外文翻譯--創(chuàng)建位控模塊程序

1、<p>　　2012 屆本科畢業(yè)設(shè)計(jì)(論文)外文</p><p><b>　　文獻(xiàn)翻譯</b></p><p>　　學(xué) 院： 物理與電子工程學(xué)院 </p><p>　　專 業(yè)： 電子信息工程 </p><p>　　姓 名：

2、 </p><p>　　學(xué) 號(hào)： </p><p>　　外文出處： S7-200新版英文手冊 </p><p>　　Creating a Program for the Position Module

3、 </p><p>　　附 件：1.外文資料翻譯譯文；2.外文原文。</p><p>　　附件1：外文資料翻譯譯文</p><p><b>　　創(chuàng)建位控模塊程序</b></p><p><b>　　1、位模塊的特性</b></p><p>　　1.1

4、位模塊可提供單貯軸、開環(huán)移動(dòng)控制所需的功能和性能</p><p>　?、偬峁└咚倏刂?，從每秒12個(gè)脈沖至每秒200,000個(gè)脈沖</p><p>　?、谥С旨蓖＃⊿曲線）或線性的加速，減速功能</p><p>　?、厶峁┛山M態(tài)的測量系統(tǒng)，既可以使用工程單位（如英寸或厘米）也可以使用脈沖數(shù)</p><p>　?、芴峁┛山M態(tài)的螺距誤差補(bǔ)償<

5、/p><p>　?、葜С纸^對(duì)、相對(duì)和手動(dòng)的位控方式</p><p><b>　?、尢峁┻B續(xù)操作</b></p><p>　?、咛峁┒噙_(dá)25組的移動(dòng)包絡(luò)，每組最多可有四種速度</p><p>　　⑧提供4種不同的參考點(diǎn)尋找模式，每種模式都可對(duì)起始的尋找方向和最終的接近方向進(jìn)行選擇</p><p>　?、?/p>

6、提供可拆卸的現(xiàn)場接線端子便于安裝和拆卸。</p><p><b>　　1.2位模塊編程</b></p><p>　　STEP7-MicroNVIN為位控模塊的組態(tài)和編程提供便捷的工具。遵循以下步驟即可：</p><p>　?、俳M態(tài)位控模塊。STEP7-MicroNVIN提供一個(gè)位控向?qū)?，可生成組態(tài)/包絡(luò)和位控指令。</p><

7、;p>　?、跍y試位控模塊的操作。STEP7-MicroNVIN提供一個(gè)EM253位控面板，用以測試位控模塊的輸入、輸出接線組態(tài)以及移動(dòng)路徑的執(zhí)行。</p><p>　?、蹌?chuàng)建S7-200的執(zhí)行程序。位控向?qū)ё詣?dòng)生成位控指令?？梢詫⑦@些指令插入你的程序中：</p><p>　　要使能位控模塊，插入一個(gè)POSx_CTRL指令。用SM0.0(始終接通)以確保這條指令在每個(gè)循環(huán)周期中都得到執(zhí)

8、行。</p><p>　　要將電機(jī)移動(dòng)到一個(gè)指定位置，使用一條POSx_GOTO或使用一條POSx_RUN指令。POSx_GOT指令使電機(jī)移動(dòng)到在程序中輸入的指定位置。POSx_RUN指令則使電機(jī)按照在位控向?qū)е兴M態(tài)的路線移動(dòng)。</p><p>　　要使用絕對(duì)坐標(biāo)進(jìn)行移動(dòng)，必須為應(yīng)用建立零坐標(biāo)位置。使用一條POSx_RSEEK或一條POSx_LDPOS指令建立零位置。</p>

9、<p>　　位控向?qū)傻钠渌噶顬榈湫蛻?yīng)用提供功能，對(duì)于特定的應(yīng)用來說，這些指令是可以選的。</p><p>　　④編譯您的程序并將系統(tǒng)塊、數(shù)據(jù)塊和程序塊下載到S7-200中。</p><p><b>　　2、 組態(tài)位控模塊</b></p><p>　　要進(jìn)行位移控制必須為位控模塊創(chuàng)建組態(tài)/包絡(luò)表。位控向?qū)б龑?dǎo)您一步一步完成整個(gè)

10、組態(tài)過程，非常便捷。使用位控向?qū)Э呻x線創(chuàng)建組態(tài)/包絡(luò)表。您可以在不連接S7-200CPU 及位控模塊的情況下進(jìn)行組態(tài)。要運(yùn)行位控向?qū)?，必須?duì)項(xiàng)目進(jìn)行編譯并選擇符號(hào)尋找方式。啟動(dòng)位控向?qū)?，可以點(diǎn)擊瀏覽條中的工具圖標(biāo)，然后雙擊位控向?qū)D標(biāo)，或者選擇菜單命令Toos>Motion Controlwizard</p><p>　　2.1輸入位控模塊的位置</p><p>　　您必須輸入模塊類

