To move the independent axes X and Y (step 2, 3, 5 and 8), the SMOVE command must be used and applied to each of the X and Y axes. To simultaneously move axes X and Y (for interpolated axes) the XMOVE command must be used (associated with channel 3).
Step 1: How to Activate It
! (*Reference point following the X axis*)
SMOVE (Axe_x, 1, 90, 14, 0, Vitesse_p_o_x, 16#0000);
Step 2: How to Activate It
For 2 independent axes
! (*Movement into waiting position (Xatt, Yatt)*
SMOVE (Axe_x, 2, 90, 9, X_attente, Vitesse_x_attente, 16#0000);
SMOVE (Axe_y, 2, 90, 9, Y_attente, Vitesse_y_attente, 16#0000);
For 2 interpolated axes
(*Movement into waiting position (Xatt, Yatt)*
XMOVE (INTERPO, 2, 90, 9, 0, X_attente, Y_attente, Vitesse_attente, 16#0000);
Step 3: How to Activate It
For 2 independent axes
! (*Movement towards conveyor A)*
SMOVE (Axe_x, 3, 90, 10, 150000, Vitesse_pos_a_x, 16#0000);
SMOVE (Axe_y, 3, 90, 10, 280000, Vitesse_pos_a_y, 16#0000);
For 2 interpolated axes
(*Movement towards conveyor A*)
XMOVE (INTERPO, 3, 90, 10, 0, 150000, 280000, 0, Vitesse_pos_a, 16#0000);
Step 4: Continuous Action
! (*Closing the grabber *)
SET Pince;
Step 5: How to Activate It
For 2 independent axes
! (*Movement towards conveyor B*)
SMOVE (Axe_x, 4, 90, 9, X_b, Vitesse_pos_b_x, 16#0000);
SMOVE Axe_y (4, 90, 9, Y_b, Vitesse_pos_b_y, 16#0000);
For 2 interpolated axes
! (*Movement towards conveyor B*)
XMOVE (INTERPO, 4, 90, 9, 0, X_b, Y_b, 0, Vitesse_pos_b, 16#0000);
Step 8: How to Activate It
For 2 independent axes
! (*Movement towards conveyor C*)
SMOVE (Axe_x, 5, 90, 9, X_c, Vitesse_pos_c_x, 16#0000);
SMOVE (Axe_y, 5, 90, 9, Y_c, Vitesse_pos_c_y, 16#0000);
For 2 interpolated axes
! (*Movement towards conveyor C*)
SMOVE (INTERPO, 5, 90, 9, 0, X_c, Y_c, 0, Vitesse_pos_c, 16#0000);
Step 6: Continuous Action
! (*Opening the grabber *)
RESET Pince;
