TRIO-basic指令--FLEXLINK

2019/03/24 18:21
阅读数 52

Type:

Axis Command 

Syntax:

FLEXLINK(base_dist, excite_dist, link_dist, base_in, base_out, excite_acc, excite_dec, link_axis, options, start_pos) 

Description

The FLEXLINK command is used to generate movement of an axis according to a defined profile. The motion is linked to the measured motion of another axis. The profile is made up of 2 parts, the base move and the excitation move both of which are specified in the parameters. The base move is a constant speed movement. The excitation movement uses sinusoidal profile and is applied on top of the base movement. 

FLEXLINK命令用于根据定义的轮廓生成一个轴运动,本运动跟另一轴的测量相关。轮廓由“基本位移”与“激波位移”二部分组成,同时二者都可以在参数中配置。“基本位移”是一个恒速运动,“激波位移”采用正弦曲线而且居于“基本位移”的上部。

Parameters:

base_dist:

The distance the axis should move at a constant speed    

excite_dist:

The distance the axis should perform the profiled move

link_dist:

The distance the link axis should move while the FLEXLINK profile executes

base_in:

The percentage of the base move time that completes before the excitation move starts

base_out:

The percentage of the base move time that completes after the excitation move completes.

excite_acc:

The percentage of the excitation move time used for acceleration

excite_dec:

The percentage of the excitation move time used for deceleration.

link_axis:

The axis to link to.

link_options:

Bit value options to customize how your FLEXLINK operates

Bit 0

1

link commences exactly when registration event MARK occurs on link axis

Bit 1

2

link commences at an absolute position on link axis (see link_pos for start position)

Bit 2

4

FLEXLINK repeats automatically and bi-directionally when this bit is set.  (This mode can be cleared by setting bit 1 of the REP_OPTION axis parameter)

Bit 5

32

Link is only active during a positive move on the link axis

Bit 8

256

link commences exactly when registration event MARKB occurs on link axis

Bit 9

512

link commences exactly when registration event R_MARK occurs on link axis. (see link_pos for channel number)

link_pos:

link_option bit 1 - the absolute position on the link axis in user UNITS where the FLEXLINK is to start.

link_option bit 9 – the registration channel to start the movement on  

base_dist:

轴在恒速移动的距离段(上图黄色区域)

excite_dist:

轴在异形段移动的距离区间(上图灰色部分)

link_dist:

在执行flexlink轮廓时,连接轴将要移动的距离

base_in:

“激波位移”启动之前,完成的“基本位移”时间百分比   (相当于在同步区域,主轴和从轴)

base_out:

“激波位移”完成后,须完成的“基本位移”时间百分比(相当于在同步区域,主轴和从轴)

excite_acc:

在“激波位移”执行时,加速度区间占用的时间百分比

excite_dec:

在“激波位移”执行时,减速度区间占用的时间百分比

link_axis:

联接的轴号

link_options:

根据Bit值的选项来定制MOVELINK的运动

Bit 0

1

联接开始,当注册事件(Mark)发生在联接轴上时

Bit 1

2

联接开始,指定联接轴的绝对位置(link_pos起始位置)

Bit 2

4

FLEXLINK自动重复双向运行(REP_OPTION=1关闭此模式)

Bit 5

32

在联接轴的正移动过程中(加计数状态),联接才有效

Bit 8

256

联接开始,当注册事件(MarkB)发生在联接轴上时

Bit 9

512

联接开始,当注册事件(R_Mark)发生在联接轴上时(link_pos的通道数)

link_pos:

link_option bit 1:联接轴上指定的绝对位置启动FLEXLINK(使用的是用户单位)

link_option bit 9:开始运动的注册通道

The link_dist is in the user units of the link axis and should always be specified as a positive distance.

link_dist是联接轴的用户单位,总是应该指定一个正的距离值。

The link options for start (bits 1, 2, 8 and 9) may be combined with the link options for repeat (bits 4 and 8) and direction.

启动为link options (bits 1, 2, 8 and 9),也可以结合link options中重复的 (bits 4 and 8)和方向

start_pos cannot be at or within one servo period’s worth of movement of the REP_DIST position. 

start_pos不能在一个伺服周期内从REP_DIST位置中取得有意义的运动

 

Examples:

 

Example 1:

 

Suppose you want a smooth curve for 40% of a cycle and to remain stationary for the remainder:

 

FLEXLINK(0,10000,20000,60,0,50,50,1)

 

In this example the move length is 10000 and this is linked to 20000 distance on the link axis (1).  The axis is stationary for 60% of the cycle and the move is 50% accel/50% decel.

 

Example 2:

 

Suppose you want a 1:1 background link but to advance 500 using a smooth curve between 80% and 95% of a cycle:

 

FLEXLINK(10000,500,10000,80,5,50,50,1)

 

In this example the base move length is 10000 and this is linked to 10000 distance on the link axis (1).  The excite distance is 500 and this starts after  80% of the cycle, with 5% at the end also clear of excitation.  The “excite” move is 50% accel/50% decel. 

 

自己总结:

这是一条运动指令,在工业项目中的轮切,飞剪等一些项目的应用。

看上面描述的图片理解:

          黄色区域 = 主轴运动的曲线

          红色的曲线 = 跟随轴的曲线

          BASE IN 是同步区域,BASE OUT 是同步区域

          EXCITE ACC    EXCITE DEC 是可以通过参数来修改加速和减速的曲线

 

下一期我会针对这条指令的应用,给出一些实例,包括曲线,参数,一直注意的事项。

 

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