Coordinated Motion - 2-Axis Template

This project controls two axes in coordinated motion (PLCOpenAxis1 and PLCOpenAxis2).

Programs

The program The act of performing a sequence of instructions or commands. is a Sequential Function Chart (SFC Sequential function chart - It can be used to program processes that can be split into steps. The main components of SFC are: - Steps with associated actions. - Transitions with associated logic conditions. - Directed links between steps and transitions.) containing both Structured Text (ST Structured text - A high-level language that is block structured and syntactically resembles Pascal.) and Free Form Ladder Diagram (FFLD) code.

• Steps 1 to 5 of the SFC create and initialize the axes and the coordinated motion axes group.
• Step 6 of the SFC interfaces with the Control Panel and performs a back-and-forth coordinated motion pattern with the two axes.
• The program utilizes coordinated motion direct The orientation components of a vector in space. moves, linear moves, circular moves, transitions and blending A way that consecutive function blocks cooperate in the transition from the first to the next..

Motion Procedure

1. Download and start the application.
2. Press the Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. button to enable the axes and the axes group.
3. Optional: Press the Home The homing procedure allows, based on a position measurement, to set a position offset to the motor to ensure it is physically at the home position. button to move the axes to their zero position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different..
4. When the Ready light is on, turn the Cycle Start switch to 1.
   The axes begin moving in the programmed pattern.

Control Panel

#	Description	GUI Graphical User Interface - A type of user interface which allows people to interact with a computer and computer-controlled devices.
	Used to change the coordinated motion feedrate from 0% to 200%.
	Displays the axis positions.
	Indicator light. Ready indicates: The axes are enabled. The axes group is ready and enabled for coordinated motion.
	Begins the coordinated motion pattern.
	Causes an Emergency Stop for all axes. The axes are disabled Removal of the ENABLE signal. Disables power stage..
	Resets New start of the microprocessor. the Emergency Stop. Clears axis errors. Enables the axes.
	Disables the axes or axes group.
	Enables the axes and the axes group.
	Moves all axes or axes group to their zero position.
	Causes a reference by setting the axes' position to zero at their current location.