CN106444606B - Incremental electronic coding odometer device based on PLC technology and application thereof - Google Patents
Incremental electronic coding odometer device based on PLC technology and application thereof Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to an incremental electronic coding odometer device based on a PLC technology and application thereof, wherein the device is arranged on a tramcar, the odometer device is respectively connected with a wheel rotating speed sensor, a speed feedback voltage sensor and a vehicle-mounted controller of the tramcar, the odometer device comprises an incremental encoder module, an AD conversion module, a PLC module and an incremental pulse generator module, the PLC module is respectively connected with the incremental encoder module, the AD conversion module and the incremental pulse generator module, the incremental encoder module is connected with the wheel rotating speed sensor, the AD conversion module is connected with the speed feedback voltage sensor, and the incremental pulse generator module is connected with the vehicle-mounted controller. Compared with the prior art, the invention has the advantages of greatly enhanced expandability and the like.
Description
Technical Field
The invention relates to an incremental electronic coding odometer, in particular to an incremental electronic coding odometer device based on a PLC technology and application thereof.
Background
The on-board control system (OBS) of the train in the tramcar signal system is important, the on-board function of the tramcar train comprises the ATP train automatic protection and DAC train auxiliary driving of the tramcar, and the ATP function or the DAC function is dependent on the speed measurement and positioning information of the train, and the odometer speed measurement and the beacon positioning are respectively needed. The conventional train odometer is basically monopolized by foreign companies, and has the defects of opaque technology, high price, inflexible use, high equipment loss, poor expandability and the like. Thus, in actual use, an odometer is difficult to fit onto all types of vehicles and requires constant adjustment and modification in actual installation use.
In practical use, for various reasons, the research and development of the coded odometer at home and abroad has the following problems in technology:
1) Scalability: along with the continuous increase of the demand of rail transit, the complexity of different road conditions and lines is also higher and higher, so that the demand of the train on the coded odometer is also continuously improved, and the traditional Hall coded odometer and the photoelectric coded odometer are difficult to adapt to various different scenes.
2) Commonality: the current rail traffic is divided into three aspects of national railway, urban rail traffic and tram, the types and styles of trains are various, the interface requirements of the trains on the coded odometer are also continuously increased, and the provision of a universal electronic coded odometer is necessary.
3) Loss performance: the traditional coded odometer has the rotation and friction of mechanical parts, and in the running of trains accumulated in the daily period, the mechanical parts can be worn and corroded, so that the service life of the mechanical parts can be influenced, and the precision and the accuracy of the coded odometer can be further influenced.
4) Traceability: when the traditional coded odometer breaks down, the reason and time of the fault are difficult to detect, a special odometer test unit is needed, and the detection effect is not ideal.
5) Incremental conversion and recording: the traditional coded odometer can only collect the speed, and has no displacement recording and speed conversion functions.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the incremental electronic coding odometer device based on the PLC technology and the application thereof, and on the basis of drawing experience of the defects of the existing foreign coding odometer technology, the universal PLC incremental electronic coding odometer is designed, so that a stable and reliable data source can be provided for the acquisition of the speed and positioning information of a tram, and a reliable technical support and a convenient research platform are provided for a tram vehicle-mounted signal system, thereby having very important significance.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides an incremental electronic coding odometer device based on PLC technique, the device is installed on the tram, the odometer device be connected with wheel rotational speed sensor, speed feedback voltage sensor and the on-vehicle controller of tram respectively, the odometer device include incremental encoder module, AD conversion module, PLC module, incremental pulse generator module, the PLC module be connected with incremental encoder module, AD conversion module, incremental pulse generator module respectively, incremental encoder module be connected with wheel rotational speed sensor, AD conversion module be connected with speed feedback voltage sensor, incremental pulse generator module be connected with on-vehicle controller.
The incremental encoder module is a three-channel incremental encoder, and the three signal outputs are respectively: pulse A, pulse B and pulse Z, wherein pulse A is before pulse B is after pulse A, pulse A and pulse B differ by 90 degrees, each circle sends out a pulse Z, as the reference mechanical zero position; the encoder rotates clockwise as seen at the shaft end, namely the A pulse leads the B pulse by 90 degrees, and rotates counter-clockwise as seen at the shaft end, namely the B pulse leads the A pulse by 90 degrees.
