Coordinated Motion - 2-Axis Template

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

Programs

The program is a Sequential Function Chart (SFC) containing both Structured Text (ST) 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 moves, linear moves, circular moves, transitions and blending.

Motion Procedure

  1. Download and start the application.
  2. Press the Enable button to enable the axes and the axes group.
  3. Optional: Press the Home button to move the axes to their zero position.
  4. When the Ready light is on, turn the Cycle Start switch to 1.
    The axes begin moving in the programmed pattern.

Control Panel

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Description

GUI

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.

  • Resets 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.