Axis Positioning and Synchronization Commands for Drive Engineering

Transcription

1 zub APOSS win An brief Overview of all APOSS Commands Axis Positioning and Synchronization Commands for Drive Engineering Sample: Sychronise a belt with marker Sample: Test program for recording of movements with different ramp types of parameter RAMPTYPE. zub zub machine control AG Buzibachstrasse 31 CH-6023 Rothenburg Switzerland Phone Fax info@zub.ch

2 APOSS Command Groups 2 Command Reference All available APOSS commands are organized below into general functional groups: Initialization Flow Control Input/Output System Information Interrupt Functions Parameter Simple Move Control Loop CANopen Basic CANopen Master CANopen Slave EtherCAT Master Synchronization Curve Control Memory Communication Debug State Machine Deprecated Commands to initialize the axes and the control unit start up and define the zero point(s). Commands for controlling the program flow, and structuring the programs Command to set and read inputs and outputs. Commands for querying system status information such as drive position and velocity, system clock, error status, etc. Commands to enable and disable interrupts as well as to call subroutines. All global and axis parameters with a parameter code can be set and read with these commands. Commands to set speed and velocity, to start, stop, and to position. Turns on motor control on with user defined position. This library contains all the functions necessary to do raw CAN telegram transfer and buffered messages. This library has functions to support the usage of CANopen Slaves like I/O modules or encoders or even drives. Those functions do not only allow the configuration with SDOs but do allow the usage of process data through PDOs. This library contains all functions which are necessary to act as a CANopen Slave. With special application software, it would even be possible to behave like a DS402 drive. Commands to configure and control the EtherCAT masters, to read and set SDOs as well as SDO2 to communicate with debug devices like SDO monitors. Commands to synchronize the slave with the master or the master simulation. Commands for synchronization in CAM mode (CAM control). Commands to define and save arrays. Commands to handle the RS485 and RS233 interfaces as wells as the parameter handling of Danfoss VLTs. Printing commands and commands for configuring and using arrays for recording test results. Commands related to state machines. Commands are no longer supported. Initialization Commands

3 APOSS Command Groups 3 Commands to initialize the axes and the control unit start up and define the zero point(s). CANOPENSLAVE DEFCORIGIN DEFMORIGIN DEFORIGIN ERRCLR HOME INDEX MOTOR RSTORIGIN SETMORIGIN SETORIGIN Initializes the CANopen functionality with the set CAN number (id). Sets the command position as real zero point. Set the current master position as the zero point for the master. Sets the actual position as real zero point. Clears error. Moves to machine zero point. Moves to next index position. Turns the motor on and off. Reset temporary zero point. Set the current position as the zero point for the master. Set temporary zero point. Flow Control Commands Commands for controlling the program flow, and structuring the programs. BREAK CONTINUE DELAY DELAYUS EXIT GOSUB GOTO IF THEN ELSE IF THEN ELSE ENDIF LOOP NOWAIT ON/OFF REPEAT REPEAT UNTIL SUBMAINPROG ENDPROG SUBPROG Break of command execution inside a WHILE or REPEAT loop, or a SWITCH statement. Continue the positioning from point of interruption, e.g. following a motor-stop. Time delay. Time delay in Microseconds. Desired premature program termination. Calling up a subroutine. Jumping within a program. Conditional program execution. with conditional alternative branching. with alternative branching. End of the conditional program execution. Repeats loop. On/off switch for waiting for the command execution. Beginning of repeat loop. Conditional loop, with an end criteria. Start of the subroutine definition area. End of the subroutine definition area. Begins a subroutine.

