Central Motion Control (PLC-Based)

• Central Motion Control Architecture
  • Kernel Function Block
• Basic Functionalities
  • How to Connect a Drive
  • How to Enable and Disable a Drive
  • How to use the Axis Simulation
  • How to Perform a Homing
  • How to Use a CAM Curve
  • How to Use an External Axis
  • How to Use an Encoder/Drive with <> 32 Bit Position Overrun
  • How to do position correction “on the fly”
  • How to Limit the Movement
• Axis Parameters
  • Supervision
  • Position Control Loop
  • PLC Cycle Time
  • Roll-Over Axis
  • Scaling of the Unit of Length
  • Scaling of the Speed Reference Output
  • Access and Modify Parameters
• Programming Guidelines
• Visualization
• ABB Specific Data Structures
  • PositionPositionProfile
  • PositionTimeProfile
  • Interpolation Types for Profiles
• Function Blocks for Central Motion Control Implementation
  • CMC_MOTION_KERNEL_REAL
  • CMC_MOTION_KERNEL_INT
  • CMC_AXIS_CONTROL_PARAMETER_REAL
  • CMC_AXIS_CONTROL_PARAMETER_INT
  • CMC_AXIS_SIMU_REAL
  • CMC_AXIS_SIMU_INT
  • CMC_SInterpolation
  • CMC_SIPosiLoop
  • CMC_GET_UNITS_FROM_INC
• PLCopen Coordinated Motion
  • Principles of Coordinated Motion
  • Realization in AC500
  • Model
  • General Rules
  • Axes Grouping
  • Axes Group Synchronized Motion