Chapter 7 Motion Control Programming Table of Contents 7.1 Introduction ............................................................................................... 7-2 7.1.1 Program Organization Units and Tasks ............................................................. 7-2 7.2 Motion Control Program ............................................................................. 7-3 7.2.1 Program Architecture and Types in ISPSoft ...................................................... 7-3 7.2.2 POUs in ISPSoft ............................................................................................
7-4 7.2.3 Managing the Tasks in ISPSoft ........................................................................ 7-4 7.3 Motion Control Instructions ........................................................................ 7-5 7.3.1 Function Blocks for AH Motion Controller CPU ................................................... 7-5 7.4 Axis ............................................................................................................ 7-7 7.5 State Transitions ...................................................................................... 7-10 7.5.1 Axis States .................................................................................................
7-10 7.5.2 Axis Group State ......................................................................................... 7-11 7.6 Buffer Mode .............................................................................................. 7-12 7.7 Execution of Function Block Instructions ................................................. 7-17 7.7.1 The Interface of a Motion Control Function Block ............................................. 7-17 7.7.2 Timing Diagram for Input/Outputs................................................................. 7-20 7.8 Positions...................................................................................................
7-21 7.8.1 Postion Types ............................................................................................. 7-21 7.8.2 Applicable Postions for Each Axis Type ........................................................... 7-21 7.9 Electronic Cam…………………………………………………………………………………7-21 7.9.1 Introduction of Electronic Cams .................................................................... 7-21 7.9.2 Operation of an Electronic Cam ..................................................................... 7-22 7.9.2.1 Initial Setting ..........................................................................................
7-23 7.9.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam ....................... 7-24 7.9.3 Creating Electronic Cam Data .................................................................... 7-31 7.9.2.3 Starting/Stopping an Electronic Cam Operating Cyclically .............................. 7-28 7.9.3.1 Creating a CAM Chart in ISPSoft ................................................................ 7-31 7.9.4 Application of an Electronic Cam—Using a Rotary Cutter ............................... 7-40 7.9.4.1 Creating Rotary Cut Data .......................................................................... 7-43 7-1 7