如何通过AX70控制调试电子手轮，电子手轮控制伺服

<p><span style="font-size:16px">前言：电子手轮在机床设备上广泛应用，主要用在手动对刀、定位等。AX70控制器作为中型主流PLC，在非标设备上，特殊专机设备上系统开发应用。</span></p><p><span style="font-size:16px;background:lightgrey;background:lightgrey">一、</span><span style="font-size: 16px">系统框架</span></p><p style="margin-left:24px;text-indent:32px"><span style="font-size:16px">一台AX70系列控制器，控制3台EtherCat总线的伺服，分别控制XYZ这3个轴，PLC接一个电子手轮，可以通过手轮控制这3个轴，一个按钮选择伺服，一个按钮选择赔率，然后转盘控制电机正反运转。</span></p><p style="text-indent:84px"><img width="619" height="662" src="/upload/article/20231123/1700707477929964.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700707477929964.png" alt="1.PNG"/>&nbsp;&nbsp;&nbsp;</p><p><span style="font-size:16px;background:lightgrey;background:lightgrey">二、</span><span style="font-size: 16px">硬件设备：</span></p><p class="MsoListParagraph" style="margin-left:48px"><span style="font-size:16px">1、<span style="font:9px &#39;Times New Roman&#39;">&nbsp;&nbsp; </span></span><span style="font-size:16px">英威腾PLC：AX72-C-1608N。</span></p><p class="MsoListParagraph" style="margin-left:48px"><span style="font-size:16px">2、<span style="font:9px &#39;Times New Roman&#39;">&nbsp;&nbsp; </span></span><span style="font-size:16px">英威腾EtherCat总线伺服：3套</span></p><p class="MsoListParagraph" style="margin-left:48px"><span style="font-size:16px">3、<span style="font:9px &#39;Times New Roman&#39;">&nbsp;&nbsp; </span></span><span style="font-size:16px">数控机床电子手轮</span></p><p><span style="font-size:16px">三、软件：AX系列控制器编程软件（</span><a href="https://files.invt.com.cn/20221226/72da9cc2-82fe-4c30-bafe-fc42984502de.rar" target="_blank" title="Invtmatic Studio(AX系列控制器编程软件64位).rar"><span style="font-family:&#39;微软雅黑&#39;,sans-serif;color:#333333;background:white">Invtmatic Studio</span></a><span style="font-size:16px">）。</span></p><p><span style="font-size:16px">四、程序编写及思路</span></p><p style="text-indent:32px"><span style="font-size:16px">1</span><span style="font-size:16px">、高数计数</span></p><p style="text-indent:32px"><span style="font-size:16px">&nbsp;&nbsp; </span><span style="font-size:16px">配置手轮计数功能：</span></p><p style="text-indent:32px"><img width="831" height="160" src="/upload/article/20231123/1700707556358711.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700707556358711.png" alt="2.PNG"/></p><p style="text-indent:32px"><span style="font-size:16px"><img width="632" height="195" src="/upload/article/20231123/1700709176494439.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709176494439.png" alt="3.PNG"/></span></p><p style="text-indent:32px"><span style="font-size:16px"><img width="830" height="147" src="/upload/article/20231123/1700709421855692.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709421855692.png" alt="4.PNG"/></span></p><p style="text-indent:32px"><span style="font-size:16px"><img width="831" height="93" src="/upload/article/20231123/1700709449137083.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709449137083.png" alt="5.PNG"/></span></p><p><span style="font-size:16px">1</span><span style="font-size:16px">、</span>程序中调用计数器参数功能块CounterParam_HP，设置对应计数器；</p><p><span style="font-size:16px">2</span><span style="font-size:16px">、调用计数功能块Counter_HP，读取计数值；</span></p><p><span style="font-size:16px"><img width="831" height="424" src="/upload/article/20231123/1700709480100772.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709480100772.png" alt="6.PNG"/></span></p><p style="text-indent:32px"><span style="font-size:16px">2</span><span style="font-size:16px">、建立虚轴</span></p><p style="text-indent:32px"><span style="font-size:16px">&nbsp;&nbsp; </span><img width="825" height="116" src="/upload/article/20231123/1700709498295957.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709498295957.png" alt="7.PNG"/></p><p style="text-indent:32px"><span style="font-size:16px;font-family:宋体">①</span><span style="font-size:16px">将电子手轮和自由编码器关联起来。</span></p><p style="text-indent:32px"><span style="font-size:16px">SMC_FreeEncoder.diEncoderPosition:=Value_0;</span><span style="font-size:16px">（Value_0是电子手轮计数值）</span></p><p style="text-indent:32px"><span style="font-size:16px;font-family:宋体">②</span><span style="font-size:16px">配置自由编码器，电子齿轮比。</span></p><p style="text-indent:32px"><img width="831" height="357" src="/upload/article/20231123/1700709512863782.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709512863782.png" alt="8.PNG"/></p><p style="text-indent:32px"><span style="font-size:16px">&nbsp;</span></p><p class="MsoListParagraph" style="margin-left:48px"><span style="font-size:16px">3、<span style="font:9px &#39;Times New Roman&#39;">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; </span></span><span style="font-size:16px">同步跟随控制</span></p><p style="text-indent:32px"><span style="font-size:16px">用MC_GearIn和MC_GearOut指令将同步轴关联起来。</span></p><p style="text-indent:32px"><img width="830" height="515" src="/upload/article/20231123/1700709533356687.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709533356687.png" alt="9.PNG"/></p><p style="text-indent:32px"><img width="516" height="314" src="/upload/article/20231123/1700709546226821.png" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd" title="1700709546226821.png" alt="10.PNG"/></p><p style="text-indent:32px"><span style="font-size:16px">用MC_GearOut指令结束时用MC_STOP指令推出，否则轴会报警。</span></p><p style="text-indent:32px"><span style="font-size:16px">这样就把可以切换控制每个伺服了。</span></p><p><br/></p>