Servo electric machinery makes dosage increasing now. Domestic station is amounted to, collect plain, ying Wei is vacated, aisidu servo differs somewhat, plc control and integral overall arrangement are basic and fixed nevertheless. Know the property of each product more, there are a few profits when apply.
PLC controls servo electric machinery to use example, draw up the PLC module that forms whole system reachs periphery parts of an apparatus, add relevant program. PLC brand is not restricted.
In order to loosen next FP1 series PLC and drive of A4 series servo are exemple, fixed length of electric machinery of servo of work out control, the PLC program that rotates instead designs periphery hookup, this plan does not use the position below the pine to control module FPG- - PP11\12\21\22, output the PLC of type with transistor however, rangjite outputs a dot to give out surely the position dictates pulse is strung together, send servo to input end directly, right now the pine lays pattern of buy of v/arc be on the throne of A4 servo job. In electric machinery of servo of the set in PLC program rotate speed coming back is spent, the unit is (Rpm) , set set of servo electric machinery to turn for 1000 pulse circuit. = of frequency of PLC output pulse (speed set is worth / 6) *100 (HZ) . Assume the drive of this servo locates precision is ± 0.1mm point-blank, servo electric machinery every turn 10mm of deputy shift of circuit ball guide screw, servo electric machinery turns the pulse number that circuit needs is 1000, the pulse equivalent of this system perhaps says reason drive resolution is 0.01mm() of a silk; PLC outputs pulse to count = length set to be worth *10. The conclusion of above reachs on the foundation that is over in set of parameter of servo electric machinery. That is to say, before computational PLC gives out pulse frequency and pulse, first according to mechanical condition, the electronic gear that considers electric machinery of good servo of precision and speed requirement set integratedly is compared! Roughly the process is as follows: After mechanical orgnaization is affirmatory, of circuit of roll of servo electric machinery walk length is already fixed (the 10mm that place of as above face says) , the fixed position precision that designs a requirement is 0.1mm(10 filar) . To assure this precision, it is usually those who let a pulse walk length under 0.1mm, like set of a pulse walk length is as above 0.01mm, then electric machinery turns number of pulse of circuit place need is 1000 pulse namely. This kind of set asks to be when electric machinery speed 1200 turn / time-sharing, the pulse frequency that PLC should give out is 20K. The pine issues FP1---The CPU noumenon of the PLC of 40T can send pulse frequency to be 50KHz, can satisfy a requirement completely. If electric machinery turns circuit is 100mm, set a pulse walks remain 0.01mm, electric machinery turns number of pulse of circuit place need is 10000 pulse namely, electric machinery speed is frequency of 1200 pulse of need of the place when turning is 200K. The frequency of job of CPU output dot of PLC is insufficient. Need position controls special module to wait for means. The corresponding pulse statement that had above frequency and the algorithm that pulse figures to need to apply PLC only gives out pulse to be able to realize control. Use servo of the A4 below the pine suppose, mode of buy of its job v/arc be on the throne, setting of parameter of servo electric machinery and wiring means are as follows:
One, go up according to manual of driver of servo electric machinery " positional control mode controls signal hookup " wiring:
Pin3(PULS1) , pin4(PULS2) is pulse signal terminal, anode of PULS1 join direct current source (the resistor) that 24V power source needs to string 2K to control, PULS2 join controller (the output terminal) that is like PLC. Pin5(SIGN1) , pin6(SIGN2) is terminal of control direction signal, anode of SIGN1 join direct current source (the resistor) that 24V power source needs to string 2K to control, SIGN2 join controller (the output terminal) that is like PLC. Receive signal when this terminal when change, the locomotive way of servo electric machinery is changed. Actual movement way by the P41 of driver of servo electric machinery, p42 joins several control twice this, pin7(com+) and outside the anode that receives 24V direct current source is linked together. Pin29(SRV-0N) , servo makes can signal, this terminal and outside the negative pole that receives 24V direct current source is linked together, criterion servo electric machinery is entered make can condition, common ground is told even if servo electric machinery has gotten ready, receive pulse to be able to run namely. The 6 lines join that narrates above ends (line of power source, coder, electric machinery cannot forget) of course, the pulse that servo electric machinery can give out according to controller and directional signal run. Other signal terminal, if servo calls the police, deviation computation to clear, fixed position is finished etc can receive controller to make more perfect control system according to your requirement.
