关于simotion建立同步/解除同步的问题
关于simotion建立同步/解除同步的问题。
问题:
【enable gearing】【disable gearing】【enable camming】【disable camming】都是一个过程,需要通过逻辑来保证该指令【能够执行一次,且仅执行一次】。
方法1)如果同步命令在background/IPO中执行,使用上升沿来保证“只执行一次”
方法2)建立【gearoff-running】【gearon-running】变量,在指令执行时置1,同步建立/解除后置0
可以参考我写的relative gear里面的时序。我的这个程序里面,方法1和方法2都用了。自己写程序可以只用其中一种方法。
FUNCTION_BLOCK FB_RelativeGear
//--------------------------------------------------------------------------
// SFAE / Beijing, China
//--------------------------------------------------------------------------
//functionality: two axis relative sync
//assignment: Ipo task / background
//--------------------------------------------------------------------------
//change log table:
//version date expert in charge changes applied
//01.00.00 24.10.2016 Zheng lei Created
//01.01.00 29.06.2018 Zheng lei fix 'GearOffRunning' signal bug
//01.01.01 28.11.2018 Zheng lei 1)reset 'GearOnRunning''GearOffRunning' signal when command change
// 2)change gearRatio on-the-fly
//==========================================================================
VAR_INPUT
TO_master :PosAxis := TO#nil;
TO_slave :FollowingAxis;
TO_slaveSync :FollowingObjectType := TO#nil;
GearOn :BOOL:= FALSE;
GearRatio :LREAL:= 1.0;
Acc :LREAL:= 50.0;
//superImpose(options)
SPos_Length :LREAL:= 1.0;
SPos_Spd :LREAL:= 2.0;
SPos_Positive :BOOL:= FALSE;
SPos_Negative :BOOL:= FALSE;
END_VAR
VAR_OUTPUT
gearOnOK :BOOL;
END_VAR
VAR
myRetDINT :DINT;
rtrig_gearOn :R_TRIG;
ftrig_gearOff :F_TRIG;
GearOnRunning :BOOL;
GearOffRunning :BOOL;
GearRatioChanged :BOOL;
oldGearRatio :LREAL;
PosP_Trig :R_TRIG;
PosN_Trig :R_TRIG;
END_VAR
rtrig_gearOn(GearOn);//rtrig
ftrig_gearOff(GearOn);//ftrig
IF rtrig_gearOn.q OR ftrig_gearOff.q THEN
GearOnRunning := FALSE;
GearOffRunning := FALSE;
END_IF;
GearRatioChanged := (GearRatio <> oldGearRatio);
oldGearRatio := GearRatio;
//gear on
IF (rtrig_gearOn.q OR GearRatioChanged)
AND TO_slave.control = active
AND (TO_slave.syncMonitoring.syncState <> Yes OR GearRatioChanged)
AND (TO_slave.motionStateData.motionState = STANDSTILL OR GearRatioChanged)
AND TO_master <> TO#nil
AND TO_slave <> TO#nil
AND TO_slaveSync <> TO#nil
AND NOT GearOnRunning
THEN
myRetDINT := _setMaster( //set master
followingObject := TO_slaveSync
,master := TO_master
,transientBehavior := DIRECT
,nextCommand := IMMEDIATELY
);
myRetDINT := _enableGearing(
followingObject := TO_slaveSync
,direction := BY_VALUE
,gearingType := RELATIVE
,gearingMode := GEARING_WITH_RATIO
,gearingRatioType := DIRECT
,gearingRatio := GearRatio
,synchronizingMode := IMMEDIATELY
,syncProfileReference := RELATE_SYNC_PROFILE_TO_TIME
,positiveAccelType := DIRECT
,positiveAccel := Acc
,negativeAccelType := DIRECT
,negativeAccel := Acc
,velocityProfile := TRAPEZOIDAL
,mergeMode := IMMEDIATELY
,nextCommand := IMMEDIATELY
,synchronizingDirection := SHORTEST_WAY
);
GearOnRunning := TRUE;
END_IF;
IF TO_slave.syncMonitoring.syncState = Yes
OR NOT GearOn OR TO_slave.control = INACTIVE
THEN //gear on finish
GearOnRunning := FALSE;
END_IF;
//gear off
IF TO_slave.control = active
AND ftrig_gearOff.q
AND TO_slave.syncMonitoring.syncState = Yes
AND NOT GearOffRunning
AND TO_slaveSync <> TO#nil
THEN
GearOffRunning := TRUE;
myRetDINT := _disableGearing(
followingObject := TO_slaveSync
,syncOffMode := IMMEDIATELY
,syncProfileReference := RELATE_SYNC_PROFILE_TO_TIME
,positiveAccelType := DIRECT
,positiveAccel := Acc
,negativeAccelType := DIRECT
,negativeAccel := Acc
,velocityProfile := TRAPEZOIDAL
,mergeMode := IMMEDIATELY
,nextCommand := IMMEDIATELY
);
END_IF;
IF TO_slave.syncMonitoring.syncState <> Yes THEN //gearoff finish
GearOffRunning := FALSE;
END_IF;
//------------------- SuperImpose pos ------------------------
PosP_Trig(SPos_Positive);
PosN_Trig(SPos_Negative);
IF PosP_Trig.q
AND TO_slave.control = active
THEN
myRetDINT := _pos(
axis := TO_slave
,direction := POSITIVE
,positioningMode := RELATIVE
,position := SPos_Length
,velocityType := DIRECT
,velocity := SPos_Spd
,positiveAccelType := DIRECT
,positiveAccel := Acc
,negativeAccelType := DIRECT
,negativeAccel := Acc
,velocityProfile := TRAPEZOIDAL
,blendingMode := INACTIVE
,mergeMode := SUPERIMPOSED_MOTION_MERGE
,nextCommand := IMMEDIATELY
);
END_IF;
IF PosN_Trig.q
AND TO_slave.control = active
THEN
myRetDINT := _pos(
axis := TO_slave
,direction := NEGATIVE
,positioningMode := RELATIVE
,position := SPos_Length
,velocityType := DIRECT
,velocity := SPos_Spd
,positiveAccelType := DIRECT
,positiveAccel := Acc
,negativeAccelType := DIRECT
,negativeAccel := Acc
,velocityProfile := TRAPEZOIDAL
,blendingMode := INACTIVE
,mergeMode := SUPERIMPOSED_MOTION_MERGE
,nextCommand := IMMEDIATELY
);
END_IF;
gearOnOK := TO_slave.syncMonitoring.syncState = Yes
AND TO_slave.control = active;
END_FUNCTION_BLOCK
posted on 2018-11-28 11:24 lion_zheng 阅读(838) 评论(0) 编辑 收藏 举报