The AD conversion module is provided with four input channels and 32 buffers, wherein the four input channels are used for receiving analog signals and converting the analog signals into digital quantities, and the 32 buffers are distributed and defined as follows:
0#: channel initialization, default value H0000;
1# -4#: channel 1- -the average number of samples of channel 4, used to obtain the average result;
5# -8# -average input value of channel 1-channel 4 samples, i.e. average sampling number according to the number of times # 1-4, to obtain average value of all samples;
9-12 #: channel 1-channel 4 reads in the current value;
13#,14#: reserving and not defining;
15#: selecting an A/D conversion speed, and selecting a normal speed if the A/D conversion speed is set to 0; set to 1 then select high speed (15 ms/channel);
16-19 #: reserving and not defining;
20#: resetting to a default value and presetting, wherein the default value is 0;
21#: inhibiting the offset and gain values from being adjusted;
22#: offset, gain adjustment;
23#: offset value, default value is 0;
24#: gain value, default value is 5000;
25# -28#: reserving and not defining;
29#: an error condition;
30#: an identification code K2010;
31#: disabling.
The PLC module comprises a CPU module, and the CPU module comprises the following functions: the acquisition is interrupted regularly, the analog quantity is input and acquired, and the pulse control output is carried out.
The analog input acquisition comprises sampling processing and average processing;
the adoption treatment is specifically as follows: performing A/D conversion on the analog input according to each scan of the CPU module, performing digital output each time, and storing the values into digital output values, digital operation values and analog input value monitoring;
the average treatment is specifically as follows: the digital output values are averaged for each channel and the average value is stored in a setting register.
The average treatment is three, namely:
time average: performing A/D conversion according to the set time, averaging the combined value, and storing the average value in digital output value, digital operation value and analog input value monitoring; the number of processes within a set time varies depending on the scan time, where the number of processes = set time/scan time;
the times average: designating average processing of A/D conversion values by times, digitally outputting average values except maximum and minimum values, and storing in digital output value, digital operation value and analog input value monitoring; the time for which the average value based on the number average is stored in the digital output value, the digital operation value, and the analog input value monitoring varies depending on the scanning time; processing time = set number x scan time;
moving average: the number of times of shift average processing of the A/D conversion value is specified, and the average value is digitally outputted and stored in digital output value, digital operation value and analog input value monitoring.
The pulse control output specifically comprises the following steps: firstly, setting an output port number and parameters, setting a PULSE output mode, and selecting a PULSE/SIGN mode to perform PULSE output.
An application of an incremental electronic coding odometer device based on PLC technology, comprising the following steps:
1) After the PLC module is powered on, entering an internal self-checking stage of the PLC module, wherein the stage comprises the steps of checking whether hardware of the CPU module is normal or not by the PLC module and resetting a monitoring timer;
2) Initializing a PLC module, namely loading a ladder diagram program by the PLC module, and initializing all timers and registers;
3) After the train is started, the incremental encoder module tracks and collects the rotation speed of the train wheels, and writes speed and displacement information into a register in a CPU module of the PLC module according to the actual rotation speed and displacement information;
4) After the train is started, if the train has speed voltage output, the AD conversion module collects the speed voltage and writes speed and displacement information into a register in a CPU module of the PLC module;
5) The PLC module processing stage, according to the steps of up and down and left and right, scanning the ladder diagram program sentence by sentence, and according to the result sampled into the input mapping register, making logic operation, and storing the operation result into the related mapping register;
6) The CPU module of the PLC module converts the rotation cycle number and the speed analog voltage acquired in unit time into speed pulse information according to the PLC instruction;
7) The PLC allocates a new register, writes a pulse number result, and externally sends a pulse signal through an incremental pulse generator module;
8) The pulse number result in the unit time is sent out periodically to represent the displacement increment information in the unit time.
