Motion Coordinated Motion

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4/24/2016 35710 - Motion Example - Coordinated Motion

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Motion Example - Coordinated Motion

35710 | Date Created: 10/31/2006 | Last Updated: 03/30/2015

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QuestionFor RSLogix5000, are there guidelines for a Motion or Coordinated Motion?

Can I get some examples of what MCLM and MCCM instructions look like?

It seems like there are a lot of steps to set-up motion steps. Is there an easier way?

Answer Attache d is a Coordinated Motion Example that:

Requires RSLogix5000 version 12.

Uses MCLM and MCCM instructions to produce a series of coordinated moves that are defined in a buffer.

Each element in the buffer contains the in formation needed for the MCLM and MCCM instructions.

Starting the MotionThree Boolean tags are used to start the motion:

The first Boolean tag can be found in the Cood_MainRoutine .

The second and third Boolean tags can be found in the Move_Buffer routine.

Routine Description

Run_Coord_Move_Buffer When Set, executes the move buffer routine

Home_And_Run Will home the axes then execute the motion as defined in the buffer

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Run_Program Will execute the motion as defined in the buffer

Included in the project is a Trend that will plot the position of the axes (plot position trend). The plot of the motion defined in this example is shown below:

Move_Buffer DebugIn addition, the Move_Buffer routine has the following debug features:

Single Step - Can Single Step though the buffer. When RunSingleStep is true, one buffer step is executed each time SingleStep is set.

Run to Step - Will execute to a step within the buffer, then stop. When StopRun is set, the motion will be executed until the step specified in StopBLock is reached. At this point

RunSingleStep is set, stopping "Auto" mode.

Use Attached Time-Saving Spreadsheed to setup Motion Steps Also included is an Excel spreadshe et that is use d to set-up the motion steps. The move b uffer can be filled u sing the tag monitor within RSLogix500 0, but this ca n be time-consuming. Th e

tractor program has 240 steps, with almost 20 fields for each step. The Excel spreadsheet has all the information needed to define the steps, but for linear and circular moves. All the fields

match the data required by the MCLM and MCCM instruction except Dwell and NextBlock.

Dwell is not functioning, though it is something that I plan to add in the future.


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Attachments

NextBlock defines which step should be executed next. Normally it would point to the next step, but it can be used to skip steps or jump back to the start. Execution of the buffered

moves will stop with NextBlock is -1.

The spreadsheet has 3 buttons.

Transfer

Home Move

Start Move

Transfer Button

Use this button to poke the data from the spreadsheet to the move buffer within the controller. A pop-up will appear when the transfer is complete.

Due to the inefficient method of poking data, 240 steps could take a minute or two.

Home Move Button

Use this button to home the axis and start execution.

Start Move Button

Use this button to start execution. In the spreadsheet, you will have to set the TopicID in cell B1 of the RSLogix controller in RSLinx (RSLinx lite does not support this functionality).

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R12_Coordnated_Motion.ACD (/ci/fattach/get/764715/0/filename/R12_Coordnated_Motion.ACD) (228.38 KB) Tractor1.xls (/ci/fattach/ get/76 4716 /0/filename/Tractor1.xls)

(98.5 KB)

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