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Connecting addition output to an axis.

Created by: kramja at: 8/24/2022 1:56 PM (3 Replies)

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8/24/2022 1:56 PM	Rate (0)
kramja Posts: 9 Rating: (0)	Hi, I'm trying to use the output of an addition object as input for an axis. I created 2 virtual axes and connected their setpoints to 2 "Addition" objects. I enabled all axes, and gave the virtual axes a _move() command. I can see the values in the addition object changing as expected (see screenshot of trace). I also have 2 physical axes (motors). I can move them from the Control panel. These motors are connected to the Addition object via the "Interconnections" menu on the axes. Unfortunately, it seems like I'm missing a command or something, because the setpoints on these axes don't seem to change when the Addition object does. Basically, I do the following: Enable all axes (real and virtual) Move virtual axes I know that for gearing I had to enable gearing explicitly, but haven't found a substitute for Addition. Therefore, my question is: How do I use the addition output as input for an axis? I have tried searching for answers in the forum, but didn't find any real hits. Nor do I find any real examples. Unfortunately the forum removes my formatting so I pasted the code I used here instead: [snip] If anyone can help clarify, that would be great. Thanks in advance! Attachment addition.png (629 Downloads)
kramja Posts: 9 Rating: (0)	Last edited by: Jen_Moderator at: 08/25/2022 09:17:35 Link removed as code is attached in the follow up reply.
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8/25/2022 6:39 AM	Rate (0)
Jen_Moderator Posts: 8171 Rating: (174)	Hello kramja, unfortunately, the page you are using is blocked for me and I can neither check your code nor attach it as a file. Please put your code in a txt file and attach it, so everyone can have a look at it. If you want to make another contribution in the future and add several attachments, please zip the files. Best regards, Jen_Moderator
Jen_Moderator Posts: 8171 Rating: (174)
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8/25/2022 6:53 AM	Rate (0)
kramja Posts: 9 Rating: (0)	Huh, that's strange. I don't even need to sign in or anything to access it.Thanks for the heads up! I attached the text file, and here's the code where I painstakingly added indentation again, for everyone's viewing pleasure. INTERFACE USEPACKAGE CAM; PROGRAM testje; //define an enumeration that contains all the necessary steps TYPE steps : ( NONE, RESET, ERROR, //initialize axes init_axisX, init_axisY, init_axisL, init_axisR, startL, StartR, StartX, StartY, running, //stop axes stopX, stopY, stopL, stopR, //disable axes disable_axisX, disable_axisY, disable_axisL, disable_axisR) ; END_TYPE VAR_GLOBAL currentStep : Steps := NONE; ErrorStep : Steps := NONE; END_VAR END_INTERFACE IMPLEMENTATION PROGRAM testje VAR retval : DINT; prevStep :Steps; END_VAR; prevStep := currentStep; IF MotionError THEN currentStep := ERROR; END_IF; CASE currentStep OF NONE: IF (di_01 AND (NOT di_02)) THEN currentStep := Init_axisX; END_IF; init_axisX: //enable virtual X-axis retval := _enableAxis( axis := Axis_X ); IF retval=0 THEN currentStep := Init_axisY ; ELSE currentStep := ERROR; END_IF; init_axisY: //enable virtual Y-axis retval := _enableAxis( axis := Axis_Y, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := init_axisL; ELSE currentStep := ERROR; END_IF; init_axisL: //Enable "left" axis retval := _enableAxis( axis := Axis_L, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := init_axisR; ELSE