Siemens编程器S7-200系列用在中小型设备上的自动系统的控制单元,适用于各行各业,各种场合中的检测,监测及控制。
在这里,和大家一起来讨论
S7-200几个使用方面的情况。
1.步进,伺服脉冲定位控制。
在设备的控制系统中,有关运动控制是很重要的,下面我们来看一看奥越信
兼容西门子S7-200系列PLC怎样来实现这个功能。
首先,确定使用哪个端口来发脉冲,如采用Q0.0发脉冲,则它的控制字为SMB67,脉冲同期为SMW68,脉冲个数存放在SMD72中,
下面是控制字节的说明:
Q0.0 Q0.1 控制字节说明
SM67.0 SM77.0 PTO/PWM更新周期值 0=不更新,1=更新周期值
SM67.1 SM77.1 PWM更新脉冲宽度值 0=不更新,1=脉冲宽度值
SM67.2 SM77.2 PTO更新脉冲数 0=不更新,1=更新脉冲数
SM67.3 SM77.3 PTO/PWM时间基准选择 0=1微秒值,1=1毫秒值
SM67.4 SM77.4 PWM更新方法 0=异步更新,1=同步更新
SM67.5 SM77.5 PTO操作 0=单段操作,1=多段操作
SM67.6 SM77.6 PTO/PWM模式选择 0=选择PTO,1=选择PWM
SM67.7 SM77.7 PTO/PWM允许 0=禁止PTO/PWM,1=允许
这样根据以上表格,我们得出Q0.0控制字:SMB67为:10000101
采用PTO输出,微妙级周期,发脉冲的周期(也就是频率)与脉冲个数都要重新输入。10000101转化为 16进制 为85,有了控制字以后,我们来写这一段程序:
根据上面这段程序,我们知道了控制字的使用,同时也知道步进电机的脉冲周期与冲个数的存放位置(对Q0.0来说是SMW68与SMD72)。当然,VW100与VD102内的数据不同的话,步进电机的转速和转动圈数就不一样。
还有一点需要说明得是:M0.0导通---PLC捕捉到上升沿发动脉冲输出后,想停止的话,只须改变端口脉冲的 控制字,再启动PLS即可,程序如下:
2.高速计数功能。
西门子S7-200系列PLC具有高速计数的功能;举一例子来谈谈高速计数的用途,我们采用普通电机来带动丝杆转动,我们想控制转动距离,怎么来解决这个问题?那么我们可在电机另一头与一编码器联接,电机转一圈,编码器也随之转一圈,同时根据规格发出不同的脉冲数。当然,这些脉冲数的频率比较高,PLC不能用普通的上升沿计数来取得这些脉冲,只能通过高速计数功能了。
启动高速计数功能,也要具有控制字
HSCO HSC1 描述
SM37.0 SM47.0 复位有效电平控制位 0=高电平有效, 1=低电平有效
SM37.1 SM47.1 启动有效电平控制位于 0=高电平有效, 1=低电平有效
SM37.2 SM47.2 正交计数器速率选择 0=4X计数率, 1=1X计数率
SM37.3 SM47.3 计数方向控制位 0=减计数, 1=正计数
SM37.4 SM47.4 向HSC中写入计数方向 0=不更新, 1=更新计数方向
SM37.5 SM47.5 向HSC中写入预置值 0=不更新, 1=更新预置值
SM37.6 SM47.6 向HSC中写入当前值 0=不更新, 1=更新当前值
SM37.7 SM47.7 HSC允许 0=禁止HSC, 1=允许HSC
参照上面的表格,我们选择HSC1高速计数器,控制字为SMB47,现在我们启动高速计数器HSC1,选择为增计数,更新计数方向,重新设置值,更新当前值:这样的话,HSC1的启动控制高为:11111000转化为16进制为 F8,将启动计数器时当前值存放在SMD48中,将预存置放在SMD52中,具体的程序 如下:
![S7-200plc程序图](data:image/png;base64,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)
同样的,如果计数器在工作状态下想停止计数器,也必须改变它的控制字后,启动HSC具体程序 如下:
6I`OS6W242JQ2I6$(LJ~NC7
3. PID回路控制功能。
奥越信
兼容西门子S7-200系列PLC的PID控制相当的简单,可以通过micro/win软件的一个向导程序,按照提示,一步一步执行您所要求PID控制的属性即可,在这里谈一谈PID这三个参数的具体意义:P为增益项,P越大,响应起就快,在调节流量阀时:设定流量为50%,当目前流量接近50%,刚超过,如果P值很大的话,那么流量阀会马上会关闭,而不会控制在某一区域。这就是增益项太大引起。在调节的过程中应该先将P值调节比较适当了,再去调节I值,它为积分项,是在控制器回路中控制对当前值与设定值相等的偏差范围。D为微分项,主要作用是避免给定值的微分作用而引起的跳变。
在现场的PID参数的调整过程中,针对奥越信兼容西门子S7-200型PLC我的建议是在不同的控制阶段,采用不同的PID参数组,具体而言就是当目前距离设定值差距较大时,采用P值较大的一套PID参数,如果当前值快接近设定值范围时,采用P值较小的一套PID参数。