[3]
A3.PCMD
A2.PCMD
A3.PCMD
A3.PCMD
Sys.HostDouble[4]
A4.PCMD
A2.VCMD
A4.PCMD
A4.PCMD
Sys.HostDouble[5]
A5.PCMD
A3.PCMD
A5.PCMD
A5.PCMD
Sys.HostDouble[6]
A6.PCMD
A3.VCMD
A6.PCMD
A6.PCMD
Sys.HostDouble[7]
A7.PCMD
A4.PCMD
A7.PCMD
A7.PCMD
Sys.HostDouble[8]
A8.PCMD
A4.VCMD
A8.PCMD
A8.PCMD
Sys.HostDouble[9]
A9.PCMD
A5.VCMD
A9.PCMD
A9.PCMD
. . . . .
Sys.HostDouble[128]
A128.PCMD
A64.VCMD
A128.PCMD
A128.PCMD


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