In
this post we will configure and send commands to two servo motor axes using the
simulator in RSLogix5000. One will be a rotating axis and the other will
be a translating axis.
- Create a periodic routine
in the program (scan time of 20ms and increase the priority of the routine
from index 10 to 5).
- Set the Date / Time
Enable time sync in the PLC properties:
- On the Advanced tab,
select the Reserve resources for system tasks option, as the Motion
Control routine is periodic (not continuous).
- Create a Motion Group and
add the Driving Axes, in this case of Virtual type:
- Edit the values of the
axis dynamics (speed, acceleration, deceleration, Jerk of acceleration and
deceleration. The unit is specified by the programmer in the Units tab, in
this case Degrees and the type of Linear or Rotation movement is selected
in the Conversion tab.
The
Conversion Constant value represents the feedback counter, for example the
Encoder signal, and for Position Unwind the value is 360 degrees x 8000counts =
2880000 counts / unwind
With
the two axes configured, we download the program and go online. Online it
is possible to send a series of direct commands to the Servo Motor, such as Go
to Home position, Jog, among others. The created tags whose Data Type is
VIRTUAL_AXIS can be seen in the Controller Tags:
To
send direct commands to the engine, just right-click on the Axis and click on
Motion Direct Commands.
One
way that helps in visualizing the movement is to create a Trend with the
current values of position, speed and acceleration, jerk, torque, error in the position:
When first running the servo motor it is important to verify that the configuration done in the software corresponds to the physical machine (gear box ratio of the motor reducer, parameters of the motor), i.e. n revolutions of the motor correspond to the expected course in mm in the right direction. In addition the homing and course limits signals, both in software and hardware, should be carefully verified and tuned.
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