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Superimposed jog moves


bradp
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close /****************************************/ // This PLC program implements a "motor jog" function on a virtual motor // The virtual motor position acts as a master position to the X, Y, & Z motors // Depending on the rotation of the XYZ coordinate frame, the master scale // factor to each of the motors changes. // With no rotation, Xmsf=0.0, Ymsf=0.0, Zmsf=1.0 // With an XYZ matrix rotation, the following transformation applies: // [ Xmsf ] [Diag[6] XYZ[0] XYZ[1]] [ 0.0 ] // [ Ymsf ] = [ XYZ[2] Diag[7] XYZ[3]] x [ 0.0 ] // [ Zmsf ] [ XYZ[4] XYZ[5] Diag[8]] [ 1.0 ] // // This reduces to the following uncoupled equations: // Xmsf = XYZ[1] // Ymsf = XYZ[3] // Zmsf = Diag[8] // This vector must then be normalized to unit length ptr GapMotorJogPlusButton->u.io:$A00000.14.1; ptr GapMotorJogMinusButton->u.io:$A00000.15.1; global GapJogIncDist = 100; global GapJogMode; open plc 29 local ThisCs; local NormVecLen; local GapJogDecelDist; local GapJogPlusLockOut; local GapJogMinusLockOut; // Calculate normal vector length for rotated XY plane ThisCs = 1; NormVecLen = Tdata[ThisCs].XYZ[1] * Tdata[ThisCs].XYZ[1]; NormVecLen += Tdata[ThisCs].XYZ[3] * Tdata[ThisCs].XYZ[3]; NormVecLen += Tdata[ThisCs].Diag[8] * Tdata[ThisCs].Diag[8]; NormVecLen = sqrt(NormVecLen); // Use virtual gap motor position as master for X,Y,Z motors Motor[1].pMasterEnc=EncTable[5].a; Motor[2].pMasterEnc=EncTable[5].a; Motor[3].pMasterEnc=EncTable[5].a; // Calculate master scale factors based on unit normal vector Motor[1].MasterPosSf = Tdata[ThisCs].XYZ[1] / NormVecLen; Motor[2].MasterPosSf = Tdata[ThisCs].XYZ[3] / NormVecLen; Motor[3].MasterPosSf = Tdata[ThisCs].Diag[8] / NormVecLen; // Turn on following for XYZ motors in offset (superimpose) mode Motor[1].MasterCtrl = 3; Motor[2].MasterCtrl = 3; Motor[3].MasterCtrl = 3; if (GapJogMode == 1) { // Incremental mode: 1 move per button pressed if (GapMotorJogPlusButton == 1) { // Plus button pressed if (GapJogPlusLockOut == 0) { // Action not locked out jog5: (GapJogIncDist); // Issue incremental plus jog command GapJogPlusLockOut = 1; // Lock out further plus jogs for now GapJogMinusLockOut = 1; // Lock out minus jogs for now } } else { // Plus button not pressed if (Motor[5].DesVel == 0 && GapMotorJogMinusButton == 0) { GapJogPlusLockOut = 0; // Permit further plus jogs GapJogMinusLockOut = 0; // Permit minus jogs } } if (GapMotorJogMinusButton == 1) { // Minus button pressed if (GapJogMinusLockOut == 0) { // Action not locked out jog5: (-GapJogIncDist); // Issue incremental minus jog command GapJogMinusLockOut = 1; // Lock out further minus jogs for now GapJogPlusLockOut = 1; // Lock out plus jogs for now } } else { // Minus button not pressed if (Motor[5].DesVel == 0 && GapMotorJogPlusButton == 0) { GapJogMinusLockOut = 0; // Permit further minus jogs GapJogPlusLockOut = 0; // Permit plus jogs } } } if (GapJogMode == 2) { // Continuous mode: keep moving until released // Compute jog decel distance -- assumes JogTa<0 to specify rate of acc/dec GapJogDecelDist = -(Motor[5].JogSpeed * Motor[5].JogSpeed * Motor[5].JogTa) / 2; if (GapMotorJogPlusButton == 1) { // Plus button pressed if (GapJogPlusLockOut == 0) { // Action not locked out jog5: (GapJogDecelDist); // Command incremental jog from present GapJogMinusLockOut = 1; // Lock out minus jogs for now } } else GapJogMinusLockOut = 0; // Plus button not pressed; permit minus jogs if (GapMotorJogMinusButton == 1) { // Minus button pressed if (GapJogMinusLockOut == 0) { // Action not locaked out jog5: (-GapJogDecelDist); // Command incremental jog from present GapJogPlusLockOut = 1; // Lock out plus jogs for now } } else GapJogPlusLockOut = 0; // Minus button not pressed; permit plus jogs } close
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