Example "Moving the Planar mover in CRotationFreeMovement mode"
Using this short guide you will create a TwinCAT project that contains a Planar mover and moves it in a simple way.
Creating a Planar mover
- See Configuration.
- 1. Create a Planar mover.
- 2. Put "Parameter (Init)" into simulation mode (
TRUE). The parameter is hidden and only becomes visible if the "Show Hidden Parameters" checkbox is activated.
Creating a PLC
- See preliminary steps Creating a PLC.
- 1. Use MAIN to create the mover(s) ("MC_PlanarMover") as follows.
- This/these represent(s) the mover(s) in the MC Configuration.
- 2. Create a Planar mover, a state variable for a state machine and a target position for a travel command of the mover, as shown below.
PROGRAM MAIN
VAR
mover : MC_PlanarMover;
state : UDINT;
target_position_c : LREAL;
END_VAR- 3. Then program a sequence in MAIN.
- This program code activates the mover and rotates it to position c=20.
CASE state OF
0:
mover.Enable(0);
state := 1;
1:
IF mover.MCTOPLC.STD.State = MC_PLANAR_STATE.Enabled THEN
state := 2;
END_IF
2:
target_position_c := 20.0;
mover.MoveC(0, target_position_c, 0, 0);
state := 3;
END_CASESending the command
- 4. To send the command, you must call the mover cyclically with its update method after END_CASE:
mover.Update();When creating the PLC, a symbol of the "PLC Mover" is created, which can then be linked to the mover instance in the MC project.
- 1. To build, use the path PLC > Untitled1 > Untitled1 Project > Build.
- Subsequently, the Planar mover in the "MC Project" (double-click) can be linked with the Link To PLC... button on the Settings tab.
Activating and starting the project
- 1. Activate the configuration via the button in the menu bar
. - 2. Set the TwinCAT system to the "Run" state via the
button. - 3. Log in the PLC via the button in the menu bar
. - 4. Start the PLC via the Play button in the menu bar.
The mover is at the end of the state machine (state=3) at the desired (rotated) position and is in command mode CRotationFreeMovement, since the angle is greater than 15°. A further movement of the C-axis up to e.g. 90° would change the command mode back to Free Movement after completion of the command.
