DSQC609 控制器机架模块

【产品详情】

ABB机器人编码器线:

3HAC2493-1、3HAC2530-1、3HAC2540-1、3HAC7998-1、3HAC7998-2、3HAC7998-3

ABB机器人动力线：

3HAC2492-1、3HAC2529-1、3HAC2539-1、3HAC026787-001、3HAC026787-002、3HAC026787-003

以快速起停及精确位置补偿为例，此功能块由外部数字量信号触发，恒定频率持续输出脉冲。启动信号触发后频率由0开始根据设定的加速度增加到目标频率。停止信号触发后，功能块开始输出位置补偿值，并根据设定的减速度在输出完位置补偿值时减速到0。PTO_REF_IN是对PTO的参考输入。Execute是上升沿使能输入。StartInput是外部启动输入。DelayStart是运动执行延迟。Acceleration是加速度值。Direction是运动方向。Velocity是目标速度。MaxDistance是运动执行的最大保护距离。StopInput是外部停止输入。Compensation是位置补偿脉冲值。Deceleration是减速度值。PTO_REF_OUT是对PTO的参考输出。InMode是外部输入触发允许。Status是运动状态。Active是外部输入触发执行状态。CommendAborted是执行请求忽略。Error是监测错误。ErrID是错误类型。

2、编程语言编程语言最为复杂，多种多样，看似相同，但不通用。 可以划分为以下5类编程语言：

(1)梯形图这是PLC厂家采用最多的编程语言，最初是由继电器控制图演变过来的，比较简单，对离散控制和互锁逻辑最为有用;

(2)顺序功能图它提供了总的结构，并与状态定位处理或机器控制应用相互协调;

(3)功能块图它提供了一个有效的开发环境，并且特别适用于过程控制应用;

(4)结构化文本这是一种类似用于计算机的编程语言，它适用于对复杂算法及数据处理;

(5)指令表它为优化编码性能提供了一个环境，与汇编语言非常相似。厂家提供的编程软件中一般包括一种或几种编程语言，如TE公司的XTEL编程软件可以使用梯形图(Ladder)、顺序功能图(Grafcet)、结构化文本(Literal)3种编程语言;Siemens公司的Step7编程软件可以使用梯形图(Ladder)、指令表(STL)两种编程语言;Modicon公司的Modsoft编程软件只使用梯形图(984梯形)一种编程语言，而另一个Concept编程软件可以使用5种编程语言，依次为梯形图(LD)、顺序功能图(SFC)、功能块图(FBD)、结构化文本(ST)、指令表(IL)。同一编程软件下的编程语言大多数可以互换，一般选择自己比较熟悉的编程语言。

DSQC609 控制器机架模块

【英文介绍】

ABB Robot encoder cable:

3HAC2493-1, 3HAC2530-1, 3HAC2540-1, 3HAC7998-1, 3HAC7998-2, 3HAC7998-3

ABB Robot Power line:

3HAC2492-1, 3HAC2529-1, 3HAC2539-1, 3HAC026787-001, 3HAC026787-002, 3HAC026787-003

Take fast start-stop and precise position compensation as an example, this function block is triggered by an external digital signal and continuously outputs pulses at a constant frequency. After the start signal is triggered, the frequency starts from 0 and increases to the target frequency according to the set acceleration. After the stop signal is triggered, the function block starts to output the position compensation value, and decelerates to 0 when the position compensation value is output according to the set deceleration speed. PTO_REF_IN is the reference input to the PTO. Execute is the ascending edge enabled input. StartInput is an external startup input. DelayStart is motion execution delay. Acceleration is acceleration. Direction is the direction of motion. Velocity is the target velocity. MaxDistance is the maximum protected distance for movement execution. StopInput is an external stop input. Compensation is the position compensation pulse value. Deceleration is the deceleration value. PTO_REF_OUT is the reference output to the PTO. InMode is allowed for external input triggering. Status Indicates the motion status. Active is the execution state triggered by external input. CommendAborted is Commendaborted for performing the request ignore. Error is a monitoring error. ErrID is an error type.

2, programming languages Programming languages are the most complex, diverse, seemingly the same, but not universal. It can be divided into the following 5 categories of programming languages:

(1) Ladder diagram This is the PLC manufacturers use the most programming language, originally evolved from the relay control diagram, relatively simple, the most useful for discrete control and interlock logic;

(2) Sequential function diagram, which provides the overall structure and coordinates with state positioning processing or machine control applications;

It provides an effective development environment and is particularly suitable for process control applications;

(4) Structured text This is a programming language similar to that used for computers, it is suitable for complex algorithms and data processing;

(5) Instruction table It provides an environment for optimizing coding performance, very similar to assembly language. The programming software provided by the manufacturer generally includes one or several programming languages, such as TE's XTEL programming software can use Ladder, sequential function diagram (Grafcet), structured text (Literal) three programming languages; Siemens Step7 programming software can use Ladder (Ladder), instruction table (STL) two programming languages; Modicon's Modsoft programming software uses only one programming language, Ladder Diagram (984 ladder), while the other Concept programming software can use five programming languages, in order: ladder diagram (LD), sequential function diagram (SFC), function block diagram (FBD), structured text (ST), instruction table (IL). Most of the programming languages under the same programming software can be interchanged, and generally choose the programming language that you are more familiar with.

DSQC609 控制器机架模块

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