TRIO-basic指令--FLEXLINK

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:	在“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:	在“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(见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.

该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。