2, the parameter that sets driver of servo electric machinery. 1, Pr02----Control mode to choose, set Pr02 parameter is 0 or be 3 or be 4. 3 when depending on be short circuit when 32(C-MODE) terminal with the distinction of 4, meet an emergency is speed mode or controlling mode appearance is torsion mode, and set for 0, control mode for the position only. If you ask the position is controlled only, pr02 set is 0 or be 3 or be 4 it is same. 2, Pr10, pr11, pr12----Gain and integral are adjusted, in the basis in moving the moving circumstance of servo electric machinery is adjusted accordingly, achieve servo electric machinery to move smooth. Other of course parameter also need to adjust (Pr13, pr14, pr15, pr16, pr20 also is very important parameter) , adjust these 3 parameter to also can satisfy basic requirement only before you are not quite familiar. . 3, Pr40----Instruction pulse inputs a choice, acquiesce is inputted for smooth Ou (set for 0) can. Choose 3(PULS1) namely, 4(PULS2) , 5(SIGN1) , these 4 terminal input 6(SIGN2) pulse and directional signal. 4, Pr41, pr42----Say simply even if control way of movement of servo electric machinery. Pr41 is set for 0 when, pr42 is set for 3, criterion 5(SIGN1) , 6(SIGN2) guides square is when connecting to (CCW) , it is conversely return way (CW) . Pr41 is set for 1 when, pr42 is set for 3, criterion 5(SIGN1) , square is when 6(SIGN2) disconnects to (CCW) , it is conversely return way (CW) , , returning way is opposite, saw you how be defined, correct statement should be CCW, CW. 5, Pr48, Pr4A, Pr4B----Electronic gear compares set. This is important parameter, of the electric machinery when its action controls the locomotive speed of electric machinery and controller to deliver a pulse namely walk length.
Its formula is: Servo electric machinery every turn the resolution of coder of pulse number = that circuit place requires × Pr4B ／ (if be,place of electric machinery of servo of 2^Pr4A) of Pr48 × matchs coder: 2500p/r 5 line makes increment type coder, criterion coder resolution joins like you for 10000p/r the filar lever span of axis of servo electric machinery is 20mm, you should accomplish controller to send electric machinery of servo of a pulse to walk length is a silk (0.01mm) . Computation is informed: Servo electric machinery turns circuit needs 2000 pulse (every turn circuit place needs pulse to decide, the relation of the speed of pulse frequency and servo electric machinery is affirmatory also) . 3 parameter are OK set is: Pr4A=0, pr48=10000, pr4B=2000, reduction of a fraction one it is: Pr4A=0, pr48=100, pr4B=20. From the narration above knowable: Set Pr48, Pr4A, Pr4B the precision that these 3 parameter are the frequency of the biggest pulse that according to us controller can send and craft place requirement. In controller the biggest after sending pulse frequency to decide, craft precision demand is higher, criterion the oldest rate that servo report function achieves is lower. The pine issues FP1---The program steps of 40 T PLC plan is as follows:
S7, 200 PLC controls medium application in digital servo electric machinery
Understand Plc how to dominate servo electric machinery above all 1, of electric machinery reach even the line control
What use example option originally is positional control mode, pulse input means has means of collector open a way and differential drive kind two kinds, be opposite at the same time for convenient implementation the control of two electric machinery, use differential drive means. If pursue,be shown with the hookup of PLC.
