Introductory example
Action programming
Introduction
Step 1: How to activate it
Step 2: How to activate it
Step 3: How to activate it
Step 4:
Continuous action
To move the independent axes X and Y (step 2, 3, 5 and 8), the SMOVE command must be used and applied to each of the X and Y axes. To simultaneously move axes X and Y (for interpolated axes) the XMOVE command must be used
(associated with channel 3).
! (*Reference point following the X axis*)
SMOVE Axe_x (1, 90, 14, 0, Vitesse_p_o_x, 16#0000);
For 2 independent axes
! (*Movement into waiting 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);
For 2 interpolated axes
(*Movement into waiting position (Xatt, Yatt)*
XMOVE INTERPO (2, 90, 9, 0, X_attente, Y_attente,
Vitesse_attente, 16#0000);
For 2 independent axes
! (*Movement towards conveyor A)*
SMOVE Axe_x (3, 90, 10, 150000, Vitesse_pos_a_x, 16#0000);
SMOVE Axe_y (3, 90, 10, 280000, Vitesse_pos_a_y, 16#0000);
For 2 interpolated axes
(*Movement towards conveyor A*)
XMOVE INTERPO (3, 90, 10, 0, 150000, 280000, 0, Vitesse_pos_a,
16#0000);
! (*Closing the grab *)
SET Grab;
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TLX DS 57 PL7xx
Step 5: How to activate it
Step 8: How to activate it
Step 6:
Continuous action
Introductory example
For 2 independent axes
! (*Movement towards conveyor 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);
For 2 interpolated axes
! (*Movement towards conveyor B*)
XMOVE INTERPO (4, 90, 9, 0, X_b, Y_b, 0, Vitesse_pos_b,
16#0000);
For 2 independent axes
! (*Movement towards conveyor 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);
For 2 interpolated axes
! (*Movement towards conveyor C*)
XMOVE INTERPO (5, 90, 9, 0, X_c, Y_c, 0, Vitesse_pos_c,
16#0000);
! (*Opening the grab *)
RESET Grab;
TLX DS 57 PL7xx
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