Example: "Creating and moving a Planar mover with auxiliary axes"

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.
Example: "Creating and moving a Planar mover with auxiliary axes" 1:
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_a : LREAL := 1.0;
    target_b : LREAL := -1.0;
    target_c : LREAL := 3.0;
    target_z : LREAL := 5.0;
END_VAR
3. Then program a sequence in MAIN.
This program code activates the mover and moves the four auxiliary axes. 
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:
    mover.MoveA(0, target_a, 0);
    mover.MoveB(0, target_b, 0);
    // Since Version V3.1.10.11 MoveC has an options parameter, 
    // details can be found in the CRotation example
    // and the options descriptions
    //mover.MoveC(0, target_c, 0);  // until version V3.1.10.11
    mover.MoveC(0, target_c, 0, 0); // since version V3.1.10.30
    mover.MoveZ(0, target_z, 0); 
    state := 3;
END_CASE

Further information:

Sending 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.
Example: "Creating and moving a Planar mover with auxiliary axes" 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 and moving a Planar mover with auxiliary axes" 3:

Activating and starting the project

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

At the end of the state machine (state=3), the mover is in the desired position.

Example: "Creating and moving a Planar mover with auxiliary axes" 7: