Allen-Bradley Kinetix 5100 2198-E1004-ERS, Руководство пользователя, Страница: 362 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
• ID381 (P5.093) sets the S-curve smoothing level (S, 1 to 4), its
corresponding S-curve zone angle (S°) is calculated by these equations.
• The waiting zone angle (W, -1° to 170°) is also set by ID381 (P5.093). If
you enter -1 (0xFFFF), it means that the speed of the cutter axis in the
waiting zone is zero, and the waiting zone angle is calculated by the drive
automatically.
• Parameter ID382 (P5.094) sets the sync zone angle (Y), its range is
0°…330 °.
• The acceleration zone (Acc) is automatically calculated by the drive, as
shown in these equations:
360° = 2W + 2Acc + 2S° + Y
Since the sync zone can be adjusted, Macro #7 has a limitation on the
waiting zone for building the E-Cam curve. The restrictions are as follows:
– When waiting zone W < Wmin, error code 0xF07A occurs. This error
code indicates that the waiting zone should be larger or the sync zone
should be smaller.
– When waiting zone W = Wmin, the speed of cutter axis in the waiting
zone is zero.
– When waiting zone W > Wmin, the speed of cutter axis in the waiting
zone is bigger than zero.
5.
Set the E-Cam table parameters.
• ID383 (P5.095) MacroCmdParameter2 (highest 2 bytes) = Gear number
of motor side × Cutter number (A × C).
• ID383 (P5.095) MacroCmdParameter2 (lowest 2 bytes) = Gear number
of cutter (B).
• ID384 (P5.096) MacroCmdParameter1 = ×C×Vc×1000000.
S
°
2
s
360
°
×
ID370 P5.082
( )
--------------------------------------
=
Wmin 180
°
360
°
ID370 P5.082
( )
--------------------------------------
360
°
R
-----------
–
Y
2
----
+ + =
L
π
d1
×
---------------