MPGEN FB介绍

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MPGEN FB介绍

目录

•1. 基本信息

•2. ParID

•3. 功能

•3.1 Mode 0: Disable.

•3.2 Mode 1: Time controlled enable.

•3.3 Mode 2: Enable position coupling, time optimized.

•3.4 Mode 3: Enable position coupling, jolt minimized.

•3.5 Mode 4: Speed controlled enable.  

•3.6 Mode 5: Position coupling time optimized compensation movement only within a zone.

 

 

1. 基本信息

编写人

林繁伟

审核人

（检查，测试，注释）

应用归属

运动控制

软件信息

 

硬件信息

其他

 

版本信息

修改内容

修改人

V1.00

创建

林繁伟

 

 

 

 

2. ParID

 

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

Function mode and activation

0...Off

1...Time controlled

2...Position coupling, time optimized, setting movement parameters

3...Position coupling, jolt minimized, setting master compensation distance

4...Speed controlled

5...Position coupling time optimized, setting movement parameters, compensation only within one zone

MPGEN_SET_VALUE

z

RD,WR

I4

 

0

units

Target position (absolute position) at compensation end, or output value in Mode 0

(for mode 1,2,3,5)

MPGEN_SET_VALUE_PARID

*z

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target position, "pointer" on integer value

(for mode 1,2,3,5)

MPGEN_V_SET_VALUE

vz

RD,WR

R4

 

0

units/s

Target speed

(for mode 4)

MPGEN_V_SET_VALUE_PARID

*vz

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target speed, "pointer" on float value

(for mode 4)

MPGEN_MA_PARID

*x

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of the master position, "pointer" on position value

(for mode 2,3,5)

MPGEN_MA_S_START

s_st

RD,WR

I4

 

0

Units

Master start position

Coupling position for interval calculation

(for mode 5)

MPGEN_MA_S_IV

iv

RD,WR

I4

> 0

230

Units

Master interval

(for mode 5)

MPGEN_MA_S1

s1

RD,WR

R4

0..s2

0

Units

Master starting position of zone in the interval

s1 is changed as well, if s1 > s2

(for mode 5)

MPGEN_MA_S2

s2

RD,WR

R4

>= s1

0

Units

Master end position of zone in the interval

s2 is changed as well, if s1 > s2

(for mode 5)

MPGEN_MA_S_COMP

sx

RD,WR

I4

> 1

1

units

Master compensation distance

(for mode 3)

MPGEN_MA_V_MAX

vx

RD,WR

R4

> Eps

1

units/s

Max. master speed

(for mode 2,3,5)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

MPGEN_ERROR_COUNT

 

RD,WR

UI1

 

0

 

error counter

indicator for limit values exceeded

(for mode 3)

 

3. 功能

 

Mode m is used to enable the function block and to set the "basic" mode of operation. Before enabling, every value z is switched directly through to output y. This initialization is executed as position jump without compensation (similar to "direct homing").

clip0245

 

测试程序配置：

 

clip0213

 

3.1 Mode 0: Disable.

Any current compensation movement is immediately stopped. The current output value remains unchanged, except that a new target value z is written.

Warning: This results in a speed jump to 0.

3.2 Mode 1: Time controlled enable.  

Changes to the z parameter or the cyclic input *z are recognized as the new, absolute target position and brought to the output in the form of a compensation movement. The compensation movement is executed with constant time, independent of the master speed.

 

This mode is equal to a positioning (without jolt limitation). However, no online algorithm is calculated as in the SPF. Instead, 3 polynomials y=f(t) are calculated in advance.

The "theoretical" duration of movement results from tx = (vy / ay + dy / vy) if vy is reached -

or tx = 2 sqrt( dy / ay) if vy is not reached. This time (tx) is rounded to multiples of the scan time Ta (400ms).