Compared with the prior art, the electronic coding odometer can completely meet the requirements of speed and position acquisition of a rail transit signal system by adopting the PLC technology, and has the following advantages and characteristics:
1) The expandability is greatly enhanced: the basic unit of the PLC incremental coded odometer is a PLC module, so that other modules with different functions, such as a serial port module, a network module, various IO modules and the like, can be expanded and added, and the PLC incremental coded odometer can be conveniently adapted to more demands of future trains on the odometer;
2) Good versatility: the basic unit adopts the PLC which is universal in the industrial control field, so the application range is wide, and the basic unit can be universally applied to different vehicle types in the aspect of rail traffic, such as rail cars, subways, high-speed rails, inter-city railways and the like;
3) Low loss performance: the electronic coding odometer basically has no physical rotation and friction, and the average service life of the PLC is 20 years, so that the wear loss is very low, the service life is long, and the use cost is reduced;
4) Traceability: the PLC can record all processed data, so that when the train speed acquisition fails, the problems can be tracked through the PLC log record;
5) Incremental conversion and recording: the PLC incremental electronic coding odometer can perform accumulated calculation and record on the generated pulses, can be directly converted into displacement incremental information to be sent outwards, and can reduce the number of positioning beacons in rail transit;
6) The installation and maintenance are convenient: the PLC is convenient to install in the industrial control field, and the PLC type electronic odometer can be installed and used conveniently without changing a transmission mechanical mechanism of a train.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a workflow diagram of the present invention;
FIG. 3 is a ladder diagram of a PLC;
fig. 4 is a PULSE output signal diagram of the PULSE/SIGN mode.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.
As shown in fig. 1, an incremental electronic coding odometer device based on PLC technology is installed on a tramcar, the odometer device is respectively connected with a wheel rotation speed sensor 6, a speed feedback voltage sensor 7 and a vehicle-mounted controller 5 of the tramcar, the odometer device comprises an incremental encoder module 1, an AD conversion module 2, a PLC module 3 and an incremental pulse generator module 4, the PLC module 3 is respectively connected with the incremental encoder module 1, the AD conversion module 2 and the incremental pulse generator module 4, the incremental encoder module 1 is connected with the wheel rotation speed sensor 6, the AD conversion module 2 is connected with the speed feedback voltage sensor 7, and the incremental pulse generator module 4 is connected with the vehicle-mounted controller 5.
The specific contents are as follows:
1) Application and development of incremental encoders: the selected incremental encoder has three signal outputs: the A pulse, the B pulse and the Z pulse adopt TTL level, the A pulse is in front, the B pulse is in back, the A pulse and the B pulse are different by 90 degrees, and each circle of the A pulse and the B pulse send out one Z pulse which can be used as a reference mechanical zero position. The direction judgment is carried out by utilizing an A lead B or a B lead A, the incremental encoder is defined as clockwise rotation of the encoder as forward rotation when the shaft end is seen, the A lead B is 90 degrees, and conversely, anticlockwise rotation is that an inverse B lead A is 90 degrees;
2) Application and development of a PLC AD analog conversion module: the analog value range of the selected speed voltage is-10V to 10VDC (resolution: 5 mV), and the allocation of 32 buffer memories (0-31) of the AD module is defined as follows:
0#: channel initialization, default value H0000
1# -4#: channel 1- -average number of samples of channel 4 (1- -4096) for obtaining an average result. The default value is set high to 8 (normal speed), and high speed operation may be selected to be 1.
The average input value of the number of samples of 5# -8#: channel 1- - -4 channel, i.e., the average number of samples specified according to #1- - #4, is averaged over all samples.
9-12 #: channel 1-channel 4 reads in the current value.
13#,14#: and (5) reserving and not defining.
15#: selecting an A/D conversion speed, and selecting a normal speed (15 ms/channel) when the A/D conversion speed is set to 0 (default value); set to 1 then select high speed (15 ms/channel).
16-19 #: and (5) reserving and not defining.
20#: reset to default value and preset, default value is 0.
21#: the offset and gain values are prohibited from being adjusted. The default value is (0, 1) allowed state.
