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同步多個缸時,最好每個缸都跟隨一個虛擬主缸,而不是跟隨另一個缸。如果7個缸跟隨一個主缸,它們都會落後於主缸。這很不理想。此外,估算主缸的速度和加速度也會更加困難,因此無法對從缸施加精確的前饋。應使用前饋來消除跟隨誤差。虛擬主缸可以產生完美的速度、加速度和加加速度,而不是從主缸的回饋中獲得這些值。 RMC運動控制器將虛擬主缸稱為目標產生器。目標產生器根據指令參數為每個軸產生目標位置、速度、加速度和加加速度。
所有計算都應在運動控制器中進行。這消除了運動控制器和PLC之間資料傳輸的延遲。
RMC200現在可以自行同步50個缸或馬達。 RMC200現在也支援Ethercat。
我現在住在巴拿馬的巴拿馬城。
When synchronizing multiple cylinders, it is best if each cylinder follows a virtual master cylinder instead of following another cylinder. If 7 cylinders follow a master cylinder, they will all lag behind the master cylinder. This is not ideal. It is also more difficult to estimate the velocity and acceleration of the master cylinder, so it is not possible to apply accurate feedforward to the slave cylinders. Feedforward should be used to eliminate following errors. The virtual master cylinder can generate perfect velocity, acceleration and jerk instead of getting these values from the feedback of the master cylinder. RMC motion controllers call virtual masters target generators. The target generator generates the target position, velocity, acceleration and jerk for each axis based on the command parameters.
All calculations should be performed in the motion controller. This eliminates the delay of data transmission between the motion controller and the PLC.
The RMC200 can now synchronize 50 cylinders or motors by itself. The RMC200 also now supports Ethercat.
I currently live in Panama City, Panama.
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