11、型和位置以便定義模塊參數(shù)并為您的應(yīng)用定義移動(dòng)包絡(luò)。位控向?qū)Э勺詣?dòng)讀取智能模塊的位置，從而簡化這個(gè)任務(wù)。您只需點(diǎn)擊模塊按鈕。</p><p>　　對(duì)于硬件版本1.2之前的S7-200 CPU，智能模塊必須安裝在緊鄰CPU的位置以便使用位控向?qū)?duì)模塊進(jìn)行組態(tài)。</p><p><b>　　2.2選擇測量類型</b></p><p>　　您必須選擇測

12、量系統(tǒng)，以便在整個(gè)組態(tài)使用。您可以選擇使用工程單位或脈沖。如果您選擇脈沖則不必再定義其它信息。如果選擇工程單位，您必須輸入以下數(shù)據(jù)：使電機(jī)轉(zhuǎn)一周所需的脈沖數(shù)（參考電機(jī)或驅(qū)動(dòng)的參數(shù)），測量的基本單位（如英寸、英尺、米或厘米），以及電機(jī)轉(zhuǎn)一周所引起的位移量（或“單位”）。STEP 7-Micro/WIN 提供一個(gè)EM253控制面板，對(duì)已組態(tài)的位控模塊，通過該面板可修改每周的單位數(shù)。</p><p>　　如果您在以后改

13、變了測量系統(tǒng)，必須刪除整個(gè)組態(tài)，包括位控向?qū)傻乃兄噶?。您必須輸入與新的測量系統(tǒng)一致的選項(xiàng)。</p><p><b>　　2.3輸入點(diǎn)動(dòng)參數(shù)</b></p><p>　　點(diǎn)動(dòng)命令用于將工作以手動(dòng)方式移動(dòng)到指定位置。使用位控向?qū)В梢灾付ㄒ韵峦蟿?dòng)參數(shù)值：</p><p>　?、貸OG_SPEED:JOGSPEED(電機(jī)的拖動(dòng)速度)是點(diǎn)動(dòng)命令有

14、效時(shí)能夠得到的最大速度。</p><p>　?、贘OG_INCREMENT:是瞬間的點(diǎn)動(dòng)命令能夠?qū)⒐ぜ苿?dòng)的距離。</p><p>　　2．4輸入加速和減速時(shí)間</p><p>　　作為位控模塊組態(tài)的一部分，您必須設(shè)置加速和減速時(shí)間。加速時(shí)間和減速時(shí)間的缺省設(shè)置都是1秒。通常，電機(jī)可在小于1秒的時(shí)間內(nèi)工作。您要以毫秒為單位設(shè)定：</p><p&g

15、t;　?、貯CCEL_TIME:電機(jī)從SS_SPEED速度加速到MAX_SPEED速度所需的時(shí)間。缺省值=1000ms</p><p>　　②DECEL_TIME:電機(jī)從MAX_SPEED速度減速到SS_SPEED速度所需的時(shí)間。缺省值=1000ms.</p><p><b>　　2.5輸入急停時(shí)間</b></p><p>　　急停時(shí)間通過減小

16、移動(dòng)包絡(luò)中加速和減速部分急停（改變率）來平滑移動(dòng)控制。減少急停能夠改善位置追蹤的性能。急停時(shí)間也被稱為“S曲線包絡(luò)”。急停只能用于簡單的單步包絡(luò)這種補(bǔ)償同樣的作用于加速曲線和減速曲線的開始和結(jié)束部分。急停補(bǔ)償不能夠用于介于零速SS_SPEED速度之間的初始段和結(jié)束段中。內(nèi)可以輸入一個(gè)時(shí)間值（JERK_TIME）來指定急停補(bǔ)償。這一時(shí)間是加速度的改變從零到最大所需的時(shí)間，由參數(shù)MAX_SPEED、SS_SPEED和ACCEL_TIME或與

17、之相應(yīng)的DECEL_TIME來定義，與只是簡單的相加ACCEL_TIME和DECEL_TIME相比，一個(gè)較長的急停時(shí)間由于能夠?qū)φ麄€(gè)循環(huán)時(shí)間只有一個(gè)較小的相加，從而可以產(chǎn)生平滑的操作。零值代表沒有補(bǔ)償。（缺省=0ms）</p><p>　　2.6組態(tài)RP尋找順序</p><p>　　您可以為位控模塊組態(tài)參考點(diǎn)尋找的順序?yàn)橐粋€(gè)簡化了的缺省的RP尋找順序。您可以為RP搜尋順序作以下選擇：<