22#: offset, gain adjustment.
23#: offset value, default value is 0.
24#: gain value, default value is 5000.
25# -28#: and (5) reserving and not defining.
29#: an error condition.
30#: identification code K2010.
31#: disabling.
3) Programming and developing a CPU module: the PLC program needs to meet three demand points: namely, the acquisition is interrupted at regular time, the analog quantity is input and acquired, and the pulse control output is carried out. The ladder program of the PLC is shown in fig. 3:
4) And (3) timing interruption acquisition: setting the interrupt trigger time of the timer interrupt I28 to be 100ms, and the method can ensure that the value of the analog input end is circularly read;
5) And (3) inputting PLC analog quantity: namely, the A/D conversion is carried out by two methods of sampling processing and average processing:
sampling: the analog input is a/D converted for each scan of the CPU module, digital output is performed each time, and the values are stored in digital output values, digital operation values, and analog input value monitoring.
And (3) average treatment: the digital output values are averaged for each channel and the average value is stored in a special register. The average treatment was 3 of the following:
time average: the A/D conversion is performed according to the set time, and the combination value is averaged and stored in the digital output value, the digital operation value and the analog input value monitoring. The number of processing times within the set time varies depending on the scanning time. Number of processes = set time/scan time;
the times average: the average processing of the A/D conversion values is designated by the number of times, and the average values excluding the maximum value and the minimum value are digitally outputted and stored in the digital output value, the digital operation value and the analog input value monitor. The time at which the average value based on the number of times average is stored in the digital output value, the digital operation value, and the analog input value monitoring varies depending on the scanning time. Processing time = set number x scan time;
moving average: the number of times of shift average processing of the a/D conversion value may be specified, and the average value may be digitally output and stored in digital output value, digital operation value, and analog input value monitoring.
6) Pulse output control: after the analog quantity processing module finishes A/D conversion and converts the analog quantity into digital quantity, the positioning module is used for generating pulse output. First the output port number and related parameters need to be set, the mode of the PULSE output is set, here we select the PULSE/SIGN mode, as shown in fig. 4:
as shown in fig. 2, the workflow of the present invention includes the steps of:
1) After the PLC is powered on, entering a PLC internal self-checking stage, at the stage, the PLC checks whether the hardware of the CPU module is normal or not, resets a monitoring timer and completes some other internal work;
2) A PLC program initialization stage, namely loading a ladder diagram program by the PLC, and initializing all timers and registers;
3) After the train is started, the incremental encoder tracks and collects the rotation speed of the train wheels, and writes speed and displacement information into a register in a CPU module of the PLC according to the actual rotation speed and displacement information;
4) After the train is started, if the train has speed and voltage output, the PLC analog acquisition module acquires the speed and voltage and writes speed and displacement information into a register in a CPU module of the PLC;
5) In the PLC program processing stage, according to the steps of up and down, left and right, the ladder diagram program is scanned sentence by sentence, and according to the result sampled into the input mapping register, logic operation is performed, and the operation result is stored into the related mapping register;
6) The CPU module of the PLC converts the rotation cycle number and the speed analog voltage acquired in unit time into speed pulse information according to the PLC instruction;
7) The PLC allocates a new register, writes a pulse number result, and externally transmits a pulse signal through a pulse transmitting module;
8) The pulse number result in the unit time is sent out periodically to represent the displacement increment information in the unit time.
As shown in fig. 1, the incremental electronic coding odometer device based on the PLC technology specifically comprises an incremental encoder module, an AD conversion module, a PLC module and an incremental pulse generator module.
The modules are described:
1. incremental encoder:
the incremental encoder is a precision sensor which converts mechanical rotation angle of a shaft into digital signal output by adopting methods such as photoelectricity and the like, and the working principle is as follows: the pulse code disc rotating along with the rotating shaft has homogeneously carved grating, and the code disc has homogeneously distributed light transmitting sections and light shielding sections. The incremental encoder has no fixed starting zero point, outputs pulses proportional to the increment of the rotation angle, and needs a counter to count the pulses. Every time a light transmission area is rotated, a pulse signal is sent out, the current value of the counter is increased by 1, and the counting result corresponds to the increment of the rotation angle.