4 APOSS Command Groups 4 RETURN SWITCH CASE DEFAULT ENDSWITCH WAITAX WAITI WAITNDX WAITP WHILE DO ENDWHILE Ends a subroutine. Conditional command execution, command execution depending on the value of a variable. command execution without a fitting branch. end of conditional command execution. Wait until target position is reached. Wait for input. Wait until the next index position is reached. Wait until a certain position is reached. Conditional loop with commencement criteria. End of the loop. Input/Output Commands IN INAD Reads input bit-by-bit (individually). Reads analog input and process data objects (PDO) of CAN objects. INB Reads input by bytes (units of 8). OUT OUTAN Sets digital outputs bit-by-bit (single). Sets analog output (allocated to an axis). OUTB Sets digital outputs by bytes (units of 8). OUTDA Sets analog output (freely available) and an output, which is initialized as a drive. System Information Commands Commands for querying system status information such as drive position and velocity, system clock, error status, etc. APOS APOSDIFF AVEL AXEND CPOS CPOSDIFF ERRAX ERRNO _GETVEL IPOS IPOSDIFF Reads actual position. Overflow handling of incremental encoders in applications. Queries actual velocity of an axis. Reads info on status of program execution. Reads set position. Overflow handling of incremental encoders in applications. Number of the axis which triggers the error. Reads error number. Changes sample time for AVEL and MAVEL. Queries last index or marker position of the slave. Overflow handling of incremental encoders in applications.

5 APOSS Command Groups 5 JERKFINVEL JERKSTOPDIST MAPOS MAPOSDIFF MAVEL MIPOS MIPOSDIFF PID STAT STATCLR SYNCERR SYSVAR TIME TIMEHW TRACKERR USRSTAT Calculates the final velocity for a jerk-limited stop with maximum acceleration/deceleration. Calculates the necessary distance for a jerk-limited stop with maximum deceleration. Queries actual position of the master. Overflow handling of incremental encoders in applications. Queries actual velocity of the master. Queries last index or marker position of the master. Overflow handling of incremental encoders in applications. Executes PID calculation. Reads axis status. Clears the slave and master index flags. Queries actual synchronization error of a slave axis. System variable (pseudo array) reads system values. Reads internal controller time. Reads internal system timer. Queries actual position error of an axis. Sets user status. Interrupt Functions DISABLE ENABLE ON CANINPUT id GOSUB ON CANMSG GOSUB ON COMBIT GOSUB ON DELETE.. GOSUB ON DELETE SETOUT ON ERROR GOSUB ON.. GOSUB DELETE ON INT GOSUB ON KEYPRESSED GOSUB ON PARAM GOSUB ON PERIOD GOSUB ON posint GOSUB Locks the execution of interrupts. Enables locked interrupts. Calls up a subprogram when a CAN telegram type 'id' arrives. Verifies arrival of a buffered CAN message. Calls up a subprogram when Bit n of the communication buffer is set. Deletes a position-interrupt: ON posint GOSUB. Deletes all interrupts which set or reset an output. Calls subroutine in the event of an error. Eliminates a single interrupt. Calls subroutine depending on input signal. Interrupts when a character appears via the serial interface when any key is pressed. Calls up a subprogram when a parameter is altered. Calls subroutine at regular intervals. Calls up a subprogram when a position interrupt occurs:

6 APOSS Command Groups 6 ON APOS when the slave position xxx is passed. ON IPOS when the distance between the last marker position and the actual position is reached. ON MAPOS when the master position xxx [mu] is passed. ON MIPOS when the distance between two markers is reached. ON posint GOSUBOT ON posint SETOUT (TOIN) ON posint SETOUTOT ON STATBIT GOSUB ON TIME GOSUB Defines one time position interrupts. Simulates a cam box (all types of position interrupts). Defines one time position interrupts. Calls up a subprogram when bit n of the status word is set. Calls subroutine after single timing. Parameter Commands All global and axis parameters with a parameter code can be set and read with these commands. GET LINKPDO LINKSDO SET Reads parameter values (axis and global parameter). Link the system variable with PDO and copy in the internal parameters. Copying an internal object in the PDO. Sets parameter values (axis and global parameter). Simple Move Commands ACC DEC VEL POSA POSR LINA LINR CSTART CSTOP CVEL MOTOR STOP Sets acceleration. Sets deceleration. Sets velocity for relative and absolute motions and set maximum allowed velocity for synchronizing. Positions axis absolutely. Positioning relative to the actual position. Synchronously positions axis absolutely. Synchronized relative positioning of several axes. Starts the continuous movement in RPM mode. Stops the drive in speed mode. Sets the velocity for speed regulation. Motor-stop with a programmed delay (with ramp). Control Loop Commands MOTOR USERREFPOS MOTOR USERREFVEL Turns on motor control on with user defined reference position. Turns motor control on with user defined velocity reference

