autocal layout first design
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ykcheungab
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'*******************************************************ECAT总线初始化
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'''''''''
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global CONST BUS_TYPE = 0 '总线类型。用于上位机区分当前模式
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global CONST MAX_AXISNUM = 32 '最大轴数
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global CONST Bus_Slot = 0 '槽位号0
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global CONST Bus_AxisStart = 0 '总线轴起始轴号
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global Bus_InitStatus '总线初始化完成状态
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Bus_InitStatus = -1
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global Bus_TotalAxisnum '检查扫描的总轴数
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delay(3000) '延时3S等待驱动器上电
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'**********************初始化ECAT总线
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Ecat_Init()
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end
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global sub Ecat_Init()
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for i=0 to MAX_AXISNUM - 1 '初始化还原轴类型
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AXIS_ENABLE(i) = 0
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atype(i)=0
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next
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Bus_InitStatus = -1
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Bus_TotalAxisnum = 0
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SLOT_STOP(Bus_Slot)
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delay(200)
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slot_scan(Bus_Slot) '开始扫描
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if return then
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?"总线扫描成功","连接设备数："NODE_COUNT(Bus_Slot)
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?
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?"开始映射轴号"
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for i=0 to NODE_COUNT(Bus_Slot)-1 '遍历总线下所有从站节点
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if NODE_AXIS_COUNT(Bus_Slot,i) <>0 then '判断当前节点是否有电机
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for j=0 to NODE_AXIS_COUNT(Bus_Slot,i)-1
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AXIS_ADDRESS(Bus_AxisStart+i)=Bus_TotalAxisnum+1 '映射轴号
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ATYPE(Bus_AxisStart+i)=65 '设置控制模式 65-位置 66-速度 67-转矩
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DRIVE_PROFILE(Bus_AxisStart+i)= 4 '设置PROFILE功能
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disable_group(Bus_AxisStart+i) '每轴单独分组
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DRIVE_IO(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16 '映射驱动器上的IO状态
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REV_IN(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16
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FWD_IN(Bus_AxisStart+i) = 129 + (Bus_AxisStart+i)*16
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DATUM_IN(Bus_AxisStart+i) = 130 + (Bus_AxisStart+i)*16
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INVERT_IN(128 + (Bus_AxisStart+i)*16,ON)
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INVERT_IN(129 + (Bus_AxisStart+i)*16,ON)
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INVERT_IN(130 + (Bus_AxisStart+i)*16,ON)
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Bus_TotalAxisnum=Bus_TotalAxisnum+1 '总轴数+1
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next
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endif
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next
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?"轴号映射完成","连接总轴数："Bus_TotalAxisnum
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wa 2000
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SLOT_START(Bus_Slot) '启动总线
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if return then
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?"总线开启成功"
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?"开始清除驱动器错误(根据驱动器数据字典设置)"
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for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1
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DRIVE_CONTROLWORD(i)=128 '根据驱动器数据字典
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wa 100
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DRIVE_CONTROLWORD(i)=6
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wa 100
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DRIVE_CONTROLWORD(i)=15
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wa 100
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next
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?"驱动器错误清除完成"
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wa 100
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?"清除控制器错误"
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datum(0)
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DRIVE_CLEAR(0)
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?"控制器错误清除完成"
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wa 100
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?"轴使能准备"
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for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1
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base(i)
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AXIS_ENABLE=1
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next
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wdog=1 '使能总开关
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Bus_InitStatus = 1
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?"轴使能完成"
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else
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?"总线开启失败"
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Bus_InitStatus = 0
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endif
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else
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?"总线扫描失败"
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Bus_InitStatus = 0
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endif
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end sub
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@@ -0,0 +1,103 @@
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'*******************************************************RTEX总线初始化
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'''''''''
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global CONST BUS_TYPE = 1 '总线类型。用于上位机区分当前模式
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global CONST MAX_AXISNUM = 32 '最大轴数
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global CONST Bus_Slot = 0 '槽位号0
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global CONST Bus_AxisStart = 0 '总线轴起始轴号
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global Bus_InitStatus '总线初始化完成状态
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Bus_InitStatus = -1
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global Bus_TotalAxisnum '检查扫描的总轴数
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delay(3000) '延时3S等待驱动器上电
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'**********************初始化RTEX总线
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Rtex_Init()
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end
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global sub Rtex_Init()
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for i=0 to MAX_AXISNUM - 1 '初始化还原轴类型
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AXIS_ENABLE(i) = 0
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atype(i)=0
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next
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Bus_InitStatus = -1
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Bus_TotalAxisnum = 0
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SLOT_STOP(Bus_Slot)
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delay(200)
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slot_scan(Bus_Slot) '开始扫描
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if return then
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?"总线扫描成功","连接设备数："NODE_COUNT(Bus_Slot)
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?
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?"开始映射轴号"
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for i=0 to NODE_COUNT(Bus_Slot)-1 '遍历总线下所有从站节点
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if NODE_AXIS_COUNT(Bus_Slot,i) <>0 then '判断当前节点是否有电机
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for j=0 to NODE_AXIS_COUNT(Bus_Slot,i)-1
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AXIS_ADDRESS(Bus_AxisStart+i)=Bus_TotalAxisnum+1 '映射轴号
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ATYPE(Bus_AxisStart+i)=50 '设置控制模式 50-位置 51-速度 52-转矩
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DRIVE_PROFILE(Bus_AxisStart+i)= 4 '设置PROFILE功能
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disable_group(Bus_AxisStart+i) '每轴单独分组
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DRIVE_IO(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16 '映射驱动器上的IO状态
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REV_IN(Bus_AxisStart+i) = 128 + (Bus_AxisStart+i)*16
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FWD_IN(Bus_AxisStart+i) = 129 + (Bus_AxisStart+i)*16
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DATUM_IN(Bus_AxisStart+i) = 130 + (Bus_AxisStart+i)*16
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INVERT_IN(128 + (Bus_AxisStart+i)*16,ON)
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INVERT_IN(129 + (Bus_AxisStart+i)*16,ON)
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INVERT_IN(130 + (Bus_AxisStart+i)*16,ON)
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Bus_TotalAxisnum=Bus_TotalAxisnum+1 '总轴数+1
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next
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endif
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next
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?"轴号映射完成","连接总轴数："Bus_TotalAxisnum
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wa 2000
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SLOT_START(Bus_Slot) '启动总线
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if return then
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?"总线开启成功"
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?"开始清除驱动器错误(根据驱动器数据字典设置)"
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for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1
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DRIVE_CONTROLWORD(i)=128 '根据驱动器数据字典
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wa 100
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DRIVE_CONTROLWORD(i)=6
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wa 100
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DRIVE_CONTROLWORD(i)=15
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wa 100
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next
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?"驱动器错误清除完成"
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wa 100
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?"清除控制器错误"
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datum(0)
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DRIVE_CLEAR(0)
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?"控制器错误清除完成"
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wa 100
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?"轴使能准备"
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for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1
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base(i)
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AXIS_ENABLE=1
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next
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wdog=1 '使能总开关
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Bus_InitStatus = 1
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?"轴使能完成"
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else
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?"总线开启失败"
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Bus_InitStatus = 0
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endif
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else
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?"总线扫描失败"
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Bus_InitStatus = 0
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endif
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end sub
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