Difference between revisions of "OperationalModes/zh-hans"

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TORQUE <axis>  tfinal
 
TORQUE <axis>  tfinal
 
</pre>
 
</pre>
−
* This command interpolate the tcmd from its initial value to the given tfinal according to the profile parameters defined.
+
* 该命令根据定义的配置文件参数将tcmd从其初始值插入给定的tfinal
−
* 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).
+
* 如果在POSITIONMODE或VELOCITYMODE中发出TORQUE命令，则会抛出一个注释，并且TORQUE命令将像通常一样内插TCMD(可能没有任何效果 - 因为驱动器不在TORQUEMODE中).
  
−
== Stopping ==
+
== 停止 ==
  
−
* 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.
+
* TORQUEMODE模式下的STOP命令将会'''''将驱动器opmode强制切换为VELOCTYMODE'''''产生从当前VFB值到zero的减速曲线。对于用户输入的停止命令和系统生成的停止命令，将执行相同的行为，如：speed-over speed error，tcmd> tmax，te> temax。
  
−
* New command [[MC-Basic:HOLD|HOLD <''axis''>]] will cause axis to stop interpolating torque. New property [[MC-Basic:axis.HOLDTYPE|<''axis''>.HoldType]] will give the user option to select between keeping the stopped [[MC-Basic:axis.TORQUECOMMAND|TCMD]] value or reducing it to zero. In bot cases the original TORQUEMODE will be not changed.
+
* 新命令[[MC-Basic:HOLD|HOLD <''axis''>]] 将导致轴停止内插转矩。 新属性[[MC-Basic:axis.HOLDTYPE|<''axis''>.HoldType]]给用户选项保持停止的[[MC-Basic:axis.TORQUECOMMAND|TCMD]]值或将其减少为零。在机器人案例中，原始的TORQUEMODE将不会更改。
  
 
<pre>
 
<pre>
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|'''Mode:''' || <center>'''Stop'''</center> || <center>'''Hold'''</center>
 
|'''Mode:''' || <center>'''Stop'''</center> || <center>'''Hold'''</center>
 
|-
 
|-
−
|'''Position''' || <center>Regular</center>In case the torque command is executing at that time it will be aborted (immediately) and the TCMD left at the current value.  || <center>calls STOP</center><br> HoldType value ignored!
+
|'''Position''' || <center>规则</center>如果在此时执行转矩指令，将立即中止（立即），并将TCMD保留在当前值。 || <center>调用STOP</center><br> 忽略HoldType值！
 
|-
 
|-
−
|'''Velocity''' || <center>Regular</center>In case the torque command is executing at that time it will be aborted (immediately) and the TCMD left at the current value.  || <center>calls STOP</center><br> HoldType value ignored!
+
|'''Velocity''' || <center>规则</center>如果在此时执行转矩指令，将立即中止（立即），并将TCMD保留在当前值。|| <center>调用 STOP</center><br> HoldType value ignored!
 
|-
 
|-
−
|'''Torque'''||first switches into velocityMode with vcmd = vfb <br> 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<br> HoldTyepe = 1 immediately(no profile) brakes TORQUE command and keeps tha last value of  TCMD
+
|'''Torque'''||首先使用vcmd = vfb切换到velocityMode <br> 然后根据给定的StopType从vcmd到0执行运动曲线文件 || HoldTyepe = 0 立即（无曲线）制动TORQUE命令并设置TCMD = 0<br> HoldTyepe = 1 立即（无曲线）制动TORQUE命令并保持TCMD的最后一个值。
 
|}
 
|}
  
−
==Limitations and Side Effects==
+
==限制和反作用==
  
−
*Opmode changes are allowed in disabled drive state only.<br>
+
*仅在驱动器下使能状态下允许进行更改。<br>
  
  
−
*If an axis belongs to a group its opmode can not be changed separately.This means:<br>
+
*如果一个轴属于某个组，则其工作模式不能单独更改:<br>
−
# opmode change is not allowed if an axis belongs to an attached group <br>
+
# 如果轴属于所关联的组，则不允许进行opmode更改 <br>
−
# '''a group can not be attached (implicitly or explicitly) if it consist of axes with different opmodes.'''<br>
+
# '''如果组由具有不同工作模式的轴组成，则组不能关联（隐式或显式地）。'''<br>
  
  
−
*MOVE <''axis''> and JOG <''axis''> commands are producing [[MC-Basic:axis.POSITIONCOMMAND|PCMD]],[[MC-Basic:axis.VELOCITYCOMMAND|VCMD]]and [[MC-Basic:axis.TORQUEADDCOMMAND|TADDCMD]] (if DynamicModel is turned on). The TCMD value during these types of motion remains unchanged.<br>
+
*MOVE <''axis''> and JOG <''axis''>命令产生[[MC-Basic:axis.POSITIONCOMMAND|PCMD]],[[MC-Basic:axis.VELOCITYCOMMAND|VCMD]]和[[MC-Basic:axis.TORQUEADDCOMMAND|TADDCMD]] （如果DynamicModel打开）。 这些运动类型的TCMD值保持不变。<br>
  
  

Revision as of 10:03, 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
  • 该命令根据定义的配置文件参数将tcmd从其初始值插入给定的tfinal
  • 如果在POSITIONMODE或VELOCITYMODE中发出TORQUE命令，则会抛出一个注释，并且TORQUE命令将像通常一样内插TCMD(可能没有任何效果 - 因为驱动器不在TORQUEMODE中).

停止

  • TORQUEMODE模式下的STOP命令将会将驱动器opmode强制切换为VELOCTYMODE产生从当前VFB值到zero的减速曲线。对于用户输入的停止命令和系统生成的停止命令，将执行相同的行为，如：speed-over speed error，tcmd> tmax，te> temax。
  • 新命令HOLD <axis> 将导致轴停止内插转矩。 新属性<axis>.HoldType给用户选项保持停止的TCMD值或将其减少为零。在机器人案例中，原始的TORQUEMODE将不会更改。
HOLD <axis> {HoldType = <value>}


Mode:
Stop
Hold
Position
规则
如果在此时执行转矩指令，将立即中止（立即），并将TCMD保留在当前值。
调用STOP

忽略HoldType值！
Velocity
规则
如果在此时执行转矩指令，将立即中止（立即），并将TCMD保留在当前值。
调用 STOP

HoldType value ignored!
Torque 首先使用vcmd = vfb切换到velocityMode
然后根据给定的StopType从vcmd到0执行运动曲线文件 		HoldTyepe = 0 立即（无曲线）制动TORQUE命令并设置TCMD = 0
HoldTyepe = 1 立即（无曲线）制动TORQUE命令并保持TCMD的最后一个值。

限制和反作用

  • 仅在驱动器下使能状态下允许进行更改。


  • 如果一个轴属于某个组，则其工作模式不能单独更改:
  1. 如果轴属于所关联的组，则不允许进行opmode更改
  2. 如果组由具有不同工作模式的轴组成，则组不能关联（隐式或显式地）。


  • MOVE <axis> and JOG <axis>命令产生PCMD,VCMD和TADDCMD （如果DynamicModel打开）。 这些运动类型的TCMD值保持不变。


  • [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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