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@@ -1,6 +1,6 @@
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<?xml version="1.0" encoding="utf-8"?>
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<BeckhoffCfg>
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- <Controller Name="MASTER" IPAddress="192.168.0.200.1.1" PortAddress="851">
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+ <Controller Name="MASTER" IPAddress="169.254.180.196.1.1" PortAddress="301">
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<!-- Need to have at least one input and one output before Axis stuff -->
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@@ -99,8 +99,8 @@
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<Input Name="r_SYSTEM_VACUUM" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_8" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
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<Input Name="r_N2_BLANKET_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N008_1" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
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<Input Name="r_N2_OVERFLOW_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N008_2" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
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- <Input Name="r_CLAMSHELL_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_3" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
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- <Input Name="r_TILT_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_4" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
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+ <Input Name="r_CLAMSHELL_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_3" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
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+ <Input Name="r_TILT_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_4" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
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<!-- facility inputs end -->
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@@ -123,8 +123,8 @@
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<Input Name="r_SRD1_200_FLIPPER2_OUT" Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_12" Invert="false" Type="Digital" DataType="bool"/>
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<Input Name="r_SRD1_200_FLIPPER3_OUT" Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_13" Invert="false" Type="Digital" DataType="bool"/>
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- <Input Name="r_SRD1_CHUCK_VACUUM_anlg" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_10V_EL3058_605_1" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
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- <Input Name="r_SRD1_WATER_FLOW" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
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+ <Input Name="r_SRD1_CHUCK_VACUUM_anlg" Address="Task 2.Inputs.SRD_AI_8CHANNEL_0_10V_EL3058_6N05_1" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
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+ <Input Name="r_SRD1_WATER_FLOW" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_N604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
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<!--SRD1 inputs End-->
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<!--SRD2 inputs Start-->
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@@ -140,8 +140,8 @@
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<Input Name="r_SRD2_200_FLIPPER2_OUT" Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_11" Invert="false" Type="Digital" DataType="bool"/>
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<Input Name="r_SRD2_200_FLIPPER3_OUT" Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_12" Invert="false" Type="Digital" DataType="bool"/>
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- <Input Name="r_SRD2_CHUCK_VACUUM_anlg" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_10V_EL3058_605_2" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
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- <Input Name="r_SRD2_WATER_FLOW" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
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+ <Input Name="r_SRD2_CHUCK_VACUUM_anlg" Address="Task 2.Inputs.SRD_AI_8CHANNEL_0_10V_EL3068_N605_2" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
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+ <Input Name="r_SRD2_WATER_FLOW" Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_N604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
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<!--SRD2 inputs End-->
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@@ -593,7 +593,611 @@
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<FeedforwardAcceleration>0</FeedforwardAcceleration>
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<OffOnError>0</OffOnError>
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</Axis>
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+<Axis Name="SRD1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
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+ <Input Address="Task 2.Inputs.SRD1RotationStatusWord" Type="StatusWord" DataType="uint"/>
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+ <Input Address="Task 2.Inputs.SRD1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
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+ <Input Address="Task 2.Inputs.SRD1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD1RotationPositionError" Type="PositionError" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD1RotationActualTorque" Type="ActualTorque" DataType="int"/>
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+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
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+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
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+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
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+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
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+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
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+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
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+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
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+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
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+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
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+
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+ <Output Address="Task 2.Outputs.SRD1RotationControlWord" Type="ControlWord" DataType="uint"/>
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+ <Output Address="Task 2.Outputs.SRD1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
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+ <Output Address="Task 2.Outputs.SRD1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
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+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
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+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
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+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
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+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+
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+ <MotorType>Servo</MotorType>
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+ <MotorDriveDirection>0</MotorDriveDirection>
