Programming the Example
Original instructions
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At a Glance
Just after declaration and parameter setting of the hardware, motion programming is the second development phase of the tutorial example.
Axis programming is divided in 4 steps according to the speed diagram:
Declaring the Sections
The table below presents a summary of the program sections to create
Section name
Language
Description
Process_initializing
FBD
This section initializes the motion by referencing the axis.
Product_Approach
FBD
This section generates a movement at a high speed to a certain position close to the product.
Product_Sort
FBD
This section generates a low speed movement of the jack to sort the product.
Process_Reinitialize
FBD
This section generates a 500 ms pause and then places the jack back to initial position.
The diagram below shows the program structure after the programming sections have been created: