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7-1

Chapter 7 Motion Control Programming

Table of Contents

7.1 Introduction ............................................................................................... 7-2

7.1.1 Program Organization Units and Tasks ............................................................ 7-2

7.2 Motion Control Program ............................................................................. 7-3

7.2.1 Program Architecture and Types in ISPSoft ...................................................... 7-3

7.2.2 POUs in ISPSoft ........................................................................................... 7-4

7.2.3 Managing the Tasks in ISPSoft ....................................................................... 7-4

7.3 Motion Control Instructions ........................................................................ 7-5

7.3.1 Function Blocks for AH Motion Controller CPU ................................................... 7-5

7.4 Axis ............................................................................................................ 7-7

7.5 State Transitions ...................................................................................... 7-10

7.5.1 Axis States ................................................................................................ 7-10

7.5.2 Axis Group State ........................................................................................ 7-11

7.6 Buffer Mode .............................................................................................. 7-12

7.7 Execution of Function Block Instructions ................................................. 7-17

7.7.1 The Interface of a Motion Control Function Block ............................................ 7-17

7.7.2 Timing Diagram for Input/Outputs ................................................................ 7-20

7.8 Positions ................................................................................................... 7-21

7.8.1 Postion Types ............................................................................................ 7-21

7.8.2 Applicable Postions for Each Axis Type .......................................................... 7-21

7.9 Electronic Cam…………………………………………………………………………………7-21

7.9.1 Introduction of Electronic Cams .................................................................... 7-21

7.9.2 Operation of an Electronic Cam .................................................................... 7-22

7.9.2.1 Initial Setting ......................................................................................... 7-23

7.9.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam ....................... 7-24

7.9.2.3 S

tarting/Stopping an Electronic Cam Operating Cyclically ............................. 7-28

7.9.3 Creating Electronic Cam Data ................................................................... 7-31

7.9.3.1 Creating a CAM Chart in ISPSoft ............................................................... 7-31

7.9.4 Application of an Electronic Cam—Using a Rotary Cutter ............................... 7-40

7.9.4.1 Creating Rotary Cut Data ......................................................................... 7-43

Delta AH Series User Manual

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