18、;/p><p>　?、賀P尋找模式0：不執(zhí)行RP尋找順序</p><p>　?、赗P尋找模式1：RP位于RPS輸入有效區(qū)接近工作區(qū)的一邊開始的位置上。</p><p>　?、跼P尋找模式2：RP位于RPS輸入有效區(qū)的中央。</p><p>　?、躌P尋找模式3：RP位于RPS輸入有效區(qū)之外。RP_Z_CNT指定了在RPS失效之后應(yīng)接受多少個(gè)ZP（

19、零脈沖）輸入</p><p>　?、軷P尋找模式4：RP通常位于RPS輸入的有效區(qū)內(nèi)。RP_Z_CNT指定在RPS激活后應(yīng)接受多少個(gè)ZP（零脈沖）輸入。</p><p>　　2.7組態(tài)位控模塊的移動(dòng)包絡(luò)</p><p>　　一個(gè)包絡(luò)是一個(gè)預(yù)先定義的移動(dòng)描述，它包括一個(gè)或多個(gè)速度，影響著運(yùn)動(dòng)從起點(diǎn)到終點(diǎn)。即使不定義包絡(luò)也可以使用模塊，位控向?qū)槟峁┮粋€(gè)指令子程序（P

20、OSx_GOTO）,可用于移動(dòng)位控。</p><p>　?、侔j(luò)數(shù)：您最多可選擇25個(gè)包絡(luò)</p><p>　?、诿钭止?jié)的地址：您必須為位控模塊輸入一個(gè)輸出（Q）區(qū)地址作為命令字節(jié)。</p><p>　?、劢M態(tài)/包絡(luò)表的地址：您必須為組態(tài)/包絡(luò)表輸入起始的儲(chǔ)存區(qū)域地址，以儲(chǔ)存位控模塊的組態(tài)數(shù)據(jù)以及所有包絡(luò)的數(shù)據(jù)。位控模塊的組態(tài)數(shù)據(jù)需要92個(gè)字節(jié)的V儲(chǔ)存區(qū)，每一個(gè)包

21、絡(luò)需要34個(gè)字節(jié)的V儲(chǔ)存區(qū)。例如，帶有一個(gè)包絡(luò)的位控模塊其組態(tài)/包絡(luò)表需占用的V區(qū)數(shù)量是126字節(jié)。</p><p>　　位控向?qū)軌蛳蚰ㄗh一個(gè)大小合適的未經(jīng)使用的V儲(chǔ)存區(qū)地址。</p><p><b>　　2.8定義移動(dòng)包絡(luò)</b></p><p>　　位控向?qū)峁┮苿?dòng)包絡(luò)定義，在這里，您可以為您的應(yīng)用定義每一個(gè)移動(dòng)包絡(luò)。對(duì)每一個(gè)包絡(luò)，您可

22、以選擇操作模式并為每個(gè)包絡(luò)的各部定義指標(biāo)。位控向?qū)е锌梢詾槊總€(gè)包絡(luò)定義一個(gè)符號(hào)名，其作法是在您定義包絡(luò)時(shí)為其輸入的一個(gè)符號(hào)名即可。當(dāng)您完成包絡(luò)的組態(tài)后，可以儲(chǔ)存組態(tài)并將參數(shù)打印出來。</p><p>　?、龠x擇包絡(luò)的操作模式：您要按照操作模式對(duì)包絡(luò)進(jìn)行組態(tài)，是絕對(duì)位置還是相對(duì)位置，是單一速度的連續(xù)轉(zhuǎn)動(dòng)還是以上兩種速度連續(xù)轉(zhuǎn)動(dòng)。</p><p>　?、趧?chuàng)建包絡(luò)的步：一個(gè)步是一個(gè)包絡(luò)移動(dòng)的一個(gè)

23、固定距離，包括加速和減速時(shí)間內(nèi)的距離。每個(gè)包絡(luò)最多可有4個(gè)步。您要為每個(gè)步指定目標(biāo)速度和結(jié)束位置。如果不止一步，只需點(diǎn)擊新一步標(biāo)簽（New Step）并輸入包絡(luò)中每一步的信息。點(diǎn)擊步驟畫圖標(biāo)簽（Plot Step）,您能夠看到由位控向?qū)в?jì)算，以圖形方式表達(dá)出來的步。這樣，您就能夠很容易的隨時(shí)瀏覽并編輯每一個(gè)步。</p><p>　　2.9完成對(duì)位控模塊的組態(tài)</p><p>　　當(dāng)您完成對(duì)

