Motions
The MotionRow is the core of the machine. Each element of a machine can be described as a motion
- Pneumatic/Hydraulic Cylinders
- Servo drives existing in a linear axis or spindle axis
- Electronic Devices, such as RFID readers
- Handshakes with external devices that perform a function
Every element can be described as being "Advanced" and its opposite function of "Returned". Further description of the device, e.g. a pneumatic cylinder driving a clamp can be advanced described as "Clamp" its returned function described as "Unclamp"
The PLC controls devices in the form of "Advanced" or "Returned" but custom text describing the logical function as "Clamp" or "Unclamp" can be entered
Each element of the motion is displayed as the motion row. From this view many status can be inferred as to the current station of the device performing the motion. On the above example for a clamp on a pneumatic cylinder, the following can be inferred
- There is no power on either side of the valve
- There is no feedback on either side of the mechanics, in terms of feedback switches.
- There is no manual request on either side of the motion
- The motion is not required to actuate for the next step in the process
As each Motion changes state on the machine, the indicators on the MotionRow will change to display that state
The motion is returned with a feedback switch, but there is no return actuation on a driving valve, e.g. pneumatic
This is the typical state a motion will be in when no task is being performed by the motion. The valve for return and the feedback switch are both TRUE
This is the typical state a motion will be in when the cylinder is returned to its safe position, but either a manual or automatic request has started the motion to advance into the workpiece or next step in the process
This is the typical state a motion will be in when the cylinder is advanced into the workpiece. Depending on the actuator type, it may be required to keep the actuator TRUE to keep the Advanced motion (Clamped)
This is a fault state with the machine in terms of sensor installation / alignment. Because of the visual feedback, this fault state is communicated to the human operator/setter
Each motion has a free text entry as %s to allow a value to be passed into the MotionRow. This could be a speed feedback in RPM, part type data from an RFID tag, temperature in C, fluid flow in liter/min, etc)
If the row is programmed to have a prompt for the motion side (Advance or Return), then the indicator will display as the next motion to be pressed or the next step to be taken in semi-automatic or automatic mode without user involvement
If the row's motion interlock is satisfied for the motion, i.e. The motion is safe to perform, then the interlock triangle will be lit. It is likely that the interlock and prompt will be lit at similar times for a given process, but the distinction is that the interlock will stop machine damage for a given set of motion configurations and the prompt will be for completing the process. For example, it is possible to re-drill a hole, endlessly without damage to the part or machine, but the coolant must be on for any use of the drill.
Each MotionRow can be configured to display part, or all of the elements within the row. This is performed by use of the enum in the input pin of the FB_HMI_Control FB.
Examples of Row usage
By listing rows in such a way, more complex motions and their complete status can be displayed that does not contain relevant elements if two rows were used, e.g.
- Cylinders with dual advance switches
- Servo drives moving to positions which are all advanced from .HOME
- Robot motions that do not have a returned position
- Motions with multiple positions that do not involve a move to returned
- proportional cylinders that have multiple positions
- Critical process values from a servo drive from a single motion, e.g. mm and kN can be displayed in a separate motion row as the motion
It is possible to move each servo / NC axis configured in a given system by use of the manual axis screen.
The axis, motion type, speeds, etc can be selected by the use of a special motionRow instance on the screen
The moveAbs/moveRel, moveJog will be connected to the NC logic for each drive elsewhere in the program
It is possible to add text into the header comment and add the desired text for the MotionRow in the XML as below. The TOAST-ImportTool can then read the project and then create a new MotionRowText.TcTLO file that can be read by the XAE. In all MotionRow functions in the template, all the XML is pre-existing. Only the text has to be edited. Do not alter the Station Number or Motion Row Number from the intended station/Row. The ManSeq tags are non-functional currently.
