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6DD1606-0AD0

6DD1606-0AD0

运动控制程序采用 T r i o B A S I C多任务语言编制。通过运行在 P C机上的 Mo t i o n P e r f e c t 软件将编制好的运动控制程序下载到 MC 2 0 6内即可脱机运行。 T r i o B A S I C语言有三种不同类型的存储变量： 命名变量、 V R（ ） 变量和 T A B L E区变量。命名变量是局部变量， 仅在定义它的任务内有效。

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　　变量是可被多个任务共享的全局变量， 它可用于任务间通讯； T A B L E 区通常是用于存储 C A M／指令曲线的存储区， 本程序用于存储缠绕管道型号的工艺文件。运行的用户程序被称为线程或任务。
　　对于复杂的多任务程序应为线程分配优先级，控制器缺省的伺服周期是 l m s ， 该周期在内部被分成三个时间片， 每个时间片为 1 ／ 3 m s ， 它们在内部分别被用来处理伺服功能， 通讯和通常的“ h o u s e k e e —‘ 任务。在每个时间片内剩余的时间被用于运行用户程序。M C 2 0 6zui多可运行 7个用户线程， 每个线程用从 l 到 7的数字标号， zui高标号的线程（ 线　　程7 和 6 ） 被分配固定的时间片， 它们被称为” 快速任务“ ， 主要用于有以下要求的任务： 要在每个伺服周期都要进行处理的任务； 具有大量的运算和处理的任务； 任务启动后程序执行速度不能改变的任务。 5 g - 线程被称为” 慢速任务“ ， 它们具有共同的优先级， 程序执行速度会随任务的增加而降低。用户可以使用指令启动任务使其按的优先级运行。
　　在上位机软件 Mo t i o n P e r f e c t 中打开一个” T e r m i n a l “窗口可以设置一个” C o m m a n d L i n e “ 端 口， 它始终使用” 0 “ 号任务， 用于从上位机输入指令并立即运行 。该缠绕机控制软件中共建立了四个任务， 其中任务 7用于缠绕机电机运动控制和机床逻辑控制， 任务 6用于管理机床与缠绕相关的 I ／ O信号和主轴转速控制， 任务 2 完成串口通讯功能， 任务 1 实现输胶控制。控制程序的任务功能和执行时间分配如图 2 所示。其中任务 7和 6的优先级zui高， 每个伺服周期（ 1 I n s ） 都分配时间片， 任务 1 ， 2和／ L ） 优先级相同， 在每个伺服周期轮流为其分配时间片。缠绕程序任务功能和执行时间的分配如图2 所示。

　　缠绕机加工控制工作状态分为手动、 半 自动和自动三种状态。手动状态用于单独控制芯模和小车的运动。半自动状态下芯模和小车协调运动进行环向缠绕， 缠绕的长度由工人控制。自动工作状态下可按工艺文件设定参数实现环向和螺旋 自动缠绕。此外控制程序还具有零点校正、 自动零点、 断点缠绕和缠绕过程人工干预等功能。
结束语
该缠绕机数控系统结合了工业 P C机和嵌入式运动控制器的优点， 充分利用了 T R I O运动控制器的电子齿能。系统可以根据工艺要求进行自动缠绕， 并具有系统运行状态显示、 远程通讯、 故障诊断与报警和反向间隙补偿等功能。该缠绕机纱片宽度在 8 0 ～2 2 0 m m之间任意调节， 可满足不同管径管道的缠绕要求。zui高出纱速度可达 Mm ／ m i n ， 芯模转角分辨率为 0 . 0 1 8 。 小车轨迹控制误差小于0 毫米， 整机响应速度快， 性能稳定， 操作简单。该系统已经应用于大庆竹田复合材料有限公司， 实践证明该系统对提高玻璃钢管缠绕成型工艺的技术水平、 自动化程度和管道质量具有非常重要的作用， 并缩短了管道的开发周期， 减少了工作人员的劳动强度， 提高了生产效率， 降低了生产成本

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