Motion Axis Setup

This page describes how to setup a motion axis type, to be used within the Axel Motion Library to develop Motion Control applications.

Overview

The Axel Motion Library is automatically added to any new project created with LogicLab, for enabled target runtimes. The library is actually splitted in two differnt modules: MC_Common.plclib and MC_Driver_DS402.plclib

• MC_Common.plclib contains the blocks and definition to be used by the application programmer, it implements PLCopen Motion Control part 1 specifications.
• MC_Driver_DS402, which code is clear and editable, contains what we call axis drivers: they contains specific behaviour to do with a specific type of axis.

For a better understanding of the whole Architecture of the Axel Motion Library please refer to /* __ADESSO link a presentazione commerciale di Michele */

Axes and DS402 model

An axis is a motor, driven by a control drive, which can communicate with the PLC application by means of some fieldbus, for example EtherCAT or CANopen.
In the current version only EtherCAT axis are considered, but there still the possibility to define virtual axes, which can be used to compute trajectories without actually move any motor. For any axis in one application, an entry should be created in the configurator:
then LogicLab will generate automatically some variables, one of them is the AXIS_REF structure, which represents the axis in the application and should be used as input variable for mani motion function blocks.
The axis behave as specified in the corresponding entry in LogicLab configurator, and it must be binded to a phisical slave in the fieldbusses, which could be a Motion Enabled EtherCAT slave, and a corresponding driver: which is tecnically an object oriented function block which can specify specific behaviours of the axis.