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+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
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+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
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+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
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+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
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+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
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+ <HomingMethod>24</HomingMethod>
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+ <HomeConfig>0</HomeConfig>
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+ <HomingOffset>0</HomingOffset>
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+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
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+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
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+ <HomingAccelDecel>10000000</HomingAccelDecel>
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+ <HomingTimeOut>60000</HomingTimeOut>
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+ <ProportionalGain>0</ProportionalGain>
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+ <IntegralGain>0</IntegralGain>
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+ <DerivativeGain>0</DerivativeGain>
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+ <IntegralLimit>0</IntegralLimit>
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+ <ErrorLimit>6766</ErrorLimit>
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+ <VoltageOffset>0</VoltageOffset>
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+ <!-- -193 degrees * 169161 = -32648073 -->
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+ <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
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+ <!-- 13 degrees * 169161 = 2199093 -->
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+ <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
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+ <Speed>360</Speed>
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+ <Acceleration>1000</Acceleration>
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+ <Deceleration>1000</Deceleration>
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+ <Jerk>0</Jerk>
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+ <FeedforwardVelocity>0</FeedforwardVelocity>
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+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
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+ <OffOnError>0</OffOnError>
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+ </Axis>
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+ <Axis Name="SRD2.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
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+ <Input Address="Task 2.Inputs.SRD2RotationStatusWord" Type="StatusWord" DataType="uint"/>
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+ <Input Address="Task 2.Inputs.vSRD2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
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+ <Input Address="Task 2.Inputs.SRD2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD2RotationPositionError" Type="PositionError" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.SRD2RotationActualTorque" Type="ActualTorque" DataType="int"/>
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+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
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+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
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+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
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+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
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+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
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+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
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+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
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+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
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+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
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+
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+ <Output Address="Task 2.Outputs.SRD2RotationControlWord" Type="ControlWord" DataType="uint"/>
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+ <Output Address="Task 2.Outputs.SRD2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
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+ <Output Address="Task 2.Outputs.SRD2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.SRD2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
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+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
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+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
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+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
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+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+ <MotorType>Servo</MotorType>
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+ <MotorDriveDirection>0</MotorDriveDirection>
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+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
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+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
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+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
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+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
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+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
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+ <HomingMethod>24</HomingMethod>
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+ <HomeConfig>0</HomeConfig>
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+ <HomingOffset>0</HomingOffset>
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+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
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+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
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+ <HomingAccelDecel>10000000</HomingAccelDecel>
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+ <HomingTimeOut>60000</HomingTimeOut>
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+ <ProportionalGain>0</ProportionalGain>
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+ <IntegralGain>0</IntegralGain>
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+ <DerivativeGain>0</DerivativeGain>
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+ <IntegralLimit>0</IntegralLimit>
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+ <ErrorLimit>6766</ErrorLimit>
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+ <VoltageOffset>0</VoltageOffset>
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+ <!-- -193 degrees * 169161 = -32648073 -->
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+ <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
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+ <!-- 13 degrees * 169161 = 2199093 -->
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+ <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
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+ <Speed>360</Speed>
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+ <Acceleration>1000</Acceleration>
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+ <Deceleration>1000</Deceleration>
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+ <Jerk>0</Jerk>
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+ <FeedforwardVelocity>0</FeedforwardVelocity>
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+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
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+ <OffOnError>0</OffOnError>
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+ </Axis>
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+ <Axis Name="PlatingCell1_2.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
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+ <Input Address="Task 2.Inputs.PlatingCell1_2Vertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
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+ <Input Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Input Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Input Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
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+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Input Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
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+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
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+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
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+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
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+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
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+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
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+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
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+
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
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+ <Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
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+ <!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
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+ <Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
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+ <Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
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+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
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+ <Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
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+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
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+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
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+ <Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
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+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
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+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
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+
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+ <!-- Z axis: 47784 counts/mm -->
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+ <MotorType>Servo</MotorType>
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+ <MotorDriveDirection>0</MotorDriveDirection>
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|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <!-- HomingMethod 28 = Home Switch Negative Direction -->
|
|
|
+ <HomingMethod>28</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <!--HomingOffset>-662500</HomingOffset-->
|
|
|
+ <HomingOffset>-398200</HomingOffset>
|
|
|
+ <!-- HomingVelocity same as HomeSpeedHomeSwitch -->
|
|
|
+ <!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
|
|
|
+ <HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
|
|
|
+ <!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
|
|
|
+ <HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
|
|
|
+ <!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>120000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <!--ErrorLimit>0</ErrorLimit-->
|
|
|
+ <ErrorLimit>2000</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
|
|
|
+ <ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
|
|
|
+ <!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
|
|
|
+ <!--Speed>25000000</Speed-->
|
|
|
+ <Speed>18000000</Speed>
|
|
|
+ <!--Speed>12000000</Speed-->
|
|
|
+ <!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
|
|
|
+ <Acceleration>138000000</Acceleration>
|
|
|
+ <Deceleration>138000000</Deceleration>
|
|
|
+ <!--Acceleration>13800000</Acceleration>
|
|
|
+ <Deceleration>13800000</Deceleration-->
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ <NegativeTorqueLimit>130</NegativeTorqueLimit>
|
|
|
+ <PositiveTorqueLimit>20</PositiveTorqueLimit>
|
|
|
+ </Axis>
|
|
|
+ <Axis Name="PlatingCell3_4.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_4Vertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
|
|
|
+ <Input Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Input Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Input Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Input Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
|
|
|
+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
|
|
|
+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
|
|
|
+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
|
|
|
+
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
|
|
|
+ <!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+
|
|
|
+ <!-- Z axis: 47784 counts/mm -->
|
|
|
+ <MotorType>Servo</MotorType>
|
|
|
+ <MotorDriveDirection>0</MotorDriveDirection>
|
|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <!-- HomingMethod 28 = Home Switch Negative Direction -->
|
|
|
+ <HomingMethod>28</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <!--HomingOffset>-662500</HomingOffset-->
|
|
|
+ <HomingOffset>-398200</HomingOffset>
|
|
|
+ <!-- HomingVelocity same as HomeSpeedHomeSwitch -->
|
|
|
+ <!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
|
|
|
+ <HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
|
|
|
+ <!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
|
|
|
+ <HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
|
|
|
+ <!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>120000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <!--ErrorLimit>0</ErrorLimit-->
|
|
|
+ <ErrorLimit>2000</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
|
|
|
+ <ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
|
|
|
+ <!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
|
|
|
+ <!--Speed>25000000</Speed-->
|
|
|
+ <Speed>18000000</Speed>
|
|
|
+ <!--Speed>12000000</Speed-->
|
|
|
+ <!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
|
|
|
+ <Acceleration>138000000</Acceleration>
|
|
|
+ <Deceleration>138000000</Deceleration>
|
|
|
+ <!--Acceleration>13800000</Acceleration>
|
|
|
+ <Deceleration>13800000</Deceleration-->
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ <NegativeTorqueLimit>130</NegativeTorqueLimit>
|
|
|
+ <PositiveTorqueLimit>20</PositiveTorqueLimit>
|
|
|
+ </Axis>
|
|
|
+ <Axis Name="PlatingCell1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationStatusWord" Type="StatusWord" DataType="uint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationPositionError" Type="PositionError" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell1_RotationActualTorque" Type="ActualTorque" DataType="int"/>
|
|
|
+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
|
|
|
+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
|
|
|
+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
|
|
|
+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
|
|
|
+
