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MPC2810 運(yùn)動控制器編程手冊
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資料類別
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電子電工軟件圖書 |
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課程(專業(yè))
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MPC2810 運(yùn)動控制器編程手冊 |
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關(guān)鍵詞
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MPC2810|運(yùn)動控制器編程手冊 |
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適用年級
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大學(xué) |
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身份要求
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普通會員 |
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金 幣
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0 �。�金幣如何獲得？） |
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文件格式
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pdf |
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文件大小
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629K |
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發(fā)布時間
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2011-11-11 12:09:00 |
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預(yù)覽文件
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無 |
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下載次數(shù)
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8 |
| 發(fā)布人 |
lj |
內(nèi)容簡介：
MPC2810 運(yùn)動控制器編程手冊
目錄
1 函數(shù)庫的使用...................................................................................................1
1.1 開發(fā)Windows系統(tǒng)下的運(yùn)動控制系統(tǒng).................................................1
1.1.1 開發(fā)Visual Basic控制程序..........................................................3
1.1.2 開發(fā)Visual C++控制程序..........................................................4
1.2 MPC2810 軟件升級...............................................................................6
2 運(yùn)動控制器初始化...........................................................................................8
2.1 控制器初始化........................................................................................8
2.1.1 指令列表.....................................................................................8
2.1.2 功能說明.....................................................................................8
2.1.3 舉例.............................................................................................9
2.2 控制軸初始化......................................................................................10
2.2.1 指令列表...................................................................................10
2.2.2 功能說明...................................................................................10
2.3 輔助編碼器初始化..............................................................................12
2.3.1 指令列表...................................................................................12
2.3.2 功能說明...................................................................................12
2.4 專用輸入信號設(shè)置..............................................................................14
2.4.1 指令列表...................................................................................14
2.4.2 功能說明...................................................................................14
3 立即運(yùn)動函數(shù).................................................................................................19
3.1 速度設(shè)置函數(shù)......................................................................................19
3.1.1 指令列表...................................................................................19
3.1.2 功能說明...................................................................................19
3.2 獨(dú)立運(yùn)動函數(shù)......................................................................................21
3.2.1 常速運(yùn)動模式...........................................................................21
3.2.2 梯形曲線運(yùn)動模式...................................................................22
3.2.3 S形曲線運(yùn)動模式...................................................................24
3.2.4 電子齒輪運(yùn)動模式...................................................................25
3.2.5 手脈運(yùn)動模式...........................................................................26
3.2.6 加速度定制模式.......................................................................27
3.2.7 終點(diǎn)位置驗(yàn)證模式...................................................................30
3.3 連續(xù)運(yùn)動函數(shù)......................................................................................31
3.3.1 指令列表...................................................................................31
3.3.2 功能說明...................................................................................32
MPC2810 運(yùn)動控制器編程手冊
VII
3.3.3 例程...........................................................................................32
3.4 回原點(diǎn)運(yùn)動函數(shù)..................................................................................33
3.4.1 指令列表...................................................................................33
3.4.2 功能說明...................................................................................34
3.4.3 例程...........................................................................................35
3.5 線性插補(bǔ)運(yùn)動函數(shù)..............................................................................35
3.5.1 指令列表...................................................................................35
3.5.2 功能說明...................................................................................36
4 批處理運(yùn)動函數(shù).............................................................................................37
4.1 多段連續(xù)軌跡運(yùn)動函數(shù)......................................................................37
4.1.1 指令列表...................................................................................37
4.1.2 功能說明...................................................................................39
4.2 速度前瞻軌跡運(yùn)動函數(shù)......................................................................40
4.2.1 指令列表...................................................................................40
4.2.2 功能說明...................................................................................41
4.2.3 例程...........................................................................................41
5 制動函數(shù).........................................................................................................43
5.1 制動函數(shù)..............................................................................................43
5.2 功能說明..............................................................................................44
6 位置設(shè)置和讀取函數(shù).....................................................................................45
6.1 位置設(shè)置函數(shù)......................................................................................45
6.1.1 指令列表...................................................................................45
6.1.2 功能說明...................................................................................45
6.2 位置讀取函數(shù)......................................................................................45
6.2.1 指令列表...................................................................................45
6.2.2 功能說明...................................................................................46
7 狀態(tài)處理函數(shù).................................................................................................48
7.1 運(yùn)動狀態(tài)查詢函數(shù)..............................................................................48
7.1.1 指令列表...................................................................................48
7.1.2 功能說明...................................................................................48
7.2 專用輸入檢測函數(shù)..............................................................................50
7.2.1 指令列表...................................................................................50
7.2.2 功能說明...................................................................................50
7.3 運(yùn)動指令計(jì)數(shù)......................................................................................52
7.3.1 指令列表...................................................................................52
7.3.2 功能說明...................................................................................52
MPC2810 運(yùn)動控制器編程手冊
VIII
8 通用IO操作函數(shù)............................................................................................54
8.1 數(shù)字IO口操作函數(shù)..............................................................................54
8.1.1 指令列表...................................................................................54
8.1.2 功能說明...................................................................................54
9 其它功能.........................................................................................................58
9.1 反向間隙處理......................................................................................58
9.1.1 指令列表...................................................................................58
9.1.2 功能說明...................................................................................58
9.1.3 例程...........................................................................................59
9.2 運(yùn)動中變速度......................................................................................59
9.2.1 指令列表...................................................................................59
9.2.2 功能說明...................................................................................60
9.2.3 例程...........................................................................................61
9.3 編碼器位置鎖存..................................................................................61
9.3.1 指令列表...................................................................................61
9.3.2 功能說明...................................................................................62
9.3.3 例程...........................................................................................62
9.4 位置比較輸出控制..............................................................................63
9.4.1 指令列表...................................................................................63
9.4.2 功能說明...................................................................................63
9.4.3 例程...........................................................................................64
9.5 事件處理..............................................................................................65
9.5.1 指令列表...................................................................................65
9.5.2 功能說明...................................................................................65
9.5.3 例程...........................................................................................66
9.6 板卡號和版本讀取..............................................................................67
9.6.1 指令列表...................................................................................67
9.6.2 功能說明...................................................................................67
9.7 正切軸控制功能..................................................................................68
9.7.1 指令列表...................................................................................68
9.7.2 功能說明...................................................................................68
10 安全機(jī)制.......................................................................................................71
10.1 看門狗保護(hù)........................................................................................71
10.1.1 指令列表.................................................................................71
10.1.2 功能說明.................................................................................71
10.2 軟件限位處理....................................................................................72
MPC2810 運(yùn)動控制器編程手冊
IX
10.2.1 指令列表.................................................................................72
10.2.2 功能說明.................................................................................72
10.2.3 例程.........................................................................................73
10.3 誤差超限控制....................................................................................73
10.3.1 指令列表.................................................................................73
10.3.2 功能說明.................................................................................74
10.3.2 例程.........................................................................................75
11 錯誤代碼及處理函數(shù)...................................................................................76
11.1 錯誤代碼處理函數(shù)............................................................................76
11.1.1 指令列表.................................................................................76
11.1.2 功能說明.................................................................................76
12 函數(shù)描述........................................................................................................79
12.1 控制器初始化函數(shù)............................................................................79
12.2 屬性設(shè)置函數(shù)....................................................................................80
12.3 運(yùn)動參數(shù)設(shè)置函數(shù)............................................................................91
12.4 運(yùn)動指令............................................................................................99
12.4.1 獨(dú)立運(yùn)動函數(shù).......................................................................100
12.4.2 插補(bǔ)運(yùn)動函數(shù).......................................................................103
12.5 制動函數(shù)..........................................................................................106
12.6 數(shù)字I/O操作函數(shù)............................................................................ 111
12.7 特殊功能函數(shù).................................................................................. 115
12.7.1 反向間隙補(bǔ)償....................................................................... 115
12.7.2 看門狗保護(hù)........................................................................... 116
12.7.3 位置比較輸出....................................................................... 118
12.7.4 編碼器位置鎖存...................................................................120
12.7.5 電子齒輪控制.......................................................................122
12.7.6 手脈控制...............................................................................123
12.7.7 軟件限位...............................................................................123
12.7.8 跟隨誤差超限控制...............................................................125
12.7.9 終點(diǎn)位置驗(yàn)證.......................................................................127
12.7.10 中斷事件處理.....................................................................128
12.7.11 加減速定制.........................................................................130
12.7.12 運(yùn)動中改變速度.................................................................131
12.7.13 正切軸控制.........................................................................132
12.8 位置和狀態(tài)設(shè)置函數(shù)......................................................................137
12.9 錯誤代碼處理函數(shù)..........................................................................147
12.10 控制器版本獲取函數(shù)....................................................................148
MPC2810 運(yùn)動控制器編程手冊
X
13 函數(shù)索引.....................................................................................................151
14 附錄.........................................................................................................157
14.1 P62-01 轉(zhuǎn)接板引腳定義..................................................................157
14.2 P37-05 轉(zhuǎn)接板引腳定義..................................................................159
14.3 P62-02 轉(zhuǎn)接板引腳定義..................................................................160
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