Example "Creating a Planar mover and Planar Feedback"

Using this short guide you will create a TwinCAT project that contains a Planar mover and a Planar Feedback.

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 under Creating a PLC.
1. Create a mover ("MC_PlanarMover") and a Planar Feedback ("MC_PlanarFeedback") via MAIN as follows.
Example "Creating a Planar mover and Planar Feedback" 1:
These represent the mover and the Planar Feedback in the MC Configuration.
PROGRAM MAIN
VAR
    mover : MC_PlanarMover;
    feedback : MC_PlanarFeedback;
    state : UDINT;
    target_position : PositionXYC;
END_VAR

In this simple example you have created a state variable for a state machine and a target position for a travel command of the Mover. A feedback is also declared in order to monitor the command process, with which a sequence can subsequently be programmed in the MAIN:

CASE state OF
  0:
    mover.Enable(feedback);
    state := 1;
  1:
    IF feedback.Done THEN
      state := 2;
    END_IF
  2:
    target_position.SetValuesXY(1000, 1000);
    mover.MoveToPosition(feedback, target_position, 0, 0);
    state := 3;
END_CASE

This program code activates the mover and moves it to position x = 1000 and y = 1000.

Note that the state machine will only be advanced when the feedback signals the successful termination of the command via its "Done" flag.

Sending the command

2. To issue the command and monitor the feedback, you must call the mover and feedback cyclically with their update methods after the END_CASE:
mover.Update();
feedback.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.
Example "Creating a Planar mover and Planar Feedback" 2:
Subsequently, the Planar mover in the "MC Project" (double-click) can be linked with the Link To PLC... button on the Settings tab.
Example "Creating a Planar mover and Planar Feedback" 3:

Activating and starting the project

1. Activate the configuration via the button in the menu bar Example "Creating a Planar mover and Planar Feedback" 4:.
2. Set the TwinCAT system to the "Run" state via the Example "Creating a Planar mover and Planar Feedback" 5: button.
3. Log in the PLC via the button in the menu bar Example "Creating a Planar mover and Planar Feedback" 6:.
4. Start the PLC via the Play button in the menu bar.

The mover is in the desired position at the end of the state machine (state = 3) and the feedback signals the termination of the command with the "Done" flag.

Example "Creating a Planar mover and Planar Feedback" 7: