Coordinated Motion 2-Axis Template

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

Programs

The program is 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.

The first five steps of the SFC create and initialize the axes and the coordinated motion axes group. Step six 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 moves, linear moves, circular moves, transitions and blending.

Motion

To run the coordinated motion pattern, perform the following steps:

1. Download and start the application.
2. Press the “Enable” button to enable the axes and the axes group.
3. Press the “Home” button to move the axes to their zero position. (optional)
4. After the “Ready” light is illuminated, turn the “Cycle Start” switch to “1” and the axes will begin moving in programmed pattern.

Control Panel

#	Description	GUI
	Allows you to change the coordinated motion feedrate from 0% to 200%
	Displays the axis positions
	Indicates that the three axes are enabled and the axes group is ready and enabled for coordinated motion
	Begins the coordinated motion pattern
	Causes an Emergency Stop for all axes. The axes will be disabled.
	Resets the Emergency Stop and enables the axes
	Disables the two axes
	Enables the two axes and the axes group
	Moves all axes to their zero position
	Causes a reference by setting the axes' position to zero at their current location.