We want to carry out the sequence of the following basic movements 9 times:
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movement A until the detection of the edge of part 1,
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movement B as far as position 2 = +20000 in relation to the edge of part 1,
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movement C as far as position 3 = +10000 in relation to the edge of part 1,
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movement D as far as the edge of part 1.
In this example, the reference point is assumed to be taken and the moving part is at the reference point. We use an AXIS_CH0 IODDT type variable associated with channel 0 of the axis command module on which the function is to be applied. AXIS_CH0 is of the type T_STEPPER_STD.
Position diagram.
NOTE: the sequence of basic movements is represented in bold on the curve. The numbers given correspond to the program step numbers included in the SMOVE function.
Description of the program
Grafcet for the operation of repetitive movements.
NOTE: all the actions must be programmed on activation.
