Simple positioning with linear axis

 

The following application example illustrates how, in "Positioning" operating mode, you can use the user interface to easily position a linear axis.

Control

Control the axis in the Positioning structure as follows:

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

Interface in the IEC Editor

Note:

As soon as the setpoint profile has reached the target position, you will receive the feedback message xInPosition = "TRUE" in the OUT structure.

Trace recording

[1]

SEW_GVL.Interface_Axis2.ProfileGeneration.Positioning.In.xActivate

[2]

SEW_GVL.Interface_Axis2.ProfileGeneration.Positioning.In.xStart

[3]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrPosition

[4]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrVelocity

[5]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrAcceleration

[6]

SEW_GVL.Interface_Axis2.ProfileGeneration.Positioning.Out.xInPosition

[7]

SEW_GVL.Interface_Axis2.ProfileGeneration.Positioning.Out.xStopped