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35710MotionExampleCoordinatedMotion

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Motion Example - Coordinated Motion

35710 | Date Created: 10/31/2006 | Last Updated: 03/30/2015
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Question
ForRSLogix5000,arethereguidelinesforaMotionorCoordinatedMotion?
CanIgetsomeexamplesofwhatMCLMandMCCMinstructionslooklike?
Itseemsliketherearealotofstepstosetupmotionsteps.Isthereaneasierway?

Answer
AttachedisaCoordinatedMotionExamplethat:

RequiresRSLogix5000version12.
UsesMCLMandMCCMinstructionstoproduceaseriesofcoordinatedmovesthataredefinedinabuffer.
EachelementinthebuffercontainstheinformationneededfortheMCLMandMCCMinstructions.

StartingtheMotion
ThreeBooleantagsareusedtostartthemotion:

ThefirstBooleantagcanbefoundinthe Cood_MainRoutine .
ThesecondandthirdBooleantagscanbefoundinthe Move_Buffer routine.
Routine
Run_Coord_Move_Buffer
Home_And_Run

Description
WhenSet,executesthemovebufferroutine
Willhometheaxesthenexecutethemotionasdefinedinthebuffer

Run_Program
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Run_Program

Willexecutethemotionasdefinedinthebuffer

IncludedintheprojectisaTrendthatwillplotthepositionoftheaxes(plotpositiontrend).Theplotofthemotiondefinedinthisexampleisshownbelow:

Move_BufferDebug
Inaddition,the Move_Buffer routinehasthefollowingdebugfeatures:

SingleStepCanSingleStepthoughthebuffer.WhenRunSingleStepistrue,onebufferstepisexecutedeachtimeSingleStepisset.
RuntoStepWillexecutetoastepwithinthebuffer,thenstop.WhenStopRunisset,themotionwillbeexecuteduntilthestepspecifiedinStopBLockisreached.Atthispoint
RunSingleStepisset,stopping"Auto"mode.

UseAttachedTimeSavingSpreadsheedtosetupMotionSteps
AlsoincludedisanExcelspreadsheetthatisusedtosetupthemotionsteps.ThemovebuffercanbefilledusingthetagmonitorwithinRSLogix5000,butthiscanbetimeconsuming.The
tractorprogramhas240steps,withalmost20fieldsforeachstep.TheExcelspreadsheethasalltheinformationneededtodefinethesteps,butforlinearandcircularmoves.Allthefields
matchthedatarequiredbytheMCLMandMCCMinstructionexceptDwellandNextBlock.

Dwellisnotfunctioning,thoughitissomethingthatIplantoaddinthefuture.
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NextBlockdefineswhichstepshouldbeexecutednext.Normallyitwouldpointtothenextstep,butitcanbeusedtoskipstepsorjumpbacktothestart.Executionofthebuffered
moveswillstopwithNextBlockis1.
Thespreadsheethas3buttons.

Transfer
HomeMove
StartMove

Transfer Button
Usethisbuttontopokethedatafromthespreadsheettothemovebufferwithinthecontroller.Apopupwillappearwhenthetransferiscomplete.

Duetotheinefficientmethodofpokingdata,240stepscouldtakeaminuteortwo.

Home Move Button

Usethisbuttontohometheaxisandstartexecution.

Start Move Button

Usethisbuttontostartexecution.Inthespreadsheet,youwillhavetosettheTopicIDincellB1oftheRSLogixcontrollerinRSLinx(RSLinxlitedoesnotsupportthisfunctionality).

$MotionProactiveChatPopup

Attachments
R12_Coordnated_Motion.ACD(/ci/fattach/get/764715/0/filename/R12_Coordnated_Motion.ACD) (228.38KB)Tractor1.xls(/ci/fattach/get/764716/0/filename/Tractor1.xls)
(98.5KB)

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