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New!PLCopen 15 years anniversary brochure! |
Part 4 - Coordinated Motion
Part 4 of the PLCopen
suite of specifications is focused to the coordinated multi-axes motion in 3D
space. Part 1 and Part 2 of
the PLCopen Motion Control suite deal with master
/ slave motion control, a type of coordinated motion control where the
master axis position is used to generate one or more slave axis position
commands. For three dimensional movements, one goes beyond this point via a
grouping of a set of axes, without a master axis. In order to work in 3D, one
has to use several coordinate systems, as well as a kinematic model of the
mechanics involved. The coordinated systems include the axes coordinate system,
the machine coordinate system and the product related system. The current
Master/Slave axes have the problem that if an error occurs, the other axes have
no knowledge about this, and continue their movement. By combining axes in a
group one knows upfront which axes are involved and has the basis for a better
error behavior. The level of the
PLCopen Motion Control Function Blocks are specified at the user level: the PLC
programmer quickly recognizes the functionality of the function block and what
happens if it is activated or connected to other blocks in a sequence of motion
commands. Nowadays, path oriented movements are programmed either with specific
robot oriented programming languages, or “G-code” (for instance cf. DIN
66025) as used in the CNC world. Both consist of a relative small number of
users. But without a doubt, the movements which can be described in these
languages are applicable to a broader area of use. This PLCopen initiative
transforms the functionalities as known in the CNC and Robotic world to the PLC
world. With this, an additional part is added to the range of PLCopen Motion
Control specifications. Part
4 has now been released for comments as version 0.99. |
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