Position, speed and acceleration as function of the time and the master path:

 

起作用的参数如下：

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

1...Time controlled

MPGEN_SET_VALUE

z

RD,WR

I4

 

0

units

Target position (absolute position) at compensation end, or output value in Mode 0

(for mode 1,2,3,5)

MPGEN_SET_VALUE_PARID

*z

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target position, "pointer" on integer value

(for mode 1,2,3,5)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

 

 

clip0246

A.没有达到Vy(1/2Rule).  

clip0247

 

Pic:相对位移500unit:速度只达到697（达不到Vy：V_MAX 1000），加减速度都达到设定的1000.

时间是2*SQRT(500/1000)约1.414214 sec,实际达到的V=707.1     unit/sec

 

clip0214

 

B.达到Vy.  

clip0248

Pic:相对位移2000unit:速度和加减速度都达到设定的1000.

Pic:相对位移4000unit:速度和加减速度都达到设定的1000.

 

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3.3 Mode 2: Enable position coupling, time optimized.  

With fixed position relationship during the compensation, as with the cam profile couplings.

Assuming constant master speed vx, polynomials y=f(x) are calculated in advance, so that the maximum movement parameters vy and ay are set on the y side (similar to mode 1).

The actual v(t) and a(t) results from the master movement in the compensation.

A compensation curve is calculated as soon as the parameter z is written or a change on the cyclic input *z occures.

clip0217

 

起作用的参数如下：

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

Function mode and activation

 

 

 

 

 

 

 

2...Position coupling, time optimized, setting movement parameters

MPGEN_SET_VALUE

z

RD,WR

I4

 

0

units

Target position (absolute position) at compensation end, or output value in Mode 0

(for mode 1,2,3,5)

MPGEN_SET_VALUE_PARID

*z

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target position, "pointer" on integer value

(for mode 1,2,3,5)

MPGEN_MA_PARID

*x

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of the master position, "pointer" on position value

(for mode 2,3,5)

MPGEN_MA_V_MAX

vx

RD,WR

R4

> Eps

1

units/s

Max. master speed

(for mode 2,3,5)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

MPGEN_ERROR_COUNT

 

RD,WR

UI1

 

0

 

error counter

indicator for limit values exceeded

(for mode 3)

 

Negative Movements:和正向运动一样,没有差别，都是基于时间的，

Negative movement direction of the master basically means the same thing as forward movement.

At constant master speed, the position coupling movement corresponds to the time controlled movement.

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clip0219

 

Change of direction during compensation movement:

The compensation curve moves back to the output point again and is then continued in the opposite direction.

 

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clip0221

 

clip0222clip0223

 

clip0249

 

MPGEN_MA_PARID=412,以 虚轴的位置作为主轴。

 

下左图：

当前虚轴速度是1500,MA_V_MAX=5000,V_MAX=2000,A_MAX=3000

 

所以MPGEN的最高速度        =2000*(1500/5000)                =600 unit/sec

所以MPGEN的最大加速度        =3000*(1500/5000)^2        =270 unit/sec^2

 

下右图：

当前虚轴速度是6000,MA_V_MAX=5000,V_MAX=2000

 

所以MPGEN的最高速度        =2000*(6000/5000)                =2400 unit/sec

所以MPGEN的最大加速度        =3000*(6000/5000)^2        =4320 unit/sec^2

 

实际的MPGEN最高速度并没有收到V_MAX限制，仅仅是计算的比例参数而已。

 

 

clip0224      

clip0225

clip0250

 

 

A.没有达到Vy(1/2Rule).  

clip0251

Pic:相对位移500unit:速度只达到697（达不到Vy：V_OUT 2400），加减速度都达到设定的4320.

时间是2*SQRT(500/4320)约0.6804sec        ，实际达到的V=1469.69     unit/sec。

 

clip0226Δ

B.达到Vy.  

clip0252

Pic:相对位移2000unit:速度达到V_OUT 2400和加减速度都达到设定的4320.

时间是=2000/2400+2400/4320约1.388888 sec

 

clip0227

 

3.4 Mode 3: Enable position coupling, jolt minimized.  

As with mode 2, polynomials y=f(x) are calculated in advance with a fixed position relationship during the compensation. In contrast to mode 2 however, the master compensation distance sx is set in this case. At sufficiently long distances sx, a "relaxed", jolt minimized movement results on the y side. With a small sx, the movement can also exceed the limit values, indicated on the error counter output.

