Program Examples:Group Blending/zh-hans
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这里是使用混合运动的一个例子。我们有一个模拟XY平台运动矩形轨迹。运动是用不同的blendFactor完成的:0/1/2
config.prg:
'------------------------------------------------------------------------------
' File: CONFIG.PRG
' Purpose: simulated XY configuration file
' Version: 1.00
' Author: Eran Korkidi
' Description:
'------------------------------------------------------------------------------
Sys.NumberAxes = 14
common shared XYtable as group Axnm=a1 Axnm=a2 Model=1 'of xy
common shared xSimulatedSystem as long = 1
common shared xRealSystem as long = 0
common shared xActualSystem as long = 0 ' 1 = simulated , 0 = real
common shared dVelocityLimit as double
common shared dDrivePeMax as double
common shared dSec2msec as double = 1000
common shared num_Of_Motion_Drives as long =0
program
Load ETHERCAT.LIB
Load EC_USER.LIB
Load EC_CDHD.LIB
Load ECX_DIO8.LIB
Load EC_AI8ME.LIB
Load CPX_FB38.LIB
Load EC_HCNC.LIB
Load EK1100.LIB
Load TP_PARAM.LIB
Load TP_SIM.LIB
Load TP.LIB
A7.AxisName = CONV
sys.DoubleFormat = 1
sys.NoMotion = 1
Sys.Name = "Train_2_XY"
Print "MC is running: " Sys.Name
end program
autoexec.prg:
'------------------------------------------------------------------------------
' File: AUTOEXEC.PRG
' Purpose: autoexec for XYportal
' Version: 1.00
' Author: Eran Korkidi
' Description:
' History: Created: 30.NOV.2015
'------------------------------------------------------------------------------
common shared xDoneAxSetupPrg as long = 0
common shared xDoneGroupPrg as long = 0
common shared xDoneConvPrg as long = 0
program continue
if xActualSystem = xRealSystem then
Load EC_SETUP.PRG
Stas EC_SETUP.PRG
while EC_SETUP.PRG.State <> 10
Sleep 10
end while
Unload EC_SETUP.PRG
end if
Load XY_setup.PRG
Stas XY_setup.PRG
while (NOT xDoneGroupPrg)
Sleep 1
end while
call TP_INIT
terminate program
XY_SETUP.PRG:
'-----------------------------------------------------------------------
' Program: SetupGantry.prg
' Author: Eran Korkidi
' Description: system setup - GANTRY XYZ
' History: 14.APR.2015 Eran Korkidi created
'-----------------------------------------------------------------------
'
dim shared myprf as long = -1
dim shared gearRat_X as double = 1.0
dim shared gearRat_Y as double = 1.0
dim shared dAccCurrnetFactor as double
dim shared dJointVelFactor as double
dim shared dRobotVelFactor as double
dim shared lElementID as double
dim shared Jvmax as double = 360.0
dim shared AccVratio as double = 30.0
dim shared axisPitch[2] as double
program
dim omega as double = 10.0
dim i as long
dim k as long
call setupInit
if xActualSystem = xSimulatedSystem then
for i = 1 to 2
systemAxis(i).Simulated = TRUE
systemAxis(i).Dadd = i
Pos_Units[i] = 360000
next
else
for i = 1 to 2
if NOT systemAxis(i).Dadd then
systemAxis(i).Simulated = TRUE
systemAxis(i).Dadd = i
end if
Pos_Units[i] = 360000/axisPitch[i]/360
next
end if
with XYtable
En = FALSE
while En
Sleep 10
end while
Attach
Vord = 100
Print "STX Gantry - geometric setup"
J1.MotionBusVelocityScale = 0
J1.MotionBusVelocityBase = 1000 ' counts per sec matches CDHD
J2.MotionBusVelocityScale = 0
J2.MotionBusVelocityBase = 1000 ' counts per sec matches CDHD
J1.Abs = TRUE
J2.Abs = TRUE
J1.axisType = 1
J2.axisType = 1
J1.Pfac = gearRat_X * Pos_Units[J1.Dadd]
J2.Pfac = gearRat_Y * Pos_Units[J2.Dadd]
J1.Vfac = J1.Pfac/1000
J2.Vfac = J2.Pfac/1000
J1.Afac = J1.Vfac/1000
J2.Afac = J2.Vfac/1000
J1.Jfac = J1.Afac/1000
