SEW伺服电机IPOS典型控制程序

/****************************************** **********************************

--------------------------------

10.18.01

an

Copied from Version 5 of Rack Stacker Software

08.01.02

an

Added Position_6a to control the Vaccum Cup extend position

10.08.02

an

V04 Added sequence to Load from Rack

31.01.03

St. Reuter

V05 Communication via Device Net

17.04.03

IBB China CSG Pos.13

Necessary Parameters:

--------------------------

Operating Mode

=

VFC-n-Reg. & IPOS

Parameter P700

Parameter P100 Sollwertquelle

=

Feldbus

Parameter P101 Steuerquelle

=

Feldbus

Binary Inputs Base Unit

DI00

Enable

P600 DI01

Release/Rapid Stop

P601 DI02

High Speed Input 1

P602 DI03

High Speed Input 2

P603 DI04

Spare

P604 DI05

Spare

aaa

Binary Option Card 1

P610 DI10

IPOS Input (Vacuum Cup Extended Prox)

P611 DI11

IPOS Input (V

acuum Cup Retracted Prox)

P612 DI12

IPOS Input (Vacuum Switch)

P613 DI13

IPOS Input (Spare)

P614 DI14

IPOS Input (Spare)

P615 DI15

IPOS Input (Spare)

P616 DI16

IPOS Input (Spare)

P617 DI17

IPOS Input (Spare)

Binary Inputs IPOS Inputs PA 1 (Device Net)

DI20

IPOS Input (Start Cycle Signal Stacking)

DI21

IPOS Input (Stop Cycle Signal)

DI22

IPOS Input (MotorRight/ Halt, Arm Up Hand)

DI23

IPOS Input (MotorLeft/ Halt, Arm Down Hand)

DI24

IPOS Input (Vacuum Man Mode)

DI25

IPOS Input (Release Man Mode)

DI26

IPOS Input (Vacuum Cup In/Out Man Mode)

DI27

IPOS Input (Stacker Mode)

(Automatic

= 1)

(ManualMode

= 0)

DI30

IPOS Input (Loading Cycle Start)

DI31

IPOS Input (Start Rack Reference)

DI32

Spare

DI33

Spare

DI34

Spare

DI35

Spare

DI36

Spare

DI37

Spare

Binary Outputs Base Unit

DB00 Configured with Brake

P620 DO01 Drive Ready

P621 DO02 Drive Fault

Binary Output Option Card 1

P630 DO10

IPOS Output

(Arm Down)

P631 DO11

IPOS Output

(Conv Release In Transport)

P632 DO12

IPOS Output

(Stacker Fault)

P633 DO13

IPOS Output

(Basic Position)

P634 DO14

IPOS Output

(Conv Release Out Transport)

P635 DO15

IPOS Output

(Vacuum Cup Extended)

P636 DO16

IPOS Output

(Rack Reference Position)

P637 DO17

IPOS Output

(Vacuum Fault)

Output Option Card 2

DO20

IPOS Output

(Vacuum Cup Extend Sol)

DO21

IPOS Output

(Vacuum Cup Retract Sol)

DO22

IPOS Output

(Vacuum On Sol)

D023

IPOS Output

(Vacuum Off Sol)

DO24

IPOS Output

(Blow Off On)

DO25

IPOS Output

(Spare)

DO26

IPOS Output

(Spare)

DO27

IPOS Output

(Spare)

P941 IPOS Geberquelle

= Motor Encoder on Terminal X15

Anwenderprogramm mit folgenden Funktionen :

-------------- -----------------------------

1)Allgemeiner ManualMode eines positioniergeregelten Antriebs.

-

黚

er zwei Eingangsklemmen kann der Antrieb mit einer festen

Geschwindigkeit in beide Richtungen gefahren werden.

- Die Lageregelung ist dabei aktiv.

- Eine vorherige Referenzfahrt ist nicht notwendig.

2)Betriebsart Automatic

****************************************** **********************************/

#include

#include

//=================

Fahr

Variables

================== =========================

#pragma globals 200 250

long V_MotorRight, V_MotorLeft;

