Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 276)

L-force | PLC Designer - SoftMotion
SoftMotion programming examples
Drive control with the aid of the CNC editor
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DMS 5.2 EN 03/2011 TD17
3. Creating the IEC program IPO (CFC):
– You first have to activate the drives via the MC_Power program organisation unit.
– Another essential element is the SMC_Interpolator program organisation unit. This
receives the address of the created CNC program as its poqDataIn input. The IEC task
cycle also has to be written to dwIpoTime. You can either enter this as a constant
value at the dwIpoTime input or use the dwCycle variable of the axis group structure
from the PLC configuration. The latter has the advantage that, if you change the task
cycle time, the correct time will be used for the interpolator input automatically.
– In this example, you want to control a gantry system. For this reason, insert an
instance of the forwards and reverse transformation POUs from the SM_Trafo.lib
library. The forwards transformation POU receives the drives as its inputs (the Z drive
is assigned the dummy variable of type AXIS_REF, which is not otherwise used); the
reverse transformation POU must receive the set position of the interpolator.