J2.Jfac = J2.Afac/1000
J1.Direction = 1
J2.Direction = 1
J1.Disp = 0.0
J2.Disp = 0.0
J1.Vmax = Jvmax 'mm/sec ' TBD
J2.Vmax = Jvmax 'mm/sec ' TBD
J1.Vospd = 1.2 * J1.Vmax
J2.Vospd = 1.2 * J2.Vmax
J1.Vcruise = 0.5 * J1.Vmax
J2.Vcruise = 0.5 * J2.Vmax
J1.Amax = J1.Vmax * AccVratio
J2.Amax = J2.Vmax * AccVratio
J1.Dmax = J1.Amax
J2.Dmax = J2.Amax
J1.Acc = J1.Amax
J2.Acc = J2.Amax
J1.Dec = J1.Dmax
J2.Dec = J2.Dmax
J1.Jmax = omega * J1.Amax
J2.Jmax = omega * J2.Amax
J1.Jerk = J1.Jmax
J2.Jerk = J2.Jmax
J1.Smooth = -1
J2.Smooth = -1
J1.prftype = myprf
J2.prftype = myprf
A1.PMin = -1.0
A1.PMax = 400.0
J1.PMin = -1.0
J1.PMax = 400.0
A2.PMin = -1.0
A2.PMax = 400.0
J2.PMin = -1.0
J2.PMax = 400.0
J1.PmaxEn = TRUE
J2.PmaxEn = TRUE
J1.PminEn = TRUE
J2.PminEn = TRUE
J1.positionerrorsettle = 0.1
J2.positionerrorsettle = 0.1
J1.PeMax = 20 'mm
J2.PeMax = 20 'mm
PeMax = Sqrt(J1.PeMax^2 + J2.PeMax^2 ) ' follwing error in mm (envelope)
J1.PositionRollOverEnable=0
J2.PositionRollOverEnable=0
Smooth = -1
prftype = myprf
Vfac = 1/1000
Afac = Vfac/1000
Jfac = Afac/1000
Vmax = Jvmax
Amax = max(J1.Amax,J2.Amax)
Dmax = max(J1.Dmax,J2.Dmax)
Jmax = max(J1.Jmax,J2.Jmax)
J1.PositionErrorDelay = 5.07
J2.PositionErrorDelay = 5.07
for i = 1 to 2
for k = 1 to 2
if i = k then
cplg[i][k] = 1
else
cplg[i][k] = 0
end if
next
next
Coupled = 1
Abs = 1
ConfigGroup
Vcruise = 0.5 * Vmax
Acc = Amax
Dec = Dmax
Jmax = Omega * Amax
Jerk= Jmax
PositionErrorSettle = 0.025 ' 25um
Detach
end with
Print ""
Print "-------------------------"
Print "XY portal - setup is done"
Print "-------------------------"
Print ""
end program
function max(byval a as double, byval b as double ) as double
if a > b then
max = a
else
max = b
end if
end function
function min(byval a as double, byval b as double ) as double
if a < b then
min = a
else
min = b
end if
end function
sub setupInit
axisPitch[1] = 1
axisPitch[2] = 1
end sub
XY_Blend.PRG:
'------------------------------------------------------------------------------
' File: <MyTask>.prg
' Purpose: Just an example of a module header
' Version: 1.00
' Author: <MyFullName>
' Description:
' History: YYYY-MM-DD <MyShortCut> V1.00
' Created
'------------------------------------------------------------------------------
' module global "constants"
' module global variables
program
dim i as long
Attach XYTABLE
XYTABLE.En = 1
while NOT XYTABLE.En
Sleep 1
end while
call move1
call move2
Detach XYTABLE
end program ' <MyTask>.prg
sub move1
dim i as long
for i = 1 to 3
Move XYTABLE {300,300}
Move XYTABLE {0,0}
next
while XYTABLE.IsMoving
Sleep 1
end while
end sub
sub move2
XYTABLE.BlendingFactor = 80
XYTABLE.Cp = 20
Move XYTABLE {0,0}
while XYTABLE.IsMoving
Sleep 1
end while
XYTABLE.BlendingMethod = 0
Record blend_0.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
RecordOn
Move XYTABLE {0,100}
Move XYTABLE {100,100}
Move XYTABLE {100,0}
Move XYTABLE {0,0}
while XYTABLE.IsMoving
Sleep 1
end while
RecordClose
XYTABLE.BlendingMethod = 1
Record blend_1.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
RecordOn
Move XYTABLE {0,100}
Move XYTABLE {100,100}
Move XYTABLE {100,0}
Move XYTABLE {0,0}
while XYTABLE.IsMoving
Sleep 1
end while
RecordClose
XYTABLE.BlendingMethod = 2
Record blend_2.rec 10000 Gap = 1 RecData = A1.Pcmd, A2.Pcmd, A1.Vcmd, A2.Vcmd
RecordOn
Move XYTABLE {0,100}
Move XYTABLE {100,100}
Move XYTABLE {100,0}
Move XYTABLE {0,0}
while XYTABLE.IsMoving
Sleep 1
end while
RecordClose
end sub