Pulse axis control method based on CoDeSys controller

Abstract

A pulse axis control method based on a CoDeSys controller comprises the following steps that: a pulse axis master station equipment description file and a pulse axis slave station equipment description file are created and imported into an equipment warehouse; an IoDrvStepPulseAxis library and a CmpStepPulseEncoder library which is used for setting the number of pulses and reading the value of an encoder are created, and the IoDrvStepPulseAxis library and the CmpStepPulseEncoder library are imported into a library warehouse, wherein the IoDrvStepPulseAxis library comprises a pulse axis master station equipment function block and a pulse axis slave station equipment function block, and the pulse axis slave station equipment function block is inherited by a function block AXIS_REF_SM3 of CoDeSys software; pulse axis master station equipment and pulse axis slave station equipment are added in a CoDeSys project, and working parameters of a pulse axis are configured; and the pulse type servo driver is controlled by using the added pulse axis master station equipment and pulse axis slave station equipment. According to the invention, closed-loop control of the pulse shaft can be realized, and the pulse shaft is completely equal to other bus shafts.

Description

technical field [0001] The present invention relates to PLC technology. Background technique [0002] In recent years, because CoDeSys (Controller Development System) has the advantages of openness, reconfigurability, componentization, and compliance with the IEC 61131-3 international standard, more and more manufacturers develop motion controllers based on the CoDeSys software platform. CoDeSys software supports most industrial field buses, such as EtherCAT, CANopen, EtherNET / IP, etc., but does not provide support for pulse axes. [0003] At present, domestic methods based on CoDeSys software to control the pulse axis all adopt the virtual axis method, and then convert the output of the virtual axis into specific pulses to control the pulse-type servo drive. A Chinese patent application for a method for instantiating pulse axes using codesys imaginary axes. Due to the characteristics of the virtual axis in CoDeSys, that is, the actual position is equal to the target posit...

AI Technical Summary

Problems solved by technology

Due to the characteristics of the virtual axis in CoDeSys, that is, the actual position is equal to the target position, it cannot be used for closed-loop control; in addition, when using the virtual axis method to control the pulse axis, it is not as good as other buses when using the PLCopen standard interface specification for motion planning. The axes are treated equally, and additional operations (such as complex and cumbersome operations such as control IO, pulse value encoder value conversion, variable mapping, etc.) are required to perform operations such as up / down enable, motion control, and error clearing on the pulse axis.

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