PLCopen Coordinated Motion

• Principles of Coordinated Motion
  • Coordinate System and kinematic transformation
  • How do commands behave in dynamic coordinate systems?
  • Movements
  • Blending and Buffering of Movements
• Realization in AC500
  • Overview
  • General Rules
  • Create a Group
  • State Transitions
  • General Restrictions
  • Usage of Function Blocks
  • Coordinate Transformations
  • PCS (Product Coordinate System)
  • Dynamic Coordinate Transformation
  • ABB Specific Data Structures
• Model
  • Group State Diagram
  • Relationship Single Axis and Group State Diagrams
  • Input Execution Mode
• General Rules
• Axes Grouping
• Axes Group Synchronized Motion
  • Synchronization
  • Tracking