//================= Ziel Position - Variables ==============================

#define

Position_0

H0

#define

Position_1

H1

#define

Position_2

H2

#define

Position_3

H3

#define

Position_4

H4

#define

Position_5

H5

#define

Position_6

H6

#define

Position_7

H7

#define

Position_8

H8

#define

Position_9

H9

#define

Position_10

H10

#define

Ref_Pos

H11

#define

Position_6a

H12

#define

Auto_Speed_0

H20

#define

Auto_Speed_1

H21

#define

Auto_Speed_2

H22

#define

Ref_Speed_0

H23

#define

Auto_Speed_3

H24

#define

Man_Speed_0

H25

#define

Auto_Speed_4

H26

#define

Auto_Speed_5

H27

#define

Auto_Speed_6

H28

#define Position_Window

H30

#define M_State

H31

#define M_Fault

H32

#define M_Merker

H33

#define Pos_0

H35

#define M_Loading

H36

#define M_Stacking

H37

#define

Load_Pos_0

H40

#define

Load_Pos_1

H41

#define

Load_Pos_2

H42

#define

Load_Pos_3

H43

#define

Load_Pos_4

H44

#define

Load_Pos_5

H45

#define

Load_Pos_6

H46

#define

Load_Pos_7

H47

#define

Load_Pos_8

H48

#define

Load_Pos_9

H49

#define

Load_Pos_10

H50

#define

Load_Pos_11

H51

#define

Load_Pos_12

H52

#define

Load_Pos_6a

H53

#define Bustyp

H100

#define Le_PA_DATA

H101

#define PA1

H102

#define PA2

H103

#define PA3

H104

#define Le_PE_DA

TA

H110

#define PE1

H111

#define PE2

H112

#define PE3

H113

//================= INPUTS =========================================

//Onboard Inputs

#define E_DriveEnable

DI00

#define E_DriveRel

DI01

#define E_Touchp_1

DI02

#define E_Touchp_2

DI03

#define E_Spare_1

DI04

#define E_Spare_2

DI05

//Inputs Card DIO 11A

#define E_CupExtendedProx

DI10

#define E_CupRetractedProx

DI11

#define E_VacuumSwitch

DI12

#define E_Spare_3

DI13

#define E_Spare_4

DI14

#define E_Spare_5

DI15

#define E_Spare_6

DI16

#define E_Spare_7

DI17

//Inputs Field Bus

#define E_Start_Cycle

((PA1 & 0b1)!=0)

#define E_Stop_Cycle

((PA1 & 0b10)!=0)

#define E_ArmRight

((PA1 & 0b100)!=0)

#define E_ArmLeft

((PA1 & 0b1000)!=0)

#define E_VacManMode

((PA1 & 0b10000)!=0)

#define E_RelManMode

((PA1 & 0b100000)!=0)

#define E_CupInOutManMode

((PA1 & 0b1000000)!=0)

#define E_AutoMode

((PA1 & 0b10000000)!=0)

#define E_LoadCycleStart

((PA1 & 0b100000000)!=0)

#define E_ReferenceRack

((PA1 & 0b1000000000)!=0)

#define E_Continue_Cycle

((PA1 & 0b1)!=0)

#define E_Reset_Cycle

((PA1 & 0b1)!=0)

#define E_Resume_Cycle

((PA1 & 0b1)!=0)

#define E_Vacuum_On_Auto

((PA1 & 0b10)!=0)

//================= OUTPUTS =========================================

//Onboard Outputs

#define A_DriveReady

DO01

#define A_DriveFault

DO02

//Outputs Card DIO 11A

#define A_CupExtendSol

0

//DO20

#define A_CupRetractSol

1

//DO21

#define A_VacuumOnSol

2

//DO22

#define A_VacuumOffSol

3

//DO23

#define A_BlowOffSol

4

//DO24

//Outputs Fieldbus

#define PE1_Output

PE1

#define A_StackerArmDown

0

#define A_ConvRel

1 //((PE1 & 0b10)!=0)

#define A_StackerFault

2 //((PE1 & 0b100)!=0)

#define A_HomePosition

3 //((PE1 & 0b1000)!=0)

#define A_ConvRelOut

4 //((PE1 & 0b10000)!=0)

#define A_CupExtendSwitch

5 //((PE1 & 0b100000)!=0)

#define A_ArmReferencePos

6 //((PE1 & 0b1000000)!=0)

#define A_VacuumFault

7 //((PE1 & 0b10000000)!=0)

#define A_ArmProbePos

8 //((PE1 & 0b100000000)!=0)

#define A_CupRetractSwitch

9 //((PE1 & 0b1000000000)!=0)

#define A_VacuumConfirm

10 //((PE1 & 0b1)!=0)

#define A_RelCrosstrREV

11 //((PE1 & 0b1)!=0)

//=================

Festwerte

================== =============================

#pragma list

/*= ================================================== =================

=======

Subroutines

==== ================================================== ================

=====*/

/*======================================== ========

Subroutine for Initializing the System.