currentStep := ERROR; END_IF; init_axisR: //enable "right" axis retval := _enableAxis( axis := Axis_R, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := startL; ELSE currentStep := ERROR; END_IF; startL: //<<--------- Not sure what to do here IF retval=0 THEN currentStep := StartR ; ELSE currentStep := ERROR; END_IF; startR: //<<--------- Not sure what to do here IF retval=0 THEN currentStep := StartX ; ELSE currentStep := ERROR; END_IF; startX: retval :=_move( axis := Axis_X); IF retval=0 THEN currentStep := StartY ; ELSE currentStep := ERROR; END_IF; startY: retval :=_move( axis := Axis_Y); IF retval=0 THEN currentStep := Running ; ELSE currentStep := ERROR; END_IF; running: //happily running until we lose our "run" command. IF NOT di_01 THEN currentStep := stopX; END_IF; stopX: retval := _stop( axis := Axis_X ,stopMode := STOP_AND_ABORT //abort "move" to prevent errors. ,nextCommand := WHEN_MOTION_DONE ); // wait until stop is done! IF retval=0 THEN currentStep := stopY; ELSE currentStep := ERROR; END_IF; stopY: retval := _stop( axis := Axis_Y ,stopMode := STOP_AND_ABORT //abort "move" to prevent errors. ,nextCommand := WHEN_MOTION_DONE // wait until stop is done! ); IF retval=0 THEN currentStep := disable_axisX; ELSE currentStep := ERROR; END_IF; disable_axisX: retval := _disableAxis( axis := Axis_X ,disableMode := ALL ,nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := disable_axisY; ELSE currentStep := ERROR; END_IF; disable_axisY: retval := _disableAxis( axis := Axis_Y ,disableMode := ALL ); IF retval=0 THEN currentStep := disable_axisL; ELSE currentStep := ERROR; END_IF; disable_axisL: retval := _disableAxis( axis := Axis_L ,disableMode := ALL ); IF retval=0 THEN currentStep := disable_axisR; ELSE currentStep := ERROR; END_IF; disable_axisR: retval := _disableAxis( axis := Axis_R ,disableMode := ALL ); IF retval=0 THEN currentStep := NONE; ELSE currentStep := ERROR; END_IF; ERROR: IF di_02 THEN //reset currentStep := RESET; END_IF; RESET: MotionError := FALSE; IF NOT di_02 THEN currentStep := NONE; END_IF; ELSE currentStep := ERROR; END_CASE; END_PROGRAM END_IMPLEMENTATION Attachment Simotion_addition_test.txt (659 Downloads)
kramja Posts: 9 Rating: (0)	Last edited by: kramja at: 08/25/2022 07:16:27 Last edited by: kramja at: 08/25/2022 07:29:38
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This contribution was helpful to 1 thankful Users Jen_Moderator

8/25/2022 11:06 AM	Rate (0)
kramja Posts: 9 Rating: (0)	So, I got there in the end. The command I was looking for, was _runPositionBasedMotionIn ( or _runVelocityBasedMotionIn ) I had already found it, but was very much confused by the parameters I was supposed to give it. Turns out, all I was missing was the "reference". Documentation was rather unclear on what to give it ( datatype MasterType), I could not determine what objects I had of the right datatype. Co--worker suggested using the command in LAD, this made the parameters easier to understand. The reference needed was just the normal addition object. In case someone needs this in the future, here's my final code: INTERFACE USEPACKAGE CAM_ext; PROGRAM testje; //define an enumeration that contains all the necessary steps TYPE steps : ( NONE, RESET, ERROR, //initialize axes init_axisX, init_axisY, init_axisL, init_axisR, startL, StartR, StartX, StartY, running, //stop axes stopX, stopY, stopL, stopR, //disable axes disable_axisX, disable_axisY, disable_axisL, disable_axisR) ; END_TYPE VAR_GLOBAL currentStep : Steps := NONE; ErrorStep : Steps := NONE; END_VAR END_INTERFACE IMPLEMENTATION PROGRAM testje VAR retval : DINT; // currentStep :Steps := NONE; prevStep :Steps; END_VAR; prevStep := currentStep; IF MotionError THEN currentStep := ERROR; END_IF; CASE currentStep OF NONE: IF (di_01 AND (NOT di_02)) THEN currentStep := Init_axisX; END_IF; init_axisX: //enable virtual X-axis retval := _enableAxis( axis := Axis_X ); IF retval=0 THEN currentStep := Init_axisY ; ELSE currentStep := ERROR; END_IF; init_axisY: //enable virtual Y-axis retval := _enableAxis( axis := Axis_Y, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := init_axisL; ELSE currentStep := ERROR; END_IF; init_axisL: //Enable "left" axis retval := _enableAxis( axis := Axis_L, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := init_axisR; ELSE currentStep := ERROR; END_IF; init_axisR: //enable "right" axis retval := _enableAxis( axis := Axis_R, nextCommand := WHEN_COMMAND_DONE); IF retval=0 THEN currentStep := startL; ELSE currentStep := ERROR; END_IF; startL: retval :=_runPositionBasedMotionIn( axis := Axis_L, reference := Addition_L ); IF retval=0 THEN currentStep := StartR ; ELSE currentStep := ERROR; END_IF; startR: retval := _runPositionBasedMotionIn( axis := Axis_R, reference := Addition_R ); IF retval=0 THEN currentStep := StartX ; ELSE currentStep := ERROR; END_IF; startX: retval :=_move( axis := Axis_X); IF retval=0 THEN currentStep := StartY ; ELSE currentStep := ERROR; END_IF; startY: retval :=_move( axis := Axis_Y); IF retval=0 THEN currentStep := Running ; ELSE currentStep := ERROR; END_IF; running: //happily running until we lose our "run" command. IF NOT di_01 THEN currentStep := stopX; END_IF; stopX: retval := _stop( axis := Axis_X ,stopMode := STOP_AND_ABORT //abort "move" to prevent errors. ,nextCommand := WHEN_MOTION_DONE // wait until stop is done! ); IF retval=0 THEN currentStep := stopY; ELSE currentStep := ERROR; END_IF; stopY: retval := _stop( axis := Axis_Y ,stopMode := STOP_AND_ABORT //abort "move" to prevent errors. ,nextCommand := WHEN_MOTION_DONE // wait until stop is done! ); IF retval=0 THEN currentStep := StopL; ELSE currentStep := ERROR; END_IF; StopL: retval := _stop( axis := Axis_L ,stopMode := STOP_AND_ABORT //abort "move" to prevent errors. ,nextCommand := WHEN_MOTION_DONE // wait until stop is done! ); IF retval=0 THEN currentStep := StopR; ELSE currentStep := ERROR; END_IF; StopR: retval := _stop( axis := Axis_R, stopMode := STOP_AND_ABORT, //abort "move" to prevent errors. nextCommand := WHEN_MOTION_DONE ); // wait until stop is done! IF retval=0 THEN currentStep := disable_axisX; ELSE currentStep := ERROR; END_IF; disable_axisX: retval := _disableAxis( axis := Axis_X ,disableMode := ALL ,nextCommand := WHEN_COMMAND_DONE ); IF retval=0 THEN currentStep := disable_axisY; ELSE currentStep := ERROR; END_IF; disable_axisY: retval := _disableAxis( axis := Axis_Y ,disableMode := ALL ); IF retval=0 THEN currentStep := disable_axisL; ELSE currentStep := ERROR; END_IF; disable_axisL: retval := _disableAxis( axis := Axis_L ,disableMode := ALL ); IF retval=0 THEN currentStep := disable_axisR; ELSE currentStep := ERROR; END_IF; disable_axisR: retval := _disableAxis( axis := Axis_R ,disableMode := ALL ); IF retval=0 THEN currentStep := NONE; ELSE currentStep := ERROR; END_IF; ERROR: IF di_02 THEN //reset currentStep := RESET; END_IF; RESET: MotionError := FALSE; IF NOT di_02 THEN currentStep := NONE; END_IF; ELSE currentStep := ERROR; END_CASE; END_PROGRAM END_IMPLEMENTATION
kramja Posts: 9 Rating: (0)	Last edited by: kramja at: 08/25/2022 11:07:19
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This contribution was helpful to 1 thankful Users Jen_Moderator

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