Benutzerhandbuch für Kollmorgen M-SS-005-03

Benutzerhandbuch (English)

Benutzerhandbuch

Inhaltsverzeichnis

©1999 – 2005 Danaher Motion. All rights reserved. Printed in
2
DANAHER MOTION® is a registered trademark of Danaher Corpora
2
OVERVIEW
11
- System Hardware
  12
- Operating System
  12
- MC-BASIC Language Compiler
  12
- I/O
  13
- SERCOS
  13
- API
  14
- Multi-tasking
  14
- User communication
  14
  - Serial Communication
    15
    - With Host
      15
    - Open Serial Port
      16
  - TCP/IP Communication
    16
    - Setup
      16
    - MC As TCP Client
      17
    - MC As TCP Server
      18
  - Send /Receive Data
    18
    - Receive Data
      18
    - Send Data
      19
    - Send Data Block
      20
    - Send/Receive NULL Character
      20
    - Close Connection
      20
BASIC MOVES DEVELOPMENT STUDIO
21
- Communication
  21
- MC-BASIC
  21
  - Instructions
    22
  - Type
    22
  - Constants and Variables
    24
    - Constants
      24
      - Literal Constants Table
        24
    - Variables
      24
  - Data Types
    26
    - Structures
      28
      - Definition
        28
      - Declare
        28
      - Syntax
        28
      - Assignment
        29
      - Elements
        29
  - System Elements
    29
  - Units
    30
  - Expressions
    30
  - Automatic Conversion of Data Types
    30
  - Math Functions
    33
  - String Functions
    34
  - System Commands
    35
  - Printing
    38
  - Flow Control
    40
    - Error Trapping
      43
    - Nesting
      45
- Program Declarations
  46
  - Program
    46
  - Subroutine
    46
  - User-Defined Functions
    47
- Libraries
  48
  - Global Libraries
    50
- C-Functions
  50
  - Object Files
    50
  - Prototype File
    51
  - Special Considerations
    54
- Semaphores
  55
  - Mutual Exclusion Semaphores
    55
  - Synchronization Semaphores
    56
- Virtual Entry Station
  56
- Output Redirection
  57
Systems with FPGA version 8.51, firmware 4.0.0 and higher su
57
- File Operations
  57
  - OPEN
    57
  - OPEN #, INPUT #, CLOSE, LOC
    58
  - TELL
    58
  - SEEK
    58
PROJECT
59
- Project Structure
  59
- Tasks
  59
  - General Purpose Tasks
    59
  - Configuration Task
    61
  - AutoExec Task
    61
- Program Declarations
  62
  - Arrays
    63
- Multi-tasking
  65
- Event Handler
  70
  - OnEvent
    70
  - EventOn
    71
  - EventOff
    71
  - EventList
    71
  - EventDelete
    71
  - Events at Start-up
    71
  - Program Flow and OnEvent
    71
- Setting up Axes
  72
  - Axis Definition
    72
  - Axis Name
    72
  - Drive Address
    73
  - Starting Position
    73
  - BASIC Moves Auto Setup Program
    73
  - User Units
    74
  - Position Units
    74
  - Velocity Units
    75
  - Acceleration Units
    75
  - Jerk Units
    76
- Acceleration Profile
  76
- Position and Velocity
  77
- Limits
  79
  - Position Limits
    80
-1 = element is a slave (gear or cam) unless an incremental
83
0 = element is not moving
83
1 = element is accelerating
83
2 = element is at constant velocity phase (cruise)
83
3 = element is decelerating
83
- Axis Velocity Limits
  83
- VELOCITY, ACCELERATION AND JERK RATE PARAMETERS
  83
- Verify Settings
  84
  - Enabling
    84
  - Motion Flags
    84
  - Move
    84
- SERCOS
  85
  - Communication Phases
    86
  - Telegrams
    86
  - Telegram Types
    87
  - Cyclic vs. Non-Cyclic Communication
    88
  - IDNs
    88
  - Position and Velocity Commands
    89
  - SERCOS Support
    89
- Loops
  91
  - Standard Position Loop
    92
  - Dual-feedback Position Loop
    92
  - Velocity Loop
    93
- Simulated Axes
  93
SINGLE-AXIS MOTION
95
- Motion Generator
  95
  - Motion Conditions
    95
  - Motion Buffering
    97
  - Override versus Permanent
    97
  - Acceleration Profile
    98
  - Jog
    98
  - Stop
    99
  - Proceed
    99
  - Move
    100
  - Velocity Override
    108
- Motion Examples
  108
  - Position Capture
    108
  - Homing
    109
  - Registration
    111
  - Gating
    112
  - Clamping
    112
  - PIPEMODE
    113
    - Data Structure
      113
    - Drive Operation Modes
      114
MASTER-SLAVE
115
- Master Sources
  115
- Gearing
  116
  - Enable Gearing
    116
  - Disable Gearing
    116
  - Incremental Moves
    117
- Camming
  118
  - Key Features
    118
  - GEARRATIO
    119
  - Incremental Moves
    119
  - Cam Tables
    119
  - Cam Cycles
    121
  - Create Cam Tables
