Simple movement with modulo axis

 

The following application example illustrates how, in "Velocity" operating mode, you can use the user interface to easily move a modulo axis.

Control

Control the axis in the Velocity structure as follows:

  • To activate the operating mode, set xActivate to "TRUE".
  • Define the setpoints for lrVelocity, lrAcceleration, lrDeceleration, and lrJerk.
  • To start the operating mode, set xStart to "TRUE".

Interface in the IEC Editor

Note:

When xStart has a value of "TRUE", the system accelerates with lrAcceleration. Once the target speed is reached, you receive the feedback message xInVelocity = "TRUE" in the OUT structure. When xStart has a value of "FALSE", the system decelerates with lrDeceleration. When the system is at standstill, the feedback message xStopped = "TRUE".

Trace recording

[1]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.In.xActivate

[2]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.In.xStart

[3]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrPosition

[4]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrVelocity

[5]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrAcceleration

[6]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.Out.xInVelocity

[7]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.Out.xStopped