7 APOSS Command Groups 7 CANopen Basic Commands CANDEL CANIN CANOPENSLAVE CANOUT DEFCANIN DEFCANOUT INGLB INMSG MSGVAL ON CANINPUT OUTMSG USRSTAT Erases all or single CAN objects. Reads an object. Initializes the CANopen functionality with the set CAN number (id). Sends message (active). Defines a receive object. Defines a transmit object in the CAN controller. Reads Glb CAN message. Reads CAN message (polling). Supplies the long value of the last message. Calls up a subprogram when a CAN telegram type 'id' arrives. Sends CAN message (polling). Sets user status. CANopen Master Commands CANIN (>100) CANINI SDOREAD SDOREADSEG SDOREADSEGP SDOSTATE SDOWRITE Gathers all Transmit-PDOs of digital input modules or CAN drive status by using only one CAN telegram. Initializes the necessary objects (PDOs) for data exchange of CANopen nodes, or enables extended CANINI, CANIN function. Reads SDO of a connected CANopen device. Segmented read of SDOs (unpacked). Segmented read of SDOs (packed). Checks the result of an active communication. Sets SDO of a connected CANopen device. SDOWRITEN Sets a SDO and specifies the number of valid data bytes (= Data set size is indicated ). IN INB OUT OUTB SET ENCODERTYPE SET DRIVETYPE Reads status of digital input. Reads one byte from digital inputs. Set or re-set digital outputs. Alteration of the condition of a digital output byte. SET parameter ENCODERTYPE. SET parameter DRIVETYPE. CANopen Slave Commands LINKPDO Link the system variable with RxPDO and copy in the

8 APOSS Command Groups 8 internal parameters, or link part of an array into the PDO. LINKSDO PDO[ ] SYSVAR[0x01 ] Link TxPDO with internal system variable, or link part of an array out of the PDO. Pseudo array for direct access to the CANopen PDOs. System variable (Pseudo array) reads system values; see SDO Dictionary. EtherCAT Master Commands ECATMASTERCOMMAND ECATMASTERCONFIG ECATMASTERINFO PDO[ ] SDOREAD SDOREADSEG SDOREADSEGP SDOSTATE SDOWRITE Controls the EtherCAT master. Configures the EtherCAT master. Reads information from the EtherCAT master. Pseudo array for direct access to the CANopen PDOs. Reads SDO of a connected CANopen device. Segmented read of SDOs (unpacked). Segmented read of SDOs (packed). Checks the result of an active communication. Sets SDO of a connected CANopen device. SDOWRITEN Sets a SDO and specifies the number of valid data bytes (= Data set size is indicated ). Synchronization Commands Commands to synchronize the slave with the master or the master simulation. DEFMORIGIN DEFSYNCORIGIN MOVESYNCORIGIN PULSACC PULSVEL SETMORIGIN SYNCM SYNCMARKERSTART SYNCP SYNCSTAT SYNCSTATCLR SYNCV ACC DEC Set the current master position as the zero point for the master. Defines master-slave relation for the next SYNCP or SYNCM command. Relative shifting of the origin of synchronization. Sets acceleration for the virtual master. Sets velocity for virtual master. Set the current position as the zero point for the master. Synchronization of angle/position with marker correction. Resets a marker or resets marker handling. Synchronization of angle/position. Queries flag for synchronization status. Resetting of the flags MERR and MHIT. Synchronization of velocity. Sets acceleration. Sets deceleration.