24、位控模塊的組態(tài)時(shí)，只需點(diǎn)擊完成（Finsh）,然后位控向?qū)?huì)執(zhí)行以下任務(wù)：</p><p>　?、賹⒛K的組態(tài)和包絡(luò)表插入到您的S7-200程序的數(shù)據(jù)中。</p><p>　?、跒槲豢貐?shù)生成一個(gè)全局符號(hào)表</p><p>　?、墼陧?xiàng)目的程序中增加位控指令子程序，您可以在應(yīng)用中使用這些指令</p><p>　　要修改任何組態(tài)或包絡(luò)信息，您可以

25、再次運(yùn)行位控向?qū)А?lt;/p><p>　　3、 由位控向?qū)傻奈豢啬K</p><p>　　位控向?qū)軌蚋鶕?jù)位控模塊的位置和您對(duì)模塊的組態(tài)生成唯一的指令子程序，從而使位控模塊的控制變得非常容易。每條位控指令都有一個(gè)前綴“POSx_”這里X哈斯模塊位置。由于每個(gè)位控指令是一個(gè)子程序，11條位控指令使用11個(gè)子程序。</p><p>　　3.1位控指令使用指南</

26、p><p>　　您必須確保在同時(shí)只有一條位控指令是激活的。</p><p>　　您可以在一個(gè)中斷程序中執(zhí)行POSx_RUN和POSx_GOTO。但是，當(dāng)模塊正忙于處理其它指令時(shí)，千萬不要試圖在中斷程序中啟動(dòng)指令。如果您在一個(gè)中斷程序中啟動(dòng)一條指令，您可以使用POSx_CTRL指令的輸出來監(jiān)控位控模塊是如何完成運(yùn)動(dòng)的。</p><p>　　位控向?qū)О凑漳x的測量系統(tǒng)自動(dòng)

27、組態(tài)速度參數(shù)（Speed和C_Speed）和位置參數(shù)（Pos或C_Pos）的數(shù)值。對(duì)于脈沖，這些參數(shù)是雙整數(shù)，對(duì)于工程單位，這些參數(shù)是您所選的參數(shù)的實(shí)數(shù)值。例如：選厘米（cm）為單位，位控參數(shù)單位則存為以厘米為單位的一個(gè)是數(shù)值，速度參數(shù)則選擇一個(gè)每秒若干厘米的實(shí)數(shù)值（cm/sec.）。</p><p>　　以下是特定的運(yùn)動(dòng)控制任務(wù)所需的位控指令：</p><p>　　①在您的用戶程序中插入

28、POSx_CTRL,并以SM0.0為條件使之每個(gè)循環(huán)都執(zhí)行。</p><p>　?、谝付ǖ揭粋€(gè)絕對(duì)位置，您必須首先使用POSx_RSEEK或POSx_LDPOS指令建立零位置。</p><p>　?、垡苿?dòng)到某個(gè)特定位置，根據(jù)您程序在的輸入，使用POSx_GOTO指令。</p><p>　?、芤\(yùn)行您在位控向?qū)е兴M態(tài)的運(yùn)動(dòng)包絡(luò)，使用POSx_RUN指令。其它位置

29、指令是可選的</p><p>　　3.2 POSx_CTRL指令</p><p>　　POSx_CTRL指令在S7_200的每次轉(zhuǎn)換為RUN模式時(shí)自動(dòng)向位控模塊發(fā)出指令，裝載組態(tài)/包絡(luò)表，從而實(shí)現(xiàn)位控模塊的使能和初始化。</p><p>　　這條指令在您的項(xiàng)目中只使用一次，并且要確保您的用戶程序在每一循環(huán)中調(diào)用該指令。使用SM0.0（通用）作為EN參數(shù)的輸入。EN參

30、數(shù)必須為接通狀態(tài)以確保其它位控指令發(fā)送命令給位控模塊。如果EN參數(shù)為斷開狀態(tài)。位控模塊放棄所有正在進(jìn)行當(dāng)中的模塊。</p><p>　　POSx_CTRL指令的輸出參數(shù)提供位控模塊當(dāng)前的狀態(tài)。當(dāng)位控模塊完成指令后，參數(shù)Done接通。參數(shù)Error包含指令的執(zhí)行結(jié)果。參數(shù)C-Pos是模塊的當(dāng)前位置?；跍y量的單位，該值可以是一個(gè)脈沖數(shù)（雙整數(shù)）或者工程單位數(shù)（實(shí)數(shù)）。參數(shù)C_Speed提供模塊的當(dāng)前速度。如果您組態(tài)

