PLCopen 2-Axes Template with ST

This template project contains a two-axis template for getting started with a KAS application. It contains key project elements that will save development time. Additional axes can be added to the template applications that have three, four, five, or more axes. The templates are designed to easily add code to the programs and Control Panels that are in the template or to new ones. A project can contain many programs, and each program can be written in ST"Structured text" A high-level language that is block structured and syntactically resembles Pascal, 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, FFLD, FBD"Function block diagram" A function block diagram describes a function between input variables and output variables. A function is described as a set of elementary blocks, or IL"Instruction list" This is a low-level language and resembles assembly programming languages. This template program can be run on the KAS Simulator or with a AKD PDMM or PCMM and AKD drives.

PLC Programs

This 2-axis PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML template has a ST program (called Main) that initializes, starts and runs the motion. The motion includes single axis jogging, incremental and absolute moves, and gearing motion between axes. Also included are controls to enable/disable the drives, clear faults, and display fault and axis position information in the Control Panel. A second program, FaultMonitor, reads the drive fault and position information.

The programs are commented to ease their use.

Figure 7-51: PLCopen Template with ST - Main

Also included are three subprograms (MCFB_AKDFault, MCFB_AKDFaultLookup, and MCFB_Jog) that are Kollmorgen UDFBs and can be found in the Project Library section of the IDE"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger.

Motion

The template contains two PLCopen Servo axes where User Units, Update Rate, Rollover Position, and Axis Limits are defined as follows:

Figure 7-52: PLCopen Template - Motion

For more details on PLcopen axis parameters, see "Axis Data Parameters"

Control Panel

The template contains a Control Panel which works inside of the IDE when running a project, and serves as a useful tool to run and debug programs. The Control Panel consists of two screens, named Control Panel and Fault Report Panel.

Control Panel consists of three sections.

• Multi-Axis Commands which controls motion and shows gearing
• Single Axis Motion Commands which shows motion at the single axis level and resetting the axis position
• Axis Status which shows basic axis information

For more details, see Design the Control Panel with the Internal Control Panel Editor

Figure 7-53: PLCopen Template - Control Panel

Call out#	Description
	Allows you to set the speed
	Displays the actual position for each axis
	Control the axis motion
	Start or stop the motion on the condition that the axes are enable (the green light must be switched on)
	Allows for enabling or disabling the axes. After an emergency stop, you need to select the Reset and Enable commands before running the axes

Table 7-39: PLCopen Template - Control Panel elements

Fault Report Panel provides more detailed information about when a drive fault occurs.

Figure 7-54: PLCopen Template - Fault Report Panel

HMI

Also included in the project template are HMI"Human-machine interfaces " Also known as computer-human interfaces (CHI), and formerly known as man-machine interfaces, they are usually employed to communicate with PLCs and other computers, such as entering and monitoring temperatures or pressures for further automated control or emergency response screens for the AKI terminals created in the KVB (Kollmorgen Visualization Builder) environment.

The KVB software is a separate installation from the KAS IDE. KVB can be opened from within KAS IDE by double-clicking on the KVBProject item in the project tree.

The project can be run in the KVB programming environment after the KAS IDE program has started running. Click on the Run button in the Project ribbon to start the program.

Four screens, localized in English and German, are included that duplicate the controls on the IDE Internal Control panel screens.