======================================= ===========*/

Initialize()

{

_AxisStop( AS_RSTOP );

OptOutpIPOS

= 0;

// all Outputs Off

ControlWord

= 0;

// IPOS Control Word Off

Pos_0

= 1000;

Auto_Speed_0

= 15000;

// Touch Probe Searching

Auto_Speed_1

= 19500;

// Drive Down Stacking

Auto_Speed_2

= 5000;

Auto_Speed_3

= 10000;

Auto_Speed_4

= 15000;

// Drive UP Stacking

Auto_Speed_5

= 1500;

// Med Peel off speed

Auto_Speed_6

= 100;

// Slow Peel off speed

Ref_Speed_0

= 29000;

Man_Speed_0

= 5000;

Position_1

= 250000;

M_State

= 0;

M_Fault

= 0;

M_Loading

= 0;

M_Stacking

= 0;

Bustyp

= 3;

//Value 3 = Fieldbus

Le_PA_DATA

= 3;

//Value 3 = Rrocess Input Words

Le_PE_DATA

= 3;

//Value 3 = Rrocess Output Words

}// End Initialize()

/*= ================================================

Interrupt Subroutine

============================ =====================*/

Interrupt()

{

_TouchProbe( TP_DIS1 );

M_State = 4

Position_2 = H507;

Position_3 = H507 + 10000;

// Vacuum On

10000

Position_4 = H507 + 345834;

//

345834

Position_5 = H507 + 140000;

// Vac Cups Ret

200000

Position_6 = H507 + 320000;

// Slow Speed

400000

Position_6a = H507 + 363000;

// Vac Cup Ext

411000

Position_7 = H507 + 421000;

// Vac Rel vorher 250000 // 425000

Position_8 = H507 + 438000;

// Blow-off off

438000

Position_9 = H507 + 850000;

// Conv Rel

850000

Position_10 = H507 + 870000;

//

870000

Ref_Pos = H507 + 415000;

//

275000

Load_Pos_0 = H507 -10000;

Load_Pos_1 = H507 + 80000;

// Vac Cups Ret

Load_Pos_2 = H507 + 200000;

// Slow Speed

Load_Pos_3 = H507 + 230000;

// Vac Cups Ext Vac On

Load_Pos_4 = H507 + 280000;

//

Load_Pos_5 = H507 + 250000;

// Ret Vac Cup

Load_Pos_6 = H507 + 248000;

// Low Speed

Load_Pos_6a = H507 + 220000;

// Med Speed

Load_Pos_7 = H507 + 185000;

// Hi Speed Ext Vac Cup

Load_Pos_8 = H507 + 70000;

// Low Speed

Load_Pos_9 = H507 + 40000;

// Vac Rel

Load_Pos_10 = H507 + 2000;

// Conv Rel

return;

} // End Interrupt()

/** ************************************************** *************

Cycling Subroutine.

*************** ************************************************** */

Cycling()

{

if (!E_DriveRel)

{

M_State = 0;

_BitClear (PE1_Output, A_ArmProbePos );

_BitClear (PE1_Output, A_ArmReferencePos);

_AxisStop(AS_RSTOP);

TargetPos = SetpointPos;

}

}// End Cycling

/************************************** ***************************

Manual Mode Subroutine

***** ************************************************** ***********/

ManualMode()

{

// Stacker Arm Up and Down

if(E_ArmRight || E_ArmLeft )

{

_AxisStop( AS_ENABLE );

V_MotorRight = V_MotorLeft = Man_Speed_0;

_SetSys (SS_POSSPEED, V_MotorRight);

if (E_ArmRight && (!E_ArmLeft))

// Klemmen abfragen

_GoAbs(GO_NOW

AIT, (ActPos_Mot + 409600));

if (E_ArmLeft && (!E_ArmRight))

_GoAbs(GO_NOW

AIT, (ActPos_Mot - 409600));

}

if(!E_ArmRight && !E_ArmLeft )

{

_AxisStop( AS_RSTOP );

TargetPos = SetpointPos;

}

// Vacuum and Release

if (E_VacManMode)

{

_BitSet(OptOutpIPOS, A_VacuumOnSol);

_BitClear (OptOutpIPOS, A_VacuumOffSol);

}

if (E_RelManMode && !E_VacManMode)

{

_BitSet(OptOutpIPOS, A_VacuumOffSol);

_BitSet(OptOutpIPOS, A_BlowOffSol);

_BitClear (OptOutpIPOS, A_VacuumOnSol);

}

else

{

_BitClear (OptOutpIPOS, A_BlowOffSol);

}

// Vacuum Cup In Out Sequence

if (E_CupInOutManMode && E_CupExtendedProx && !(M_Merker && Bit_0))

{

_BitSet(OptOutpIPOS, A_CupRetractSol);

_BitClear (OptOutpIPOS, A_CupExtendSol);

_BitSet (M_Merker, Bit_0);

}

if (E_CupInOutManMode && !E_CupExtendedProx && !(M_Merker && Bit_0))

{

_BitClear(OptOutpIPOS, A_CupRetractSol);

_BitSet (OptOutpIPOS, A_CupExtendSol);

_BitSet (M_Merker, Bit_0);

}

if

(!E_CupInOutManMode)

_BitClear (M_Merker, Bit_0);

/*

if (E_CupExtendedProx)

{

_BitClear (OptOutpIPOS, A_CupExtendSol);

}

if (E_CupRetractedProx)

{