Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start User Manual
Page 95
Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
95
Logic Configuration
Chapter 4
For the Widg-O-matic Assembly application example, the following rungs are imported. The rungs include a
series of five incremental moves.
Sercos/CIP Motion Simple Incremental Move
14.
for every application program you have in your drives and motion system.
============================================================================================
============================================
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.
============================================================================================
0
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
============================================================================================
============================================
1
NOP
============================================================================================
============================================
RUN SEQUENCE
============================================================================================
============================================
INCREMENTAL MOVE
Lower Y-Axis
Incremental Distance -2.0 revs
2
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
Decel Units
% of Maximum
Profile
Trapezoidal
MAM
Motion Axis Move
INCREMENTAL MOVE
Lower Y-Axis
Incremental Distance -2.0 revs