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 Chart program (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 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 moves, linear moves, circular moves, transitions and blending. It also performs basic moves for the third (Pipe Network) axis, to move down/up before and after the coordinated motion pattern.

Motion

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. As this template demonstrates, PLCopen axes that perform coordinated motion can be mixed with independent Pipe Network axes.

  There is no axis 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 Programmable Logic Controller, PLC, or Programmable Controller is 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.

To run the complete motion pattern:

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 on, turn the “Cycle Start” switch to “1” and the axes will begin moving in the programmed pattern.

Control Panel

#	Description	GUI
	Allows you to change the coordinated motion feedrate from 0% to 200%
	Displays the axis positions
	Indicator lights. Ready indicates that the three axes are enabled and the axes group is ready and enabled for coordinated motion. Error Stopped indicates that the axes group has been stopped and disabled by the E-Stop button.
	Begins the coordinated motion pattern
	Causes an Emergency Stop for all axes. The axes will be disabled.
	Resets the Emergency Stop and clears axis errors.
	Disables the three axes
	Enables the three 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.