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Chapter 3
Control Program Integration
The Axis User Program can be structured as desired, but for more complicated motion control, using a state
machine (sequencer) is strongly recommended. In general, state machines provide an easier approach to
motion control programming and troubleshooting because of their step-by-step nature.
If you want to use a state machine, use the AX#_CMD_PROG_SEQ as your state machine value in the Axis
IMPORTANT
User Program. This value is cleared (set to zero) when the Axis Stop command is executed or when the Axis
is in Operator mode. Verify that the initial state of your state machine is when AX#_CMD_PROG_SEQ=0
and then your state machine will execute every time the Axis Start command is executed.
As shown in
Chapter
2, the Axis User Program contains an example state machine. Change the operation of
this state machine to reflect your application needs by adding in states with additional Axis commands and/
or by changing the parameters for the existing Axis commands.
Be sure to initialize or set the Axis command parameters before you execute each Axis command. This will
TIP
help make sure that each command is always executed using the expected parameters.
Now that you know how to integrate your individual axes into the Simple Motion Control CCBB and control
them individually, you will explore how to control all the axes simultaneously.
Customize the Machine Control Ladder Logic
The Axis User Program is used to control each axis independently while in Program mode, while the
Machine Control routine is used to control all of the axes simultaneously while in Program mode.
Unlike the Axis User Program, there is not a 'start' command. Instead, the Machine Control routine will
always be scanned when the MACHINE_ENB_USR_CTRL I/O (I:0/2) is set. This permissive can be
removed if it is not needed or it can be tied to an input or other conditions as needed.
The Machine Control routine can use any of the Program mode commands, including the Axis commands
and the Broadcast commands as shown below. This means that you can control axes independently, in groups
or sections, or simultaneously.
42
Publication CC-QS008B-EN-P - December 2009
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