Introductory example
Programming actions
Introduction In Grafcet it is possible to program actions for each step. Three types of action are possible: l l l on activation continuous on deactivation
When for a given step the type of action is not described, this means that it has not been programmed.
Step 1: Action on activation
! (*Origin taken along the X and Y axes*)
SMOVE AXE_X (1, 90, 14, 0, VITESSE_P_O, 16#0000);
SMOVE AXE_Y (1, 90, 14, 0, VITESSE_P_O, 16#0000);
Step 2: Action on activation
! (*Movement to stand-by position (XATT, YATT*)
SMOVE AXE_X (2, 90, 9, X_ATTENTE, VITESSE_X_ATTENTE, 16#0000);
SMOVE AXE_Y (2, 90, 9, Y_ATTENTE, VITESSE_Y_ATTENTE, 16#0000);
Step 3: Action on activation
! (*Movement towards belt A*)
SMOVE AXE_X (3, 90, 10, 19500, VITESSE_POS_A_X, 16#0000);
SMOVE AXE_Y (3, 90, 10, 19500, VITESSE_POS_A_Y, 16#0000);
Step 4:
Continuous action
! (*Closure of the claw*)
SET PINCE;
Step 5: Action on activation
! (*Movement towards belt B*)
SMOVE AXE_X (4, 90, 9, X_B, VITESSE_POS_B_X, 16#0000);
SMOVE AXE_Y (4, 90, 9, Y_B, VITESSE_POS_B_Y, 16#0000);
Step 8: Action on activation
! (*Movement towards belt C*)
SMOVE AXE_X (5, 90, 9, X_C, VITESSE_POS_C_X, 16#0000);
SMOVE AXE_Y (5, 90, 9, Y_C, VITESSE_POS_C_Y, 16#0000);
Step 6:
Continuous action
! (*Opening of the claw*)
RESET PINCE;
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TLX DS 57 PL7 40E 09.2000