31、的模塊的測量系統(tǒng)是脈沖，C_Speed是一個(gè)每秒脈沖數(shù)的長整數(shù)。如果您組態(tài)測量系統(tǒng)工程單位。C_Speed是一個(gè)每秒若干個(gè)所選工程單位數(shù)的實(shí)數(shù)。參數(shù)C_Dir指示電機(jī)的當(dāng)前方向。</p><p>　　3.3 POSx_MAN指令</p><p>　　POSx_MAN指令（手動(dòng)模式）將位控模塊置于手動(dòng)模式。這種模式下，電機(jī)可以以不同的速度沿正向或反向點(diǎn)動(dòng)。當(dāng)POSx_MAN指令使能時(shí)，只能運(yùn)

32、行POSx_CTRL和POSx_DIS指令。RUN、JOG_P或JOG_N的輸入你只能同時(shí)使能一個(gè)。使能RUN(RUN/Stop) 參數(shù)則命令位控模塊指定方向（參數(shù)Dir ）加速到指定速度（參數(shù)Speed ）。你可以在電機(jī)運(yùn)行時(shí)改變速度值，但參數(shù)Dir必須保持恒定。禁止參數(shù)RUN則命令位控模塊減速至電機(jī)停止。使能參數(shù)JOG_P（點(diǎn)動(dòng)正轉(zhuǎn)）或JOG_N (點(diǎn)動(dòng)反轉(zhuǎn)）命令位控模塊沿正向或反向點(diǎn)動(dòng)。如果JOG_P 或JOG_N 有效的時(shí)間短于

33、0.5秒，位控模塊則輸出脈沖運(yùn)動(dòng)到JOG_INCREMENT所指定的距離。如果JOG_P或JOG_N的有效時(shí)間等于或長于0.5秒，位控模塊則開始加速到JOG_SPEED所指定的速度。</p><p>　　3.4 POSx_GOTO指令</p><p>　　指令POSx_GOTO命令位控模塊走到指定位置。接通EN位使能該指令。確保EN位始終保持接通直到Done位指示指令完成。接通參數(shù)STAR

34、T向位控模塊發(fā)送一個(gè)GOTO命令。當(dāng)參數(shù)START接通且位控模塊不忙時(shí)，每一循環(huán)都會(huì)向位控模塊發(fā)生一條GOTO命令。要確保只發(fā)送一條GOTO命令，使用邊沿檢測來觸發(fā)START參數(shù)。參數(shù)POS包含一個(gè)表示運(yùn)動(dòng)位置（對(duì)于絕對(duì)運(yùn)動(dòng)）或運(yùn)動(dòng)距離（對(duì)于相對(duì)運(yùn)動(dòng)）的值?；谒x的測量系統(tǒng)，該值可以是一個(gè)脈沖數(shù)（雙整數(shù)）或工程單位數(shù)（實(shí)數(shù)）。參數(shù)Speed決定了運(yùn)動(dòng)的最大速度?；跍y量單位，該值可以是每秒脈沖數(shù)（雙整數(shù)）或每秒工程單位數(shù)（實(shí)數(shù)）。&l

35、t;/p><p>　　3.5 POSx_LDOFF指令</p><p>　　POSx_LDOFF指令（裝載參考點(diǎn)偏移量）建立一個(gè)新的零位置，它與參考點(diǎn)位置不在同一處。執(zhí)行這條指令之前，必須首先決定參考點(diǎn)的位置，還要把機(jī)器移動(dòng)到起始位置，當(dāng)該指令發(fā)送LDOFF命令時(shí)，位控模塊計(jì)算起始位置（當(dāng)前位置）與參考點(diǎn)之間的偏移量。然后，模塊將計(jì)算所得的偏移量存為參數(shù)RP_OFFSET的值并將當(dāng)前位置設(shè)為0

36、。這樣就將起始位置設(shè)為零位置。如果出現(xiàn)故障，電機(jī)找不到它的位置了（如，掉電或手機(jī)被手動(dòng)重新定位），可以使用POSx_RSEEK指令自動(dòng)地重建零位置。接通EN位可使能該指令。確保EN位保持接通直至Done位指示該指令完成。接通參數(shù)START則向位控模塊發(fā)送一條LDOFF指令。每一循環(huán)周期，只要參數(shù)START接通且位控模塊不忙，該指令向位控模塊發(fā)送一條LDOFF命令。要確保該指令只發(fā)送一次，使用邊沿檢測以脈沖觸發(fā)參數(shù)START接通。<

37、/p><p>　　3.6 POSx_LDPOS指令</p><p>　　POSx_LDPOS指令（裝載位置）改變位控模塊的當(dāng)前位置。你也可以使用這條指令為絕對(duì)命令建立一個(gè)新的零位置。接通EN位使能該指令。確保EN位始終保持接通直到Done位指示指令完成。接通參數(shù)START向位控模塊發(fā)送一個(gè)LDPOS命令。每一循環(huán)周期，參數(shù)START接通且位控模塊不忙時(shí)，該指令向位控模塊發(fā)送一條LDPOS命令。