    123
    - Static Tables
      123
    - Dynamic Tables
      125
  - Operating Cams
    125
- Simulated and Master-Slave Axes
  129
  - Fixed-Speed Masters
    129
  - Monitor Physical Axes
    129
  - Synchronize Slave Axes
    129
GROUPS
131
- Set Up
  131
- DeleteGroup
  131
- Acceleration Profiles
  131
  - Acceleration and Deceleration
    131
- Position
  132
  - Vector
    132
  - Scalar
    132
- Velocity
  133
- Limits
  133
  - Generator
    133
  - Realtime
    133
  - Position
    133
  - Velocity
    134
- Acceleration
  134
- VELOCITY, ACCELERATION, DECELERATION AND JERK RATES
  134
- Motion
  135
  - Attach Task and Axis
    135
  - ENABLE
    135
  - Motion Flags
    136
  - STOP
    136
  - PROCEED
    137
  - MOVE
    137
  - CIRCLE
    138
  - Chain Commands
    139
  - Blending
    139
    - Superposition
      140
- Move Control
  141
  - Settling Time
    142
  - Start Moves
    142
  - Chain Moves
    143
  - Multi-Step Moves
    143
  - Synchronize Multiple Axes
    144
  - Clear A Pending Move
    145
- Velocity Override
  145
  - Motion Assignment
    146
    - Motion Properties
      146
COMPENSATION TABLES
147
- Specification
  147
  - Access Data
    148
  - Define
    148
  - Load/Save From a File
    149
  - Set and Query Values
    149
  - Activate
    149
  - Query Actual Positions
    149
  - Multi-Dimensional Correction
    149
PHASER
151
- Profiler
  151
  - Execute
    152
  - Cancel
    152
  - Serial PHASER
    152
GENERIC ELEMENTS
153
- ELEMENTID
  153
  - Declaration
    154
  - Assignment
    154
  - Limitations
    155
  - Functions
    156
- WITH
  158
INPUT/OUTPUT
159
- Standard I/O
  159
- Software I/O
  159
  - Bit-oriented Software I/O
    159
  - Long-Word-Oriented Software I/O
    160
- PLS (Programmable Limit Switch)
  160
  - Enable and Disable
    160
  - Switch Positions
    161
  - Repetition Interval
    162
  - Polarity
    162
  - Hysteresis
    162
  - Enable and Disable
    162
  - PLS Output State
    163
  - Set Up
    163
- External Encoders
  164
- PC104
  165
  - Configuring PC104 Cards
    165
  - Installation
    165
  - Commands
    166
ERROR HANDLING
167
- Context
  167
  - Task Context
    167
    - OnError
      168
    - Try/Finally
      169
  - System Context
    169
    - OnSystemError
      169
    - ErrorPrintLevel
      169
  - Terminal Context
    170
- WatchDog
  170
  - WatchDog Setup
    171
  - Cycle the WatchDog
    171
  - Reset the WatchDog
    171
- UEA (User Error Assertion)
  172
- Exceptions
  172
  - Declaration
    172
  - Deletion
    173
  - Assertion
    173
  - Log
    174
  - Query
    174
  - Print
    174
  - Limitations
    174
APPENDIX A
175
- Sample Nesting Program
  175
- Subroutine Example
  176
- Sample Autosetup Program
  177
APPENDIX B
181
- Non-Homogenous Groups
  181
  - Kinematics
    181
    - Coordinate Systems
      181
    - User Units
      182
- Coupling
  183
  - Motion Elements
    183
  - Joints
    184
  - Robot Models
    185
  - Interpolation
    186
    - Contouring
      188
  - Cartesian Profile
    189
  - Working Envelope
    190
  - Robot Configurations
    191
- POINTS
  191
  - Declaration
    192
  - Variables
    192
    - Declaration
      192
  - Constant Points
    192
  - Vectors
    193
  - Properties
    193
  - Point Dimension
    193
  - Point Assignment
    194
  - Single Coordinate Point Assignment
    194
  - Point Query
    194
  - Single Coordinate Point Query
    194
  - Operators
    194
    - Assignment
      194
    - Query
      195
    - Plus
      195
    - Minus
      195
    - Multiplication
      195
    - Division
      195
    - Compound (:)
      195
    - Limitations
      195
  - Points in Functions
    196
    - Passing By Value And Reference
      196
    - Returning Point From Function
      196
  - Motion Commands
    197
  - Analog Behavior
    197
  - Point As An Expression
    197
    - Functions
      197
    - SAVE/LOAD
      197
  - Group Point Properties
    198
    - Single Element Assignment
      198
  - In Functions
    198
  - Query
    199
    - Single Element Query
      199
  - Operators
    199
  - Pass Structure
    199
  - Limitations
    200
- Conveyer Tracking
  200
  - Window Declaration
    201
  - Tracking
    201
  - Moving Frame
    201
  - Tracking Process
    202
- Customer Support
  204

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