Position, speed and acceleration as function of the master distance:

clip0228

clip0253

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

Function mode and activation

 

 

 

 

 

 

 

3...Position coupling, jolt minimized, setting master compensation distance

MPGEN_SET_VALUE

z

RD,WR

I4

 

0

units

Target position (absolute position) at compensation end, or output value in Mode 0

(for mode 1,2,3,5)

MPGEN_SET_VALUE_PARID

*z

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target position, "pointer" on integer value

(for mode 1,2,3,5)

MPGEN_V_SET_VALUE

vz

RD,WR

R4

 

0

units/s

Target speed

(for mode 4)

MPGEN_V_SET_VALUE_PARID

*vz

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target speed, "pointer" on float value

(for mode 4)

MPGEN_MA_PARID

*x

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of the master position, "pointer" on position value

(for mode 2,3,5)

MPGEN_MA_S_COMP

sx

RD,WR

I4

> 1

1

units

Master compensation distance

(for mode 3)

MPGEN_MA_V_MAX

vx

RD,WR

R4

> Eps

1

units/s

Max. master speed

(for mode 2,3,5)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

MPGEN_ERROR_COUNT

 

RD,WR

UI1

 

0

 

error counter

indicator for limit values exceeded

(for mode 3)

 

当前参数设置如下：

 

clip0229

clip0254

 

 

虚轴速度MA_V_ACT是3000 unit/sec，总时间=ID5200/MA_V_ACT =1000/3000=1/3 sec

V_OUT max = 3000/5000*2000=1200unit/sec

 

伺服内部先计算然后运行。

 

计算时候：当速度超过V_OUT max时候，MPGEN_ERROR_COUNT 就会 + 1。

当加减速度超过MPGEN_V_MAX时候，MPGEN_ERROR_COUNT 就会 + 1。

 

clip0255

A.最大速度小于等于V_MAX，三角型的速度轮廓(1/2Rule)

三角形计算：S =V_MAX*T/2 = (1200*1/3 ) /2=200unit

clip0256

 

ΔMPGEN_SET_VALUE范围是0< Y ≤ 200unit

 

clip0230    

clip0231

 

B.ΔMPGEN_SET_VALUE大于等于V_MAX*T total，三角型的速度轮廓(1/3Rule)

得到最小的设定值的偏差S =V_MAX*T = 1200*1/3 =400unit

clip0257

ΔMPGEN_SET_VALUE范围是Y ≥ 400

 

右下图：最大V=3*800/(2*1/3)=3600  unit/sec

clip0232  

clip0233

 

C.最大速度等于V_MAX，梯形型的速度轮廓(其余区间)

ΔMPGEN_SET_VALUE范围是200< Y < 400unit

 

实际应用需要注意：当ΔMPGEN_SET_VALUE接近最大值时候，加减速度会接近无穷大!

clip0258

 

clip0234  

clip0235

 

3.5 Mode 4: Speed controlled enable.  

In this mode the speed of the output is controlled. The set point is either written directly to vz or applied via a connection of the cyclic input *vz. When changes occur the set value is limited with vy in positive and negative direction and a compensation speed is calculated with ay and without jolt limitation.

Position, speed and acceleration on the output as function of the time:

clip0236

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

Function mode and activation

 

 

 

 

 

 

 

4...Speed controlled

MPGEN_V_SET_VALUE

vz

RD,WR

R4

 

0

units/s

Target speed

(for mode 4)

MPGEN_V_SET_VALUE_PARID

*vz

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target speed, "pointer" on float value

(for mode 4)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

 

clip0259

当前参数设置如下：

 

clip0237

 

加减速是以MPGEN_A_MAX为准,速速是受到MPGEN_V_MAX限制

 

MPGEN_STATUS

 1...enabled, no compensation movement v=0

         速度为0，停止
 2...enabled in compensation movement

         速度在变化过程中
 3...enabled, no compensation movement v≠0, only for mode 4

         速度为不0，正在运行
 

clip0238  

clip0239

 

3.6 Mode 5: Position coupling time optimized compensation movement only within a zone.  

Just as in mode 2, a coupling is established with a master position and the compensation curve is pre-calculated time optimized with the movement parameters. However, the compensation movements here are only allowed in a specific zone within one master interval.