9 APOSS Command Groups 9 VEL Sets velocity for relative and absolute motions and set maximum allowed velocity for synchronizing. Curve Control Commands Commands for synchronization in CAM mode (CAM control). CURVEPOS DEFMCPOS POSA CURVEPOS SETCURVE SYNCC SYNCCMM SYNCCMS SYNCCSTART SYNCCSTOP ACC DEC VEL Retrieve slave curve position that corresponds to the current master position of the curve. Define initial position of the master. Move slave to the curve position corresponding to the master position. Sets CAM curve. Synchronization in CAM mode. Synchronization in CAM mode with master marker correction. Synchronization in CAM mode with slave marker correction. Starts slave for synchronization in CAM mode. Stops slave after the CAM synchronization. Sets acceleration. Sets deceleration. Sets velocity for relative and absolute motions and set maximum allowed velocity for synchronizing. Memory Commands CAMDIM DELETE ARRAYS DIM DIMARRAY MEMORYDUMP MEMORYDUMPSTATE SAVE ARRAYS SAVE AXPARS SAVE GLBPARS SAVEPROM Define a global CAM array. Delete all arrays in the RAM. Define a global array. Pass a DIM array to functions by referencing the array number of the DIM array rather than the array name. Save SDO data on the Micro-SD card. This command can be used to poll the state/result of a MEMORDUMP command. Save arrays in the flash memory permanently. Save current axis parameters in the flash memory permanently. Save current global parameters in the flash memory permanently. Save RAM in the flash memory permanently. Communication Commands

10 APOSS Command Groups 10 DCPINIT DCPREADCOMM DCPWRITECOMM INKEY VLTCOMMAND VLTCOMSTATE VLTREAD VLTSTATUS VLTWRITE Initializes the RS485 (MACS4) or RS232/RS485 (MACS5) interface handler. DCP command for MACS4 RS485 or MACS5 RS232 interface: Checks for an incoming telegram. DCP command for MACS4 RS485 or MACS5 RS232 interface: Sends telegram. Reads ASCII-character from interface (RS232). Allows control word and references to be sent to Danfoss VLT via RS485. Polls for the result of the last parameter transaction. Reads parameters from a Danfoss VLT via RS485. Reads status and actual speed of Danfoss VLT over RS485. Writes parameters to a Danfoss VLT over RS485. Debug Commands Printing commands and commands for configuring and using arrays for recording test results. PRINT PRINTDEV PRINTF SPRINTF TESTSETDEST TESTSETINDEX TESTSETTIME TESTSETTYPE TESTSTART TESTSTOP Output (display) texts and variables. Stops information output. Formatted information output. Formatted information output to a string array. Defines the memory section for saving recorded data. Specifies system variables for data recording. Defines the sampling period for data recording. Defines one time or cyclic recording. Starts the data recording. Stops the data recording. State Machine Commands SmClear SmConfig SmEvent SmInput SmMachine SmParam SmPeriod SmPosition SmPositionOnce Clear the event queue. Define the state machine configuration parameters. Define an event and its parameters. Request an event when a digital input changes. Define a state machine variable. Request an event when a parameter value changes. Start a periodic timer. Request an event when the motor passes a specified position. Request an event when the motor passes a specified

11 APOSS Command Groups 11 position for the first time. SmPost SmPublish SmRun SmState SmStop SmSubscribe SmTimer SmUnsubscribe SmUrgent Create an event and post it to the end of the event queue. Create an event and publish for all state machines. Start state machines running. Define a state machine state, including its event handlers and substates. Stop running state machines. Subscribe to receive published events. Start a "once only" timer. Request to stop receiving published events. Create an event and post it to the head of the event queue. Deprecated Commands #DEBUG Command up to firmware version < 5.22 SWAPMENC TESTSETP WAITT GETSYS/SETSYS Encoder assignment Specifies recording data for test run. Time delay in milliseconds. Save and read userdefined SYSVARS for controls up to MACS4. From MACS5 controls onwards the still necessary functions have been implemented in SDO 0x2203.