Difference between revisions of "OperationalModes/zh-hans"

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(Created page with "{{Languages}} == Selecting Drive Operation Modes == User selects the operation-mode using the OpMode command.<br> <pre> <''axis''>.OpMode = {POSITIONMODE|VELOCITYMODE|TORQUEM...")
 
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{{Languages}}
 
{{Languages}}
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== Selecting Drive Operation Modes ==
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== 选择驱动器工作模式 ==
  
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User selects the operation-mode using the OpMode command.<br>
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用户使用OpMode命令选择工作模式.<br>
 
<pre>
 
<pre>
 
<''axis''>.OpMode = {POSITIONMODE|VELOCITYMODE|TORQUEMODE}  
 
<''axis''>.OpMode = {POSITIONMODE|VELOCITYMODE|TORQUEMODE}  
 
</pre>
 
</pre>
 
<br>
 
<br>
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Command will change the drive  (and axis!) opmode to the given value using the opmode bits of the SERCOS drive status word.
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命令将使用SERCOS驱动器状态字的opmode位将驱动器（和轴！）opmode更改为给定值。
  
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* Default state is POSITIONMODE (as today). All the standard deviation thresholds are checked: '''pe < pemax''','''vfb < vospd''', '''te < terrmax''', '''acmd < amax''' and '''[[MC-Basic:axis.TORQUECOMMAND|tcmd]] < tmax'''.
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* 默认状态为POSITIONMODE（如今）。 检查所有标准偏差阈值: '''pe < pemax''','''vfb < vospd''', '''te < terrmax''', '''acmd < amax''' and '''[[MC-Basic:axis.TORQUECOMMAND|tcmd]] < tmax'''.
  
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* In VELOCITYMODE  axis will '''NOT''' check '''position-error''', but will check:  '''vfb < vospd''', '''te < terrmax''', '''acmd < amax''' and '''tcmd < tmax'''.
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* 在VELOCITYMODE轴 '''不会''' 检查'''position-error''', 但会检查:  '''vfb < vospd''', '''te < terrmax''', '''acmd < amax''' and '''tcmd < tmax'''.
  
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* In TORQUEMODE  axis will '''NOT''' check '''position-error''' or acceleration max, but will check: '''vfb < vospd''', '''te < terrmax''' and '''[[MC-Basic:axis.TORQUECOMMAND|tcmd]] < tmax'''.
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* 在TORQUEMODE轴'''不会'''检查 '''position-error''' 或 最大加速度, 但会检查: '''vfb < vospd''', '''te < terrmax''' and '''[[MC-Basic:axis.TORQUECOMMAND|tcmd]] < tmax'''.
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* In '''Master-Slave''' - if the master or the slave is in TORQUEMODE or VELOCITYMODE - [[MC-Basic:axis.SLAVEDEVIATION|SLAVEDEVIATION ]] value is '''NOT''' checked.
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* 在'''Master-Slave''' - 如果主轴或从轴为TORQUEMODE或 VELOCITYMODE - [[MC-Basic:axis.SLAVEDEVIATION|SLAVEDEVIATION ]]值'''不会''' 被检查。
  
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==Torque Interpolation==
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==扭矩插值==
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New torque interpolation command will be implemented:
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将实施新的转矩插补指令:
 
<pre>
 
<pre>
 
TORQUE <axis>  tfinal
 
TORQUE <axis>  tfinal

Revision as of 09:29, 12 May 2017

语言: [[::OperationalModes|English]]  • [[::OperationalModes/zh-hans|中文（简体）‎]]

选择驱动器工作模式

用户使用OpMode命令选择工作模式.

<''axis''>.OpMode = {POSITIONMODE|VELOCITYMODE|TORQUEMODE}


命令将使用SERCOS驱动器状态字的opmode位将驱动器（和轴！）opmode更改为给定值。

  • 默认状态为POSITIONMODE（如今）。 检查所有标准偏差阈值: pe < pemax,vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.
  • 在VELOCITYMODE轴 不会 检查position-error, 但会检查: vfb < vospd, te < terrmax, acmd < amax and tcmd < tmax.
  • 在TORQUEMODE轴不会检查 position-error 或 最大加速度, 但会检查: vfb < vospd, te < terrmax and tcmd < tmax.
  • 在Master-Slave - 如果主轴或从轴为TORQUEMODE或 VELOCITYMODE - SLAVEDEVIATION 值不会 被检查。

扭矩插值

将实施新的转矩插补指令: 

TORQUE <axis>  tfinal
  • This command interpolate the tcmd from its initial value to the given tfinal according to the profile parameters defined.
  • In case TORQUE command is issued in POSITIONMODE or in VELOCITYMODE a note will be thrown and the TORQUE command will continue as usual interpolating TCMD (with probably no effects - as the drive is not in TORQUEMODE).

Stopping

  • STOP command in TORQUEMODE mode will forcibly switch drive opmode to VELOCTYMODE producing the deceleration profile from the current VFB value t zero. The same behavior will be implemend for both user-entred stop command and the system-generated stop commands like: velocity-over speed error, tcmd > tmax, te>temax.
  • New command HOLD <axis> will cause axis to stop interpolating torque. New property <axis>.HoldType will give the user option to select between keeping the stopped TCMD value or reducing it to zero. In bot cases the original TORQUEMODE will be not changed.
HOLD <axis> {HoldType = <value>}


Mode:
Stop
Hold
Position
Regular
In case the torque command is executing at that time it will be aborted (immediately) and the TCMD left at the current value.
calls STOP

HoldType value ignored!
Velocity
Regular
In case the torque command is executing at that time it will be aborted (immediately) and the TCMD left at the current value.
calls STOP

HoldType value ignored!
Torque first switches into velocityMode with vcmd = vfb
then executes motion profile from the vcmd to 0 according the given StopType 		HoldTyepe = 0 immediately(no profile) brakes TORQUE command and sets TCMD = 0
HoldTyepe = 1 immediately(no profile) brakes TORQUE command and keeps tha last value of TCMD

Limitations and Side Effects

  • Opmode changes are allowed in disabled drive state only.


  • If an axis belongs to a group its opmode can not be changed separately.This means:
  1. opmode change is not allowed if an axis belongs to an attached group
  2. a group can not be attached (implicitly or explicitly) if it consist of axes with different opmodes.


  • MOVE <axis> and JOG <axis> commands are producing PCMD,VCMDand TADDCMD (if DynamicModel is turned on). The TCMD value during these types of motion remains unchanged.


  • [MC-Basic:TORQUE|TORQUE <axis>]] command is affecting PCMD, VCMD, TADDCMD values of the axis (their values are kept unchanged).Only the TCMD is interpolated.


  • It is assumed that the drive adds the TCMD(IDN80) and TADDCMD(IDN81) in all OPMODEs. In case it is not so <axis>.SumTorque=1 will cause the value of TADDCMD to be added to TCMD:
TCMD = TCMD + TADDCMD


  • TORQUEMODE of an axis is not influencing camming/gearing operation.
The interpolated torque values of a master axis will be NOT transferred to slave axes.
Slave that is in TORQUEMODE continues to be slaved affecting only its PCMD and VCMD values.

See Also

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