The three-channel incremental encoder has two pairs of photoelectric couplers except the two-channel incremental encoder, and the other channel of the pulse code disc has 1 light transmission section, and outputs 1 pulse for 1 turn, which is called Z-phase zero pulse and is used as the zero clearing signal of the system or the origin of coordinates to reduce the accumulated error of measurement. If the period of the encoder output pulse is greater than twice the scan cycle time of the PLC, the direction of encoder rotation can be determined by determining the 0,1 state of the A-phase pulse signal at the rising edge of the B-phase pulse.
2. AD conversion module:
FX2N-4AD analog special module has four input channels. The input channel receives the analog signal and converts it to a digital quantity, which is called a/D conversion. The FX2N-4AD maximum resolution is 12 bits. The selection of input/output based on voltage or current is done by user wiring, the range of analog values that can be selected is-10V to 10VDC (resolution 5 mV), and/or 4 to 20mA, -20 to 20mA (resolution 20 ua), data is exchanged between FX2N-4AD and FX2N master units by buffer memories, FX2N-4AD has a total of 32 buffer memories (16 bits each), FX2N-4AD occupies 8 points of the FX2N expansion total route, these 8 points can be allocated as input or output.
3. CPU module of PLC:
the CPU consists of a controller, an arithmetic unit and a register. These circuits are integrated on one chip. The CPU is connected with the I/O interface circuit through an address bus and a data bus.
The CPU module is used for storing and executing the PLC ladder diagram program, and performing operation and execution according to the ladder diagram instruction of the user. When the program inputted from the programmer is stored in the user program memory, the CPU then translates the user program into a user compiled program approved inside the PLC according to the functions given by the system (interpretation compiler of the system program memory). The input status and input information are input from the input interface, which the CPU stores in the working data memory or into the shadow register. The data and program are then organically combined together by the CPU. The result is stored in an output map register or a working data memory and then output to an output interface to control an external driver.
4. A pulse generator module:
a power supply is externally added by utilizing the high-frequency output of a transistor IO of the PLC so as to generate a digital pulse waveform. In the first scanning period of the PLC, the normally closed contact of the M1 is closed, so that the M1 coil can be electrified; in the second scanning period, since the coil is already energized in the last scanning period Ml, the normally closed contact of M1 is opened, and thus the coil M1 is deenergized. Therefore, the Ml coil power-on time is one scan period. The M1 coil is continuously powered on and powered off, and the normally open contact is continuously closed and opened, so that continuous pulse signal output with the pulse width of one scanning period is generated, and the device is applicable to the collection of the on-vehicle speed signals of the tramcar.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. The utility model provides an incremental electronic coding odometer device based on PLC technique, the device is installed on the tram, its characterized in that, odometer device respectively with tram's wheel rotational speed sensor, speed feedback voltage sensor and on-vehicle controller be connected, odometer device include incremental encoder module, AD conversion module, PLC module, incremental pulse generator module, the PLC module respectively with incremental encoder module, AD conversion module, incremental pulse generator module connection, incremental encoder module be connected with wheel rotational speed sensor, AD conversion module be connected with speed feedback voltage sensor, incremental pulse generator module be connected with on-vehicle controller.
2. The incremental electronic coded odometer device based on PLC technology according to claim 1, wherein the incremental encoder module is a three-channel incremental encoder provided with three signal outputs, respectively: pulse A, pulse B and pulse Z, wherein pulse A is before pulse B is after pulse A, pulse A and pulse B differ by 90 degrees, each circle sends out a pulse Z, as the reference mechanical zero position; the encoder rotates clockwise as seen at the shaft end, namely the A pulse leads the B pulse by 90 degrees, and rotates counter-clockwise as seen at the shaft end, namely the B pulse leads the A pulse by 90 degrees.