38、要確保只發(fā)送一條該命令，使用邊沿檢測來觸發(fā)START參數(shù)接通。參數(shù)New_Pos提供一個(gè)新值替換位控模塊在絕對(duì)運(yùn)動(dòng)中報(bào)告并使用的當(dāng)前位置值?；跍y量單位，該值可以是一個(gè)脈沖數(shù)（雙整數(shù)）或工程單位數(shù)（實(shí)數(shù)）。模塊完成該指令時(shí)，參數(shù)Done接通。</p><p>　　3.7 POSx_DIS指令</p><p>　　POSx_DIS指令可接通或斷開位控模塊的DIS輸出。您可以使用DIS輸出來使

39、能或禁止，電機(jī)控制器。如果您要使用位控模塊上的DIS輸出，那么，這條指令可以在每一循環(huán)周期內(nèi)調(diào)用，或者只在您需要改變DIS輸出時(shí)調(diào)用。EN位接通時(shí)使能該指令，參數(shù)DIS_ON控制位控模塊的DIS輸出。</p><p>　　3.8 POSx_CLR指令</p><p>　　POSx_CLR指令（觸發(fā)CLR輸出）命令位控模塊在CLR輸出上生成一個(gè)50ms的脈沖。接通EN位使能該指令。確保EN位

40、始終保持接通直到Done位指示指令完成。接通參數(shù)START向位控模塊發(fā)送一個(gè)CLR命令。每一循環(huán)周期，參數(shù)START接通且位控模塊不忙時(shí)，該指令向位控模塊發(fā)送一條CLR命令。要確保只發(fā)送一條該命令，使用邊沿檢測來觸發(fā)START參數(shù)接通。模塊完成該指令時(shí)，參數(shù)Done接通。</p><p>　　3.9 POSx_CFG指令</p><p>　　POSx_CFG指令（重新裝載組態(tài)）命令位控模塊

41、從組態(tài)/包絡(luò)表指針?biāo)付ǖ牡胤阶x取組態(tài)。位控模塊將新的組態(tài)與現(xiàn)有的組態(tài)進(jìn)行比較并執(zhí)行所有需要的設(shè)置改變或重新計(jì)算。接通EN位使能該指令。確保EN位始終保持接通直到Done位指示指令完成。接通參數(shù)START向位控模塊發(fā)送一個(gè)CFG命令。每一循環(huán)周期，參數(shù)START接通且位控模塊不忙時(shí)，該指令向位控模塊發(fā)送一條CFG命令。要確保只發(fā)送一條該命令，使用邊沿檢測來觸發(fā)START參數(shù)接通。模塊完成該指令時(shí)，參數(shù)Done接通。</p>

42、<p><b>　　附件2：外文原文</b></p><p>　　Creating a Program for the Position Module</p><p>　　1、Features of the Position Module</p><p>　　1.1 The Position module provides the

43、functionality and performance that you need for single-axis, open-loop position control:</p><p>　?、?Provides high-speed control, with a range from 12 pulses per second up to 200,000 pulses persecond</p>

44、;<p>　?、?Supports both jerk (S curve) or linear acceleration and deceleration</p><p>　?、跴rovides a configurable measuring system that allows you to enter data either as engineering units (such as inch

45、es or centimeters) or as a number of pulses</p><p>　?、躊rovides configurable backlash compensation</p><p>　?、軸upports absolute, relative, and manual methods of position control</p><p&g

46、t;　?、?Provides continuous operation</p><p>　?、逷rovides up to 25 motion profiles, with up to 4 speed changes per profile</p><p>　?、郟rovides four different reference-point seek modes, with a choic

47、e of the starting seek direction and the final approach direction for each sequence</p><p>　?、?Provides removable field wiring connectors for easy</p><p>　　1.2 Programming the Position Module<

48、;/p><p>　　STEP 7–Micro/WIN provides easy-to-use tools for configuring and programming the Position module. Simply follow these steps:</p><p>　?、?Configure the Position module. STEP 7–Micro/WIN prov

49、ides a Position Control wizard for creating the configuration/profile table and the position instructions. </p><p>　?、赥est the operation of the Position Module. STEP 7–Micro/WIN provides an EM 253 control pa

50、nel for testing the wiring of the inputs and outputs, the configuration of the Position module, and the operation of the motion profiles. See page 274 for information about the EM 253 control panel.</p><p>　

51、?、?Create the program to be executed by the S7-200. The Position Control wizard automatically creates the position instructions that you insert into your program. Insert the following instructions into your program:</

