Motion Axis Setup: Difference between revisions
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It is possible to drive other types of Axis, may be very different from the DS402 model: for that a driver must be written to map the DS402 behaviour compute by the library, into the specific details of the actual drive.<br> | It is possible to drive other types of Axis, may be very different from the DS402 model: for that a driver must be written to map the DS402 behaviour compute by the library, into the specific details of the actual drive.<br> | ||
= EtherCAT Slaves and related PCTs = | == EtherCAT Slaves and related PCTs == | ||
To allow the use of an EtherCAT slave in a LogicLab project, first its ESI description file must be imported in the IDE, from that time ahead, that EtherCAT slave could be inserted in any EtherCAT configuration.<br> | To allow the use of an EtherCAT slave in a LogicLab project, first its ESI description file must be imported in the IDE, from that time ahead, that EtherCAT slave could be inserted in any EtherCAT configuration.<br> | ||
The process of importing the ESI file is to generate a descriptor file in the installation directory of logic lab describing its behaviour and capabilities of the slave in an EtherCAT network; the descriptor file, which has PCT extension a this time contains only the informations inside the corresponding ESI file, no EtherCAT profile informations are added, neither its ability to be used as a motion Axis.<br><br> | The process of importing the ESI file is to generate a descriptor file in the installation directory of logic lab describing its behaviour and capabilities of the slave in an EtherCAT network; the descriptor file, which has PCT extension a this time contains only the informations inside the corresponding ESI file, no EtherCAT profile informations are added, neither its ability to be used as a motion Axis.<br><br> | ||
The scope of this wiki page is to give the basic instructions to modify the PCT of an imported EtherCAT slave, to enable it to be used as a motion axis for the Axel Motion Library | The scope of this wiki page is to give the basic instructions to modify the PCT of an imported EtherCAT slave, to enable it to be used as a motion axis for the Axel Motion Library | ||
= Steps summary = | |||
= Steps details = | |||
= Further reading = | |||
Revision as of 16:58, 20 January 2022
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.
The model of axis on wich the library works is inspired to the DS402 (or CiA 402) EtherCAT and CANopen profile for drives.
It is possible to drive other types of Axis, may be very different from the DS402 model: for that a driver must be written to map the DS402 behaviour compute by the library, into the specific details of the actual drive.
To allow the use of an EtherCAT slave in a LogicLab project, first its ESI description file must be imported in the IDE, from that time ahead, that EtherCAT slave could be inserted in any EtherCAT configuration.
The process of importing the ESI file is to generate a descriptor file in the installation directory of logic lab describing its behaviour and capabilities of the slave in an EtherCAT network; the descriptor file, which has PCT extension a this time contains only the informations inside the corresponding ESI file, no EtherCAT profile informations are added, neither its ability to be used as a motion Axis.
The scope of this wiki page is to give the basic instructions to modify the PCT of an imported EtherCAT slave, to enable it to be used as a motion axis for the Axel Motion Library