3. The incremental electronic code odometer device based on PLC technology according to claim 1, wherein the AD conversion module is provided with four input channels and 32 buffers, wherein the four input channels are used for receiving analog signals and converting them into digital quantities, and the 32 buffers are allocated as follows:
0#: channel initialization, default value H0000;
1# -4#: channel 1- -the average number of samples of channel 4, used to obtain the average result;
5# -8# -average input value of channel 1-channel 4 samples, i.e. average sampling number according to the number of times # 1-4, to obtain average value of all samples;
9-12 #: channel 1-channel 4 reads in the current value;
13#,14#: reserving and not defining;
15#: selecting an A/D conversion speed, and selecting a normal speed if the A/D conversion speed is set to 0; setting 1, selecting a high speed, wherein the speed is 15 ms/channel;
16-19 #: reserving and not defining;
20#: resetting to a default value and presetting, wherein the default value is 0;
21#: inhibiting the offset and gain values from being adjusted;
22#: offset, gain adjustment;
23#: offset value, default value is 0;
24#: gain value, default value is 5000;
25# -28#: reserving and not defining;
29#: an error condition;
30#: an identification code K2010;
31#: disabling.
4. The incremental electronic coded odometer device based on PLC technology according to claim 1, wherein the PLC module comprises a CPU module comprising the following functions: the acquisition is interrupted regularly, the analog quantity is input and acquired, and the pulse control output is carried out.
5. The incremental electronic code odometer device based on PLC technology according to claim 4, wherein the analog input acquisition includes a sampling process and an averaging process;
the sampling process specifically comprises the following steps: performing A/D conversion on the analog input according to each scan of the CPU module, performing digital output each time, and storing the values into digital output values, digital operation values and analog input value monitoring;
the average treatment is specifically as follows: the digital output values are averaged for each channel and the average value is stored in a setting register.
6. The incremental electronic coded odometer device based on PLC technology according to claim 5, wherein the averaging process is three, respectively:
time average: performing A/D conversion according to the set time, averaging the combined value, and storing the average value in digital output value, digital operation value and analog input value monitoring; the number of processes within a set time varies depending on the scan time, where the number of processes = set time/scan time;
the times average: designating average processing of A/D conversion values by times, digitally outputting average values except maximum and minimum values, and storing in digital output value, digital operation value and analog input value monitoring; the time for which the average value based on the number average is stored in the digital output value, the digital operation value, and the analog input value monitoring varies depending on the scanning time; processing time = set number x scan time;
moving average: the number of times of shift average processing of the A/D conversion value is specified, and the average value is digitally outputted and stored in digital output value, digital operation value and analog input value monitoring.
7. The incremental electronic code odometer device based on PLC technology according to claim 4, wherein the pulse control output is specifically: firstly, setting an output port number and parameters, setting a PULSE output mode, and selecting a PULSE/SIGN mode to perform PULSE output.
8. Use of an incremental electronic coded odometer device based on PLC technology according to claim 1, characterised in that it comprises the following steps:
1) After the PLC module is powered on, entering an internal self-checking stage of the PLC module, wherein the stage comprises the steps of checking whether hardware of the CPU module is normal or not by the PLC module and resetting a monitoring timer;
2) Initializing a PLC module, namely loading a ladder diagram program by the PLC module, and initializing all timers and registers;
3) After the train is started, the incremental encoder module tracks and collects the rotation speed of the train wheels, and writes speed and displacement information into a register in a CPU module of the PLC module according to the actual rotation speed and displacement information;
4) After the train is started, if the train has speed voltage output, the AD conversion module collects the speed voltage and writes speed and displacement information into a register in a CPU module of the PLC module;
5) The PLC module processing stage, according to the steps of up and down and left and right, scanning the ladder diagram program sentence by sentence, and according to the result sampled into the input mapping register, making logic operation, and storing the operation result into the related mapping register;
6) The CPU module of the PLC module converts the rotation cycle number and the speed analog voltage acquired in unit time into speed pulse information according to the PLC instruction;
7) The PLC allocates a new register, writes a pulse number result, and externally sends a pulse signal through an incremental pulse generator module;
8) The pulse number result in the unit time is sent out periodically to represent the displacement increment information in the unit time.
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