52、p><p>　　– To enable the Position module, insert a POSx_CTRL instruction. Use SM0.0 (Always On) to ensure that this instruction is executed every scan.</p><p>　　– To move the motor to a specific loc

53、ation, use a POSx_GOTO or a POSx_RUN instruction. The POSx_GOTO instruction move to a location specified by the inputs from your program. The POSx_RUN instruction executes the motion profiles you configured with the Posi

54、tion Control wizard.</p><p>　　– To use absolute coordinates for your motion, you must establish the zero position for your application. Use the a POSx_RSEEK or a POSx_LDPOS instruction to establish the zero

55、position.</p><p>　　– The other instructions that are created by the Position Control wizard provide functionality for typical applications and are optional for your specific application.</p><p>

56、　　④ Compile your program and download the system block, data block, and program block to the S7-200.</p><p>　　2、Configuring the Position Module</p><p>　　You must create a configuration/profile t

57、able for the Position module in order for the module to control your motion application. The Position Control wizard makes the configuration process quick and easy by leading you step-by-step through the configuration pr

58、ocess. The Position Control wizard also allows you to create the configuration/profile table offline. You can create the configuration without being connected to an S7-200 CPU with a Position module installed. To run the

59、 Position Control w</p><p>　　2.1 Entering the Location of the Position Module</p><p>　　You must define the parameters for your module and the set of motion profiles for your application by enter

60、ing the module type and location. The Position Control wizard simplifies this task by automatically reading the position of the intelligent module. You only have to click the Read Modules button.</p><p>　　Fo

61、r an S7-200 CPU with firmware prior to version 1.2, you must install the intelligent module next to the CPU in order for the Position Control wizard to configure the module.</p><p>　　2.2 Selecting the Type o

62、f Measurement</p><p>　　You must select the measurement system to be used throughout the configuration. You can select to use either engineering units or pulses. If you select pulses, you do not have to speci

63、fy any other information. If you select engineering units, you must enter the following data: the number of pulses required to produce one revolution of the motor (refer to the data sheet for your motor or drive), the ba

64、se unit of measurement</p><p>　　(such as inch, foot, millimeter, or centimeter), and the amount of motion (or “units”) provided by one revolution of the motor. STEP 7–Micro/WIN provides an EM253 Control Pane

65、l that allows you to modify the number of units per revolution after the Position module has been configured.</p><p>　　If you change the measurement system later, you must delete the entire configuration inc

66、luding any instructions generated by the Position Control wizard. You must then enter your selections consistent with the new measurement system.</p><p>　　2.3 Entering the Jog Parameters</p><p>

67、　　The Jog command is used to manually move the tool to a desired location. Using the Position Control wizard, you specify the following Jog parameters values:</p><p>　?、貸OG_SPEED: The JOG_SPEED (Jog speed fo

68、r the motor) is the maximum speed that can be obtained while the JOG command remains active.</p><p>　?、?JOG_INCREMENT: Distance that the tool is moved by a momentary JOG command.</p><p>　　2.4 En

69、tering the Acceleration and Deceleration Times</p><p>　　As part of the configuration for the Position module, you set the acceleration and deceleration times. The default setting for both the acceleration ti

70、me and the deceleration time is 1 second. Typically, motors can work with less than 1 second. You specify the following times in milliseconds:</p><p>　?、貯CCEL_TIME: Time required for the motor to accelerate

71、from SS_SPEED to MAX_SPEED. Default = 1000 ms</p><p>　?、?DECEL_TIME: Time required for the motor to decelerate from MAX_SPEED to SS_SPEED. Default = 1000 ms</p><p>　　2.5 Entering the Jerk Time&l

72、t;/p><p>　　Jerk compensation provides smoother position control by reducing the jerk (rate of change) in acceleration and deceleration parts of the motion profile. See Figure 9-9. Reducing jerk improves positio

73、n tracking performance. Jerk compensation is also known as “S curve profiling.” Jerk compensation can only be applied to simple one-step profiles. This compensation is applied equally to the beginning and ending portions

74、 of both the acceleration and deceleration curve. Jerk compensation is not applie</p><p>　　2.6 Configuring the RP Seek Sequence</p><p>　　You can configure the sequence that the Position module u

75、ses to search for the reference point.You can select the following options for the RP search sequence:</p><p>　?、?RP Seek mode 0: Does not perform a RP seek sequence</p><p>　?、赗P Seek mode 1: Th

76、e RP is where the RPS input goes active on the approach from the work zone side. (Default)</p><p>　?、?RP Seek mode 2: The RP is centered within the active region of the RPS input.</p><p>　?、?RP