The L+ in the graph is PLC and servo amplifier hookup communal PLC terminal, receive 24VDC to be being carried, through controlling the switch of in-house transistor to make output Q presents different n signal or issue pulse signal. One PG of L+ , P LM, L+ inputs loop for pulse, PLC controls the light of the glow diode in this loop to destroy, form pulse encode input. One NG of L+ , one 1M of NP, L+ dominates return circuit for electric machinery direction of rotation, when the glow diode of this loop illumes, electric machinery is turning, invert otherwise. As a result of servo amplifier interior resistor has 100 Europe only, cross the glow diode of big burned-out interior to prevent electric current, resistor R is received outside need, the computation that its block is worth is as follows:
The basis is formulary (1) , can choose R=3. 9KO
2, electronic gear is compared
Digital communication servo has positional pilot function, can pass on position control implement give out positional instruction pulse. And the equivalent of positional feedback pulse of servo reachs electric machinery by the resolution of coder every turn the decision such as corresponding mechanical displacement quantity. When both of instruction pulse equivalent and equivalent of positional feedback pulse is abhorrent, with respect to need use electron gear makes both matchs. Used electronic gear function, the electric machinery displacement that can decide place of an input pulse comparatives arbitrarily is measured. If the graph is shown 3 times,have the servo structure of electronic gear function. If the pitch of mechanical main transfer machinery is W, instruction pulse equivalent is △ L, coder every turn pulse number is P, it is considering axis of general electric machinery and transmission guide screw again be linked together directly, criterion 4P of ／ of =W of △ of equivalent of positional feedback pulse.
The servo knot composition of a picture that has electronic gear function because pulse equivalent and feedback pulse equivalent are not certain and equal, with respect to need use electron gear establishs both relationship than coming. Specific computation formula is: CMX / CDV of AL=3M × . Because this dictates according to the positional equivalent of the positional equivalent of pulse and feedback pulse, can decide specific electronic gear is compared. The set limits that the electronic gear of electric machinery of this series servo compares 3 water chestnut
To the pulse of the input, can multiply on among them aleatoric fold makes machinery moves.
The specific application that Plc control illicit takes is below
3, principle of PI C control and control model
This exemple used Xi Menzi S7. 200 series CPU226 is made give priority to controller. It is S7. The high-grade PLC in 200 series, this machine takes 24 numbers to be defeated by population, L6 oneself digital output mouth and two RS-422 ／ mouth of 485 serial communication, can expand 7 apply module J at most. In actual project, through expanding EM231 imitate measures an input module collects voltage signal, the imitate signal of the input can be in a variety of signal inputs such as 20mA of 5V of ± of 0 ～ 10V, 0 ～ choose in means. Final, PLC controls pulse to send periodic accident according to inputting the size of voltage signal, achieve the goal that controls rate of servo electric machinery thereby. Pulse of number of 3.1 high speed outputs Xi Menzi S7. DC(of ／ of DC of ／ of 200 series AC communicates power supply, on PLC of dc I/O) type compositive pulse of two high speed outputs a mouth, mouth of output of pulse of two high speed passes Q0.0, Q0.1 respectively output of two output terminal, wide modulation of PWM(arteries and veins can choose when output) string together with PIO(pulse) means. PIO means can give out fixed pulse only every time, after pulse begins to send until send ending ability to begin new pulse to string together; PWM way is relatively quick, can change pulse cycle and width at any time during pulse is sent, its midrib can choose small second class or millisecond course to cycle. 3.2 PID function is characteristic
This series PLC can have PID operation through PID loop instruction, can use 8 PID statement at most in a program, can realize 8 PID to control algorithm at the same time at most already. In actual programming, the PID that the PID guide program in Win 32 of ／ of usable STEP 7-Micro will come to to complete process of a closed-loop control is algorithmic, improve programming thereby efficiency.
3.3 control model
Following plan institute show control model block diagram, among them Uset is extremely voltage set-point (produce gassy form right now optimal) , uf is extremely voltage sampling value, vout carries for servo electric machinery rotate speed is spent. Compare and adjust what pass set-point of the voltage between values of pair of sampling of electric arc voltage and arc through the PID of PLC loop control, can reach the pulse that is used at controlling servo electric machinery to rotate sends periodic T, make the speed sending a club of servo electric machinery gets ceaselessly adjustment thereby, achieved the goal that controls polar span so. Assured the relative stability of polar span, also assured extremely the stability of voltage.