类似于模式2，但是只允许在主轴的间隔周期设定的范围内才进行运动补偿

 

Configuring the zone and interval start:

Positions s1 and s2 determine a zone, based on the start of the interval. The interval shift is defined with the start position s_st. There is no difference if the master position x0 is located before or after s_st. After coupling, the zones repeat cyclically per interval in the positive and negative direction of movement.

Example of x0 after s_st and within the zone:

S1和S2在区间内

clip0240

The zone may also be required to go over an interval end. In this case, the end position of the zone would be defined as being larger than the interval.

Example of x0 before s_st and outside of the "interval overlapping" zone:

S1和S2在区间外

clip0241

Specifying the target position and dividing over multiple zones:

A new target position can be specified in the entire interval. If the master position is located within a zone, then the compensation movement will start immediately. Otherwise, it is started when the next zone is entered. If the entire movement cannot be completed in one zone, then it is divided over multiple zones. If compensation is not active, then a new value can be specified again before the target position has been reached.

Examples of specifications outside and inside the zone and dividing over multiple compensation movements:

clip0242

Parameter ID

Abrv

Access

Data

Value

Init

Unit

Description

name

type

range

value

MPGEN_MODE

m

WR

UI2

0,1,2,3,4,5

0

 

Function mode and activation

 

 

 

 

 

 

 

5...Position coupling time optimized, setting movement parameters, compensation only within one zone

MPGEN_SET_VALUE

z

RD,WR

I4

 

0

units

Target position (absolute position) at compensation end, or output value in Mode 0

(for mode 1,2,3,5)

MPGEN_SET_VALUE_PARID

*z

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of target position, "pointer" on integer value

(for mode 1,2,3,5)

MPGEN_MA_PARID

*x

RD,WR

UI2

<ParID>,0

0

 

Parameter ID of the master position, "pointer" on position value

(for mode 2,3,5)

MPGEN_MA_S_START

s_st

RD,WR

I4

 

0

Units

Master start position

Coupling position for interval calculation

(for mode 5)

MPGEN_MA_S_IV

iv

RD,WR

I4

> 0

230

Units

Master interval

(for mode 5)

MPGEN_MA_S1

s1

RD,WR

R4

0..s2

0

Units

Master starting position of zone in the interval

s1 is changed as well, if s1 > s2

(for mode 5)

MPGEN_MA_S2

s2

RD,WR

R4

>= s1

0

Units

Master end position of zone in the interval

s2 is changed as well, if s1 > s2

(for mode 5)

MPGEN_MA_V_MAX

vx

RD,WR

R4

> Eps

1

units/s

Max. master speed

(for mode 2,3,5)

MPGEN_V_MAX

vy

RD,WR

R4

> Eps

1

units/s

Max. y speed in compensation movement

(for mode 1,2,3,4,5)

MPGEN_A_MAX

ay

RD,WR

R4

> Eps

1

units/s2

Max. y acceleration in compensation movement

(for mode 1,2,3,4,5)

MPGEN_VALUE_I4

yi

RD

I4

 

0

units

Output as integer value (absolute position)

MPGEN_VALUE_R4

yf

RD

R4

 

0

units

Output as float value

MPGEN_STATUS

stat

RD

UI1

0,1,2

0

 

Status

0...off

1...enabled, no compensation movement v=0

2...enabled in compensation movement

3...enabled, no compensation movement v≠0, only for mode 4

4...active, no compensation movement, target position not yet reached, only for mode 5

 

clip0243

S_START=5000,S_IV=10000因此每周期范围的5000~15000;S1=6000,S2=7000

那么，虚轴位置在(5000+6000)~(5000+7000)~=11000~12000=1000~2000 这1000的范围内进行输出。

每次调节的最大时间T =(7000-6000)/6000=0.1667sec

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