6.1.1. Structures Applicable for Motion Control ............................................6-2 6.1.2. Parameters for Motion Axes .............................................................6-2 Chapter 7 Motion Control Programming 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………………………………………………………………………7-2 1 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 7.9.2.3 Starting/Stopping an Electronic Cam Operating Cyclically................... 7-28 7.9.3 Creating Electronic Cam Data ......................................................... 7-31 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 iv