PID adjustment controls principle block diagram
Basis pole span is extremely right the influence of voltage, can the PID of set PLC adjusts loop adjusts strategy to be as follows: Uset, Uf<0, t is reduced;
Uset, Uf>0, t increases.
Adopt afore-mentioned control methods, can compare the accurate control that realizes pair of UF.
4, programming
The course simplifies process of the following application, did not involve unusual case. Its design is a basis with what method and principle narrating before the article, gave out detailed program explanatory note.
SM0.1=1 of ／ of ／ of IJD SM0.1 of ① of NErW0RK 1 of 4.1 main programs scans for the first time only effective ② MOVW +0, PID of ／ of VW450 ／ interrupts tally initialization ③ MOVB 100, setting of ／ of SMB34 ／ is time interrupt time-interval to be 100ms ④ ATCH INT, PWM, PID, set of ／ of 10 ／ is interrupted, the PID that start carries out ⑤ ENI
/ / interrupt 4. 2 interrupt program ① NETWORK 1 LD SM0. SM0 of ／ of 0 ／ . 0=1 scans every ／ of ／ of periodic effective I CW V VW450 is called interrupt program time to add NETWORK 2 LDW of 1 ②>= VW450. + whether should examination of ／ of 10 ／ undertake PID computation M0VW +0, if ／ of VW450 ／ is such, clear tally continues ／ of ／ of N0T JMP 0 otherwise, turn philtrum breaks program ending to ／ of ／ of ③ NETWORK 3 is calculated and lade PID PV(process is variable) ID SM0. 0 RPS
XORW VW464, ／ of VW464 ／ is cleared work area M0VW ArW0. ／ of VW466 ／ is read take A V466 of imitate numerical value. 7 M0VW 16#FFFF. ／ of VW464 ／ examines a mark, if be LRD DTR VD464 of negative patulous symbol. ／ of VD396 ／ changes his into real number and lade R 32000 of ／ of person PV LPP. 0, normalization of ／ of VD396 ／ comes 0. 0 to 1. The 0 numeric ④ NETWORK 4 ID SM0 between. 0 MOVR VIM00, VIM00 of ／ of VIM00 ／ is worth ⑤ ⑥ NETWORK 6 ID SM0 for set. 0 PID VB396, ／ of 0 ／ undertakes NETWORK 7 LD SM0 of PID computation ⑦ . 0 M0vR VD404. ／ of VD464 ／ lades PID output comes working area + R VD400, VD464 *R 1000. 0. ／ of VIM64 ／ shrinks put numerical value
TRUNC VD464, ／ of VD464 ／ changes numerical value into integral MOVW VW 466. VW1000 of ／ of ／ of VW 1000 outputs pulse cycle for PLC electric machinery of servo of ／ of ／ of ⑧ NETWORK 8 is right invert control (computation of pulse of 82 LIFO of ／ of SMD72 of ／ of ／ of width of pulse of 80 PWM of ／ of SMW70 of ／ of ／ of value of cycle of 78 LIFO of ／ of SMW68 of ／ of PWM) ／ is worth LD SM0. 0 MOVB 16# D3. ／ of SMB77 ／ outputs pulse cycle to be MOVW VW 1000 of 500 small seconds, SMW 78 MOVW VW 1000. I +2 of ／ of VW1 1 18. VWl118 MOVW VW 1118. NETWORK 9 LBL 0 of ⑨ of SMW 80 PIS 1
The output of high speed pulse that this exemple gave out to use Xi Menzi PLC and PID control a function, implementation communicates servo electric machinery to have pilot principle and method of corresponding process designing to digital type. This control method lights gas production successfully already to control a system with Yushui in, the result is favorable
The servo of much axis communication that is based on 1756-M08SE module controls a system (2 axes)
Because development order is larger, we give out only here the dot of servo is moved, positive and negative to, the control that wait! Introduce as follows first:
Overall overview: Drive of servo of Luoke Wei Er is used to be equal to an instruction with EQU() compare a number to measure input module 0 odd even numbers of an input frequency will control servo annulus respectively close and disconnect. Among them MSO instruction is used at driver of direct activation servo and make can related to physical servo axis already configuration servo annulus. Spark after MSO dictates, appoint an axis to enter servo to control state. When the axis is in mobile condition, carry out this instruction to disable. If sparked at this moment,should dictate, MSO instruction can produce " Axis In Motion " breakdown. MSF instruction is used at closing servo drive output instantly directly, and prohibit the servo annulus of physical servo axis. This meeting makes the axis is in preparative condition. The other sport that this instruction can prohibit be being carried out arbitrarily plans. And if need to move directly with the hand when the axis, can close servo operation with this instruction.
