SMAC CBC-EIP - PLC Integration and Motion Control AOIs; PLC Setup Procedures; Motion Control AOI Functions

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Add-On Instructions (AOI) for STUDIO5000/RSLogix5000 PLC
software
3.1 Position move
This AOI is used to perform a linear or rotary position move.
Position Move AOI: input and output parameters
Parameter
Unit
Description
INPUT
Busy bit
N/A
This bit is active when the AOI is being
executed, until Done bit is active.
Done bit
N/A
This bit is active when the target position has
been reached.
Actual_position
Counts
Actual position of the actuator/motor.
OUTPUT
Mode_SetPoint
N/A
1: Enables absolute position move
3: Enables relative position move
Target_Position
Counts
Final position to be reached by the actuator
Profile_Velocity
Counts/s
Max. velocity of the motion profiler
Profile_Acceleration
Counts/s
2
Max. acceleration of the motion profiler
Profile_Deceleration
Counts/s
2
Max. deceleration of the motion profiler
Max_Torque
‰ of motor
rated current
Max. permissible torque/force. Unless this
parameter is specified, the default value from
config. file is used.
Enable bit
N/A
Enables the AOI. Tis needs to be included in the
program after the AOI rung is energized.
Mapping between position move AOI parameters and PLC IO data assemblies
Byte address
Description
Input: 2 - 5
43: Position move in progress
53: Target position has been reached
Input: 6 - 9
Actual Position
Output: 0 - 3
Macro value of position move (Table 3)
Output: 4 - 5
Setpoint mode
Output: 6 - 7
Max. torque
Output: 8 - 11
Target position
Output: 12 - 15
Profile velocity
Output: 16 - 19
Profile acceleration
Output: 20 – 23
Profile deceleration