77、Seek mode 3: The RP is located outside the active region of the RPS input.</p><p>　　RP_Z_CNT specifies how many ZP (Zero Pulse) input counts should be received after the RPS becomes inactive.</p><

78、p>　?、軷P Seek mode 4: The RP is generally within the active region of the RPS input. RP_Z_CNT specifies how many ZP (Zero Pulse) input counts should be received after the RPS becomes active.</p><p>　　2.7 C

79、onfiguring the Motion Profiles for the Position Module</p><p>　　A profile is a pre-defined motion description consisting of one or more speeds of movement that effect a movement from a starting point to an e

80、nding point. You do not have to define a profile in order to use the module. The Position Control wizard provides an instruction subroutine (POSx_GOTO) for you to use to control moves.</p><p>　　①Number of pr

81、ofiles: You can select up to a maximum of 25 profiles.</p><p>　?、贏ddress for the command byte: You must enter the output (Q) memory address of the command byte for the Position module.</p><p>　　

82、③Address for the configuration/profile table: You must enter the starting memory address for the configuration/profile table that stores the configuration data for the Position module and the data for all of the profiles

83、. The configuration data for the Position module requires 92 bytes of V memory, and each profile requires 34 bytes of V memory. For example, the amount of memory required for the configuration/profile table for a Positio

84、n module with one profile is 126 bytes of V memory. The Posi</p><p>　　2.8 Defining the Motion Profile</p><p>　　The Position Control wizard provides a Motion Profile Definition where you define e

85、ach motion profile for your application. For each profile, you select the operating mode and define the specifics of each individual step for the profile. The Position Control wizard also allows you to define a symbolic

86、name for each profile by simply entering the symbol name as you define the profile. After you have finished configuring the profile, you can save to configuration and print a copy of the parameters</p><p>　　

87、①Selecting the Mode of Operation for the Profile</p><p>　　You configure the profile according the the mode of operation, either an absolute position, a relative position, a single-speed continuous rotation,

88、or a two-speed continuous rotation. </p><p>　?、贑reating the Steps for the Profile</p><p>　　A step is a fixed distance that a tool moves, including the distance covered during acceleration and de

89、celeration times. Each profile can have up to 4 individual steps. You specify the target speed and ending position for each step. If you have more than one step, simply click the New Step button and enter the information

90、 for each step of the profile. however, there are other possible combinations. By simply clicking the Plot Step button, you can view a graphical representation of the step, as c</p><p>　　2.9Finishing the Con

91、figuration for the Position Module</p><p>　　After you have configured the operation of the Position module, you simply click Finish, and the Position Control wizard performs the following tasks:</p>&

92、lt;p>　?、?Inserts the module configuration and profile table into the data block for your S7-200 program</p><p>　?、贑reates a global symbol table for the motion parameters</p><p>　?、?Adds the m

93、otion instruction subroutines into the project program block for you to use in your Application You can run the Position Control wizard again in order to modify any configuration or profile information.</p><p&

94、gt;　　3、Position Instructions Created by the Position Control Wizard</p><p>　　The Position Control wizard makes controlling the Position module easier by creating unique instruction subroutines based on the p

95、osition of the module and configuration options you selected. Each position instruction is prefixed with a ”POSx_” where x is the module location. Because each position instruction is a subroutine, the 11 position instru

96、ctions use 11 subroutines.</p><p>　　3.1 Guidelines for Using the Position Instructions</p><p>　　You must ensure that only one position instruction is active at a time.</p><p>　　You

97、can execute the POSx_RUN and POSx_GOTO from an interrupt routine. However, it is very important that you do not attempt to start an instruction in an interrupt routine if the module is busy processing another command. If

98、 you start an instruction in an interrupt routine, then you can use the outputs of the POSx_CTRL instruction to monitor when the Position module has completed the movement.</p><p>　　The Position Control wiza

99、rd automatically configures the values for the speed parameters (Speed and C_Speed) and the position parameters (Pos or C_Pos) according to the measurement system that you selected. For pulses, these parameters are DINT

100、values. For engineering units, the parameters are REAL values for the type of unit that you selected. For example: selecting centimeters (cm) stores the position</p><p>　　parameters as REAL values in centime

101、ters and stores the speed parameters as REAL values in centimeters per second (cm/sec).</p><p>　　The following position instructions are required for specific position control tasks:</p><p>　　①I

102、nsert the POSx_CTRL instruction in your program and use the SM0.0 contact to execute it every scan.</p><p>　?、?To specify motion to an absolute position, you must first use either an POSx_RSEEK or a POSx_LDP

103、OS instruction to establish the zero position.</p><p>　?、跿o move to a specific location, based on inputs from your program, use the POSx_GOTO instruction.</p><p>　?、躎o run the motion profiles yo