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationControlWord" Type="ControlWord" DataType="uint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell1_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
|
|
|
+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <MotorType>Servo</MotorType>
|
|
|
+ <MotorDriveDirection>0</MotorDriveDirection>
|
|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <HomingMethod>24</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <HomingOffset>0</HomingOffset>
|
|
|
+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
|
|
|
+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>60000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <ErrorLimit>6766</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <!-- -193 degrees * 169161 = -32648073 -->
|
|
|
+ <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
|
|
|
+ <!-- 13 degrees * 169161 = 2199093 -->
|
|
|
+ <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
|
|
|
+ <Speed>360</Speed>
|
|
|
+ <Acceleration>1000</Acceleration>
|
|
|
+ <Deceleration>1000</Deceleration>
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ </Axis>
|
|
|
+ <Axis Name="PlatingCell2.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationStatusWord" Type="StatusWord" DataType="uint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationPositionError" Type="PositionError" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell2_RotationActualTorque" Type="ActualTorque" DataType="int"/>
|
|
|
+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
|
|
|
+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
|
|
|
+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
|
|
|
+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
|
|
|
+
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationControlWord" Type="ControlWord" DataType="uint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell2_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
|
|
|
+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <MotorType>Servo</MotorType>
|
|
|
+ <MotorDriveDirection>0</MotorDriveDirection>
|
|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <HomingMethod>24</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <HomingOffset>0</HomingOffset>
|
|
|
+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
|
|
|
+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>60000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <ErrorLimit>6766</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <!-- -193 degrees * 169161 = -32648073 -->
|
|
|
+ <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
|
|
|
+ <!-- 13 degrees * 169161 = 2199093 -->
|
|
|
+ <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
|
|
|
+ <Speed>360</Speed>
|
|
|
+ <Acceleration>1000</Acceleration>
|
|
|
+ <Deceleration>1000</Deceleration>
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ </Axis>
|
|
|
+ <Axis Name="PlatingCell3.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationStatusWord" Type="StatusWord" DataType="uint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationPositionError" Type="PositionError" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell3_RotationActualTorque" Type="ActualTorque" DataType="int"/>
|
|
|
+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
|
|
|
+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
|
|
|
+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
|
|
|
+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
|
|
|
+
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationControlWord" Type="ControlWord" DataType="uint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell3_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
|
|
|
+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <MotorType>Servo</MotorType>
|
|
|
+ <MotorDriveDirection>0</MotorDriveDirection>
|
|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <HomingMethod>24</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <HomingOffset>0</HomingOffset>
|
|
|
+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
|
|
|
+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>60000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <ErrorLimit>6766</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <!-- -193 degrees * 169161 = -32648073 -->
|
|
|
+ <ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
|
|
|
+ <!-- 13 degrees * 169161 = 2199093 -->
|
|
|
+ <ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
|
|
|
+ <Speed>15000000</Speed>
|
|
|
+ <Acceleration>10000000</Acceleration>
|
|
|
+ <Deceleration>10000000</Deceleration>
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ </Axis>
|
|
|
+ <Axis Name="PlatingCell4.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationStatusWord" Type="StatusWord" DataType="uint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationPositionError" Type="PositionError" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
|
|
|
+ <Input Address="Task 2.Inputs.PlatingCell4_RotationActualTorque" Type="ActualTorque" DataType="int"/>
|
|
|
+ <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
|
|
|
+ <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
|
|
|
+ <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
|
|
|
+ <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
|
|
|
+ <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
|
|
|
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationControlWord" Type="ControlWord" DataType="uint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
|
|
|
+ <Output Address="Task 2.Outputs.PlatingCell4_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
|
|
|
+ <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
|
|
|
+ <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
|
|
|
+ <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
|
|
|
+ <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
|
|
|
+ <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
|
|
|
+ <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
|
|
|
+ <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
|
|
|
+ <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
|
|
|
+ <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
|
|
|
+ <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
|
|
|
+ <MotorType>Servo</MotorType>
|
|
|
+ <MotorDriveDirection>0</MotorDriveDirection>
|
|
|
+ <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
|
|
|
+ <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
|
|
|
+ <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
|
|
|
+ <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
|
|
|
+ <HomeSwitchPolarity>0</HomeSwitchPolarity>
|
|
|
+ <HomingMethod>24</HomingMethod>
|
|
|
+ <HomeConfig>0</HomeConfig>
|
|
|
+ <HomingOffset>0</HomingOffset>
|
|
|
+ <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
|
|
|
+ <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
|
|
|
+ <HomingAccelDecel>10000000</HomingAccelDecel>
|
|
|
+ <HomingTimeOut>60000</HomingTimeOut>
|
|
|
+ <ProportionalGain>0</ProportionalGain>
|
|
|
+ <IntegralGain>0</IntegralGain>
|
|
|
+ <DerivativeGain>0</DerivativeGain>
|
|
|
+ <IntegralLimit>0</IntegralLimit>
|
|
|
+ <ErrorLimit>6766</ErrorLimit>
|
|
|
+ <VoltageOffset>0</VoltageOffset>
|
|
|
+ <!-- -193 degrees * 169161 = -32648073 -->
|
|
|
+ <ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
|
|
|
+ <!-- 13 degrees * 169161 = 2199093 -->
|
|
|
+ <ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
|
|
|
+ <Speed>15000000</Speed>
|
|
|
+ <Acceleration>10000000</Acceleration>
|
|
|
+ <Deceleration>10000000</Deceleration>
|
|
|
+ <Jerk>0</Jerk>
|
|
|
+ <FeedforwardVelocity>0</FeedforwardVelocity>
|
|
|
+ <FeedforwardAcceleration>0</FeedforwardAcceleration>
|
|
|
+ <OffOnError>0</OffOnError>
|
|
|
+ </Axis>
|
|
|
<!--////////////////////////////////////////////////// ALL AXIS END //////////////////////////////////////////////////-->
|
|
|
</Controller>
|
|
|
</BeckhoffCfg>
|