Should carry out above successfully instruction of two movement condition, have a necessary premise, namely target axis must configuration is servo axis, if this condition is malcontent sufficient, this instruction can produce a mistake. Building coordinate also is a very important segment in the main program. No matter be in industrial spot or elsewhere in athletic control system, basically must wanting to build a coordinate is. If do not build department of a coordinate, although can use the control means of increment type to realize a few simple control, but the operation such as the feedback that such means cannot realize pair of real positions, and control pattern is mixed. Building coordinate to fasten in mature and sound control system so is an indispensable link. Coordinate fastens build can make control becomes very convenient, and the function such as the real time feedback that can realize position of present to the system location. The two silk lever of the dynamoelectric drive that the axis is pilot of this second design place to be Y-1002-2-H00AA with model of firm of Luoke Wei Er. Filar staff grows 330mm, every pitch is 5mm, actually content is shown 1 times like the graph. (servo axis)
Systematic framework pursues as follows:
Systematic implementation: In on hardware one complete servo is reached by network of controller, communication, driver, electromotor, actuator detect device composition. Among them the cerebra that controller is equivalent to a person, use an analysis all sorts of input signal (command and feedback) ; What communication network is equivalent to a person is neurological, wait like SERCOS interface, DeviceNet interface; And driver resembles is the action since muscle place same, use at will controlling signal to undertake power magnifies, with drive electromotor; Electromotor is equivalent to a hand, and the manufacturing tool in hand is servo is medium actuator (wait like ball silk lever, move the whirligig translate into of electromotor point-blank) . In above systems analysis mixes two chapters the system was elaborated in the design the function of each parts and characteristic, and if the hardware link that wants the function that realizes this second design pursues 4.1 are shown.
The most commonly used instruction introduces: MAJ and MAS instruction are used to come to those who implement hand traverse order write in this second design. In the MAJ in the program (Motion Axis Jog) the instruction is used at the dot to use servo rod. The rough sketch that the dot uses a rod can be installed for according to S form curve flowing achieve set rate, also can achieve set rate according to echelon curve, should dictate at the same time can be the athletic changeover of any current axes simple point to use campaign. The axis uses moving process in the dot in, can use MAS instruction to stop this axis, or spark another MAJ instruction. MAS (Motion Axis Stop) the instruction moves with the random that appoints physical axis at stopping, and need not prohibit its servo annulus (if servo annulus closes) . To any controlled axes motion all can use this instruction to be spent with the decelerate of set undertake stopping, its can choose stop means to be moved a bit stop means, gear to stop to wait.
Programming is as follows:
Note: Among them a few intermediate register to go up the setting uses a machine HMI. Need not consider!
PLC console amounts to picture of servo electric machinery:
- , hookup: (draft, remain to arrange optimize)
1, PLC hookup
K1A, K1B - - - the auxiliary relay such as K3B uses solid state relay.
2, servo controller hookup
Servo controller is Beijing glad product of limited company of science and technology of number of Si Da spy, performance of driver of this MicroStep TX-3H504D is as follows:
2, process designing:
