IAI电缸控制器MCEPC学习摘抄.docx

IAI电缸控制器MCEPC学习摘抄.docx

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IAI电缸控制器MCEPC学习摘抄

Caution:

MakesuretoturnthepowertothecontrollerOFFwheninsertingorremovingthe

connectorthatconnectsthePCsoftwareorteachingpendanttothecontroller.（Fortouchpanelteaching（CON-PTA,TB-01）,insertionandremovaloftheactivelineisavailable.）InsertingorremovingtheconnectorwhilethepoweristurnedONcausesacontrollerfailure.在断开电脑或示教器与控制器的连接时，请将电断掉。

2.2OperationPatternSelected

2.2.1OutlineforOperationPatterns

PIOtypeMSEPunitsprovide6varyingpatternsofPIOoperation.FieldbustypeMSEPunits.provide6varyingmodesoffieldbusoperation.Selectanappropriatepatternorfieldbusmode

baseduponyourapplicationrequirements.SeeSection3Operationforthedetailsoftheoperationpatterns.（Note）SettingcanbedoneonlytoOperationPattern6ofthefieldbustypeforMSEP-LC.

看到第37页

第83页：

OperationofMSEP-C

（Note）Referto3.2forMPEP-LCType

3.1.1BasicOperationMethods

Therearetwotypesofmethodsforoperation,onetocontrolwithPIOandtheothertocontrol

witfieldbus.Checkthemodelcodeindicatedonthemodelcodecardattachedonthefront

panelofthebodytoseewhichmethodshouldbeappliedforyourproduct.[RefertoSection

1.1.5]

OperationModeAvailableinFieldbusType。

6typesofoperationmodesareavailabletoselectfrom.Explainedbelowistheoutline.

[BasicOperationSteps]

[1]EstablishthedriverparameterswithusingateachingtoolsuchasPCsoftware.

1）IfusingSEPI/OModeintheoperationmodes[refertothenextpage],settheoperationpatternintheinitialsetting.[Referto3.1.2fordetails.]

2）Establishsuchsettingsasthezone（ParameterNo.21to24）andthesoftlimit（ParameterNo.15）consideringthesystemtobeused.[Refertochapter5I/OParameterfordetails.]

[2]InitialSetting[Referto3.1.2and3.9.]

EstablishthesettingssuchastheslaveaddressesforthefieldnetworkusingGatewayParameterSettingTool.Setoperationmodesforalltheconnectedaxes.设置从站地址。

1）EstablishthesettingsbyfollowingthestepsstatedinSection3.1.2.

2）Setthegatewayparametersconsideringthesystemtobeused.Establishsuchsettingsaswhethertousethecalendarfunction（clocksetting）andthespeedunitchangeduringDirectIndicationMode.

[3]SettingofPositionData[Referto3.3.]（Note）SettingisnotnecessaryforDirectIndicationMode.针对Z-Bearing项目不需要这一步设置。

Settheinformationsuchasthetargetpositionandspeedtobeusedinthepositiondata.

[4]FieldNetworkSettings[Referto3.4.1and3.4.2.]AssignMSEPasthePLC（MasterUnit）.将MSEP分配给PLC主站。

[RefertotheinstructionmanualsofthemasterunitandPLC.]

[5]LinktoNetwork

1）SettheoperationmodesettingswitchonthefrontpanelofMSEPtoAUTOside,andrebootthepower.（FieldnetworklinebecomesvalidbysettingtheswitchtoAUTO）将模式开关切换到自动，同时重新上电。

2）OncethelinkwiththePLC（MasterUnit）isestablished（Note1）,turnONMONsignalinthegatewaycontrolsignals（Note2）.WhileMONSignalisON,controlfromfieldnetworkisavailable.

Note1ConfirmthecommunicationisestablishedinnormalconditionbyreferringtoDisplayofFieldNetworkLEDsshowninthesectionofNameandFunctionofEachComponentinearlierpagesofthismanual.

Note2Referto3.4.3GatewayControlSignals.

[6]OperationControlwithEachOperationMode[Referto3.4.4to3.5.]

1）Sendtheinformationofthetargetposition,speed,acceleration/deceleration,etc.fromPLC（MasterUnit）toMSEP.

2）Theactuatorfollowsthereceivedinformationofthetargetposition,speed,acceleration/deceleration,etc.toperformapositioningatthespecificcoordinates.

3）Confirmthestatusofpositioningcomplete.

第一步，初始化设置。

主要设置控制器的控制类型。

InitialSetting

Forthiscontroller,itisnecessarytohavetheinitialsettingandGatewayoperationmodesetting

doneintheaxesonebyone.对轴逐个进行网关操作模式设置。

TheinitialsettingistobeperformedusingRCPCSoftware（Note）ortouchpanelteaching（TB-01,CON-PTA（Note））.AndtheoperationmodeistobesetusingGatewayParameterSettingTool（Ver.1.1.0.0orlater）.（Note）用GatewayParameterSettingTool对网关参数进行设置。

SeetheinstructionmanualsoftheRCPCsoftwareandthetouchpanelteachingfortheapplicableversion.Shownbelowistheprocessforthesetup.Followtheinstructiontoconductthesettingproperly.

Makesurethepower,systemI/OconnectorwiresandoperationmodesettingswitchareinMANU

conditionwhenhavingthesettingdone.上述操作在手动模式下进行。

连接MSEP和电脑时用什么电缆？

大概在第90页左右开始对设置进行说明。

第二步：

设置每个轴的操作模式（控制类型）

Clickonablankcelland“*”showsup.“*”markmeansthatanoperationmodeisselected

foreachaxis.Selectanoperationmode[refertotopinChapter3]for2axesinaunit.Ifclickingonacell,“*”showsupfor2axestogether.Ifclickingacellshowing“*”,themarkturnsto“（*）”.“（*）”

meansitisareservedaxis,whichistobesetwhennotusingeventhoughtheactuatorisconnected.

Ifclickingonacellwith“（*）”markforthereservedaxesshownonthetwoaxes,thecellturnsbacktoblank.（Note）Evenifthetotalnumberoftheusedaxesisanoddnumber,makethelastaxisin

reservationtogetanevennumber.

第107页：

3.3SettingofPositionData

2）Position[mm]·················Itisthecoordinatevalueforpositioning.Inputthepositionfromthe

homeposition.

3）Speed[mm/s]·················Setthespeedintheoperation.Donotattempttoinputavaluemorethanthemaximumspeed[refertothecautionnotebelow]orminimumspeed（Note1）.（Note1）Theminimumspeeddiffersdependingonthetypeoftheactuator.RefertothevaluesstatedintheChapter7appendixorthefollowingforthecalculation.Minimumspeed[mm/s]=Leadlength[mm]/No.ofEncoderPluses/0.001[s]

4）PressingForce[%]·········Setavalueotherthan0hereandthepressingoperationisavailable.Setapressingtorque（limitcurrentvalue）in%.Thesettingrangediffersdependingontheactuator.Refertotheinstructionmanualofeachactuatororthesectionforpressingforceandcurrentlimitintheappendixforthedetails.Ifthevalueissetto0,thenormalpositioningoperationisperformed.

ThespeedforthepressingoperationissetinParameterNo.7.Ifthesettingof3）islowerthanthepressingspeed,thepressingprocesswillbeconductedwiththespeedof3）.

5）PressingWidth[mm]······Setthewidthforthepressingoperation.Theamountofthepressingwidthinfrontofthemovementtargetposition（forwardendandbackwardend）isthepointtostart

pressingoperation.

8）Energy-SavingSetting···Setthisto1（effective）andtheservoisturnedOFFautomaticallyin

acertaintimeafterthepositioningiscompletedforpowersaving.ThetimesettingistobeconductedinParameterNo.10AutomaticServo-OFFDelayTime,andthetimesettingcanbeselectedfrom1to9999[sec.].

Caution:

•NoretainingtorqueisprovidedinautomaticservoOFF.Paysufficientattentiontothesettingbecausetheactuatormaybemovedbyexternalforceappliedtoit.

•DonotusetheautomaticservoOFFinpressing.Ifused,thepressingforceislost.

•AutomaticServoOFFwouldnotfunctionintheoperationwithteachingmodeofPCsoftware.

第113页对报文结构做了简单的说明

3）PROFIBUS-DP,EtherNet/IP,EtherCAT

3.4.2ExampleforeachFieldbusAddressMap

[CombinationExample4]WhennumberofSimpleDirectModeaxesis0andnumberof

DirectIndicationMode8（nisthetopnodeaddressforeachPLCinputandoutputbetween

MSEPandPLC）

3.4.3GatewayControlSignals（incommonforalloperationmodesforMSEP-C）

WhenoperatingthesystemwithFieldbus,theaxesarecontrolledviaGatewayofMSEP.The

top2wordsofinputandoutputineachoperationmodearethesignalsGatewaycontroland

statusmonitoring.

3.4.5ControlSignalsforDirectIndicationMode

Thisisanoperationmodetoindicatedirectlywithvaluesforthetargetposition,positioning

width,speed,acceleration/decelerationandpressingcurrent.Setavaluetoeachinputandoutputdataregister.Settotheparameterswhenusingthezonesignals.ThemainfunctionsofROBOCylindercapabletocontrolinthismodeareasdescribedinthefollowingtable.

（2）InputandOutputSignalAssignmentforeachAxisTheI/Osignalsforeachaxisconsistsof8-wordforeachI/Obitregister.位寄存器

●ThecontrolsignalsandstatussignalsareON/OFFsignalsinunitsofbit.

●Forthetargetpositionandcurrentposition,2-word（32-bit）binarydataisavailableandvalues

from-999999to+999999（unit:

0.01mm）canbeused.Negativenumbersaretobedealtwith

two’scomplement.

Caution:

Setthepositiondataintherangeofthesoftstroke（0toeffectivestrokelength）oftheactuator.

Setthepositioningwidth.Thepositioningwidthisexpressedusing2-word（32bits）binarydata.Thefiguresfrom0to+999999（Unit:

0.01mm）canbesetinPLC.

●Thecommandspeedisexpressedusing1-word（16bits）binarydata.Thefiguresfrom1to

+65535（Unit:

1.0mm/secor0.1mm/sec）canbesetinPLC.Achangeoftheunitistobe

conductedonGatewayParameterSettingTool.

●TheAcceleration/Decelerationisexpressedusing1-word（16bits）binarydata.Thefigures

from1to300（Unit:

0.01G）canbesetinPLC.

●Thepressingcurrentlimitvalueisexpressedusing1-word（16bits）binarydata.Thefigures

from0to100%（0toFFH）canbesetinPLC.

Caution:

Havethesettingwithvaluesavailableintherangeofforspeed,acceleration/decelerationandpressingcurrentoftheactuator.（Refertothecatalogorinstructionmanualoftheactuator.）

Otherwise,itmaycauseanabnormalconditionoftheservooramalfunctionoftheactuatorsuchasthealarmcodes0A3“PositionCommandInformationDataError”,0C0“ExcessActualSpe