Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 214)

214 Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
Appendix A Logic Program Overview
Application Modules
The application modules contain all of the application specific code. This is where a majority of the customizing
is expected to occur and is essentially a programming space where you spend a significant portion of your efforts
to develop proprietary logic specific to your application.
In this example, application code is shown for the Widg-O-matic machine’s assembly application.
============================================================================================
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SERCOS / CIP MOTION
SIMPLE INCREMENTAL MOVE
The following application example demonstrates how to control a SERCOS / CIP MOTION drive using sequencers &
Motion Instructions.
While the Machine is STARTING / RUNNING, the drive will be operated as follows:
1) Lower Y-Axis - Incremental Distance -2.0 revs
2) DWELL - Time 1 sec
3) Raise Y-Axis - Incremental Distance 2.0 revs
4) Extend X-Axis - Incremental Distance 3.0 revs
5) Lower Y-Axis - Incremental Distance -2.0 revs
5) DWELL - Time 1 sec
6) Raise Y-Axis - Incremental Distance 2.0 revs
7) Retract X-Axis- Incremental Distance -3.0 revs
8) Repeat
The Run Sequence is continuously repeated until the Stop Sequence is initiated by a Machine ABORT or STOP
command.
============================================================================================
NOP
============================================================================================
============================================
SERCOS / CIP MOTION
SIMPLE INCREMENTAL MOVE
The following application example demonstrates how to control a SERCOS / CIP MOTION drive using sequencers &
Motion Instructions.
While the Machine is STARTING / RUNNING, the drive will be operated as follows:
1) Lower Y-Axis - Incremental Distance -2.0 revs
2) DWELL - Time 1 sec
3) Raise Y-Axis - Incremental Distance 2.0 revs
4) Extend X-Axis - Incremental Distance 3.0 revs
5) Lower Y-Axis - Incremental Distance -2.0 revs
5) DWELL - Time 1 sec
6) Raise Y-Axis - Incremental Distance 2.0 revs
7) Retract X-Axis- Incremental Distance -3.0 revs
8) Repeat
The Run Sequence is continuously repeated until the Stop Sequence is initiated by a Machine ABORT or STOP
command.
============================================================================================
============================================================================================
============================================
RUN SEQUENCE
============================================================================================
============================================
NOP
============================================================================================
============================================
RUN SEQUENCE
============================================================================================
============================================
INCREMENTAL MOVE
Lower Y-Axis
Incremental Distance -2.0 revs
Equal
Source A RunSEQ[0]
0
Source B 1
EQU
EN
DN
ER
IP
PC
Motion Axis Move
Axis
Gantry_Y_Axis ...
Motion Control Gantry_Y_Axis_Ctrl.MI.MAM[1]
Move Type 1
Position -2
Speed Gantry_Y_Axis_Ctrl.Data.MoveSpd[1]
1.0
Speed Units Units per sec
Accel Rate Gantry_Y_Axis_Ctrl.Data.MoveAccel[0]
50.0
Accel Units % of Maximum
Decel Rate Gantry_Y_Axis_Ctrl.Data.MoveDecel[0]
50 0
MAM
Motion Axis Move
INCREMENTAL MOVE
Lower Y-Axis
Incremental Distance -2.0 revs