iv
6.1.1. Structures Applicable for Motion Control ........................................... 6-2
6.1.2. Parameters for Motion Axes ............................................................ 6-2
Chapter 7 Motion Control Programming
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 Starting/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
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