Coordinated Motion - 3-Axis Template

This project controls two axes in coordinated motion (PLCOpenAxis1 and PLCOpenAxis2), and a third independent axis (VERTICAL_AXIS).

This template demonstrates how to use coordinated motion PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. axes and a Pipe Network axis.

PLC Programs

The Coordinated Motion 3-Axis template has a Sequential Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. 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.) program The act of performing a sequence of instructions or commands. 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 program create and initialize the axes and the coordinated motion axes group plus the Pipe Network axis.
• 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..
  • It performs basic moves for the third (Pipe Network) axis, to move down/up before and after the coordinated motion pattern.

Motion Procedure

This template uses both motion engines (Pipe Network and PLCopen) simultaneously.

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• Coordinated motion can only be performed with PLCopen axes, Pipe Network axes do not support this feature.
  PLCopen axes that perform coordinated motion can be mixed with independent Pipe Network axes.

  There is no axis synchronization Combines an axis or axes group (as slave) with an axis as master. The slave executes its path with synchronization to the progress of the master. This is linked to a one dimension source for synchronization. at the Motion Engine level between a PLCopen axis and a Pipe Network axis.

  Any synchronization between the axes must be performed inside the PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. application.

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
	Used to change the coordinated motion feedrate from 0% to 200%.
	Displays the axis positions.
	Indicator lights. Ready indicates: The axes are enabled. The axes group is ready and enabled for coordinated motion. Error Stopped indicates the axes group has been stopped and disabled Removal of the ENABLE signal. Disables power stage. by the E-Stop button.
	Begins the coordinated motion pattern.
	Causes an Emergency Stop for all axes. The axes are disabled.
	Resets New start of the microprocessor. the Emergency Stop. Clears axis errors.
	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.