1 00:00:01,280 --> 00:00:02,304 Okay. 2 00:00:04,352 --> 00:00:10,496 Now I opened my last simotion project so let's continue 3 00:00:11,264 --> 00:00:16,128 Now we are starting to work with MCC 4 00:00:17,152 --> 00:00:23,296 We have already one unit created and there are several programs inside 5 00:00:24,576 --> 00:00:26,112 And this unit 6 00:00:29,184 --> 00:00:32,256 so Let's see our execution system 7 00:00:39,424 --> 00:00:40,704 Okay. 8 00:00:40,960 --> 00:00:42,496 First 9 00:00:42,752 --> 00:00:45,568 i will insert an axis 10 00:00:46,336 --> 00:00:48,640 Let's say axis virtual 11 00:00:49,152 --> 00:00:51,456 And it's possible to 12 00:00:51,712 --> 00:00:56,064 Set position or make positioning with this axis also 13 00:00:57,344 --> 00:01:03,488 If I want to synchronize this axis to another master I have to choose 14 00:01:03,744 --> 00:01:06,048 sync. operation 15 00:01:07,328 --> 00:01:08,096 Okay 16 00:01:09,376 --> 00:01:11,680 The first axis 17 00:01:11,936 --> 00:01:16,288 Let's say it's going to be a rotary type 18 00:01:17,056 --> 00:01:19,360 virtual axis 19 00:01:20,384 --> 00:01:22,432 Normally that's it 20 00:01:22,944 --> 00:01:24,992 For virtual axis 21 00:01:26,784 --> 00:01:32,928 Let's go on details here you may see of Technology 22 00:01:33,184 --> 00:01:39,072 Axis that are some parameters about configuration data and 23 00:01:39,328 --> 00:01:43,680 There are three different tabs here you'll see 24 00:01:43,936 --> 00:01:47,008 These are only selected parameters as default 25 00:01:48,288 --> 00:01:51,360 When I go and switch to configuration data 26 00:01:52,896 --> 00:01:59,040 The green color means the parameters are read and write 27 00:02:00,576 --> 00:02:03,392 If you see here data type 28 00:02:03,648 --> 00:02:08,256 You see here text and some information about 29 00:02:08,768 --> 00:02:12,608 Selected item minimum and maximum values 30 00:02:13,888 --> 00:02:19,776 Also another important thing is there's Effectiveness column here 31 00:02:20,032 --> 00:02:23,104 it says restart or downloads 32 00:02:25,408 --> 00:02:30,784 For instance modulo value it's possible to set a Modulo 33 00:02:31,296 --> 00:02:37,440 both of linear and rotary axis commonly used for rotary axis 34 00:02:37,696 --> 00:02:38,976 Actually 35 00:02:39,744 --> 00:02:45,888 For instance I will say my modulo length be 360 36 00:02:46,144 --> 00:02:47,680 degrees 37 00:02:48,704 --> 00:02:54,848 If I change this parameter to active 38 00:02:59,200 --> 00:03:03,552 and I have to restart this technology object 39 00:03:04,320 --> 00:03:06,368 to be Effective 40 00:03:07,392 --> 00:03:08,160 So... 41 00:03:10,208 --> 00:03:14,304 For instance simulation mode for virtual axis 42 00:03:14,816 --> 00:03:18,400 When I want to switch from no to yes 43 00:03:18,656 --> 00:03:21,728 These are also the enumeration data type 44 00:03:22,240 --> 00:03:26,848 Then I have to download the technology object again to simotion 45 00:03:28,640 --> 00:03:29,920 I see here 46 00:03:31,200 --> 00:03:35,808 So on the other type that are some system variables 47 00:03:36,064 --> 00:03:39,904 Is possible to read and write during 48 00:03:40,416 --> 00:03:41,952 Online data 49 00:03:42,208 --> 00:03:44,256 Or in run mode 50 00:03:47,072 --> 00:03:50,912 The yellow-color parameters are readable 51 00:03:51,936 --> 00:03:55,520 control status active or inactive for instance 52 00:03:55,776 --> 00:03:57,824 Or another one 53 00:03:58,336 --> 00:04:00,640 The override 54 00:04:01,152 --> 00:04:05,248 Acceleration and velocity override as percent 55 00:04:05,760 --> 00:04:10,624 Is possible to read during axis running 56 00:04:11,136 --> 00:04:17,280 That's why it's color green and writable variable you will see here the minimum and maximum values 57 00:04:20,351 --> 00:04:21,375 So... 58 00:04:21,631 --> 00:04:27,775 The expert list consists of all of the related data 59 00:04:28,031 --> 00:04:30,335 Of the positioning axis 60 00:04:30,847 --> 00:04:33,151 Let's take a look 61 00:04:33,407 --> 00:04:35,199 to Another segment 62 00:04:35,455 --> 00:04:36,735 mechanics 63 00:04:37,759 --> 00:04:43,903 We have selected virtual axis that's why some of the parameters or hidden here because 64 00:04:44,159 --> 00:04:48,767 Template of Technology object is different than real electrical axes 65 00:04:49,791 --> 00:04:53,887 As you remember a couple of minutes ago I have selected the modulo 66 00:04:55,167 --> 00:04:58,239 So this is the same variable 67 00:04:58,751 --> 00:05:01,311 As configuration setting 68 00:05:01,823 --> 00:05:03,103 in expert list 69 00:05:04,639 --> 00:05:08,479 So it's possible to use these results and 70 00:05:08,991 --> 00:05:10,527 HMI screen 71 00:05:10,783 --> 00:05:12,831 To modify variable 72 00:05:13,087 --> 00:05:17,695 It is a one way to do that and another way to do that 73 00:05:18,463 --> 00:05:22,559 it's using export list so 74 00:05:25,631 --> 00:05:28,191 We will go more details 75 00:05:28,447 --> 00:05:32,031 in axis to object data type in next chapters 76 00:05:32,287 --> 00:05:36,127 So I just quickly introduce 77 00:05:36,383 --> 00:05:39,199 Tell you some information about 78 00:05:39,711 --> 00:05:40,735 Axes 79 00:05:41,247 --> 00:05:43,807 in default 80 00:05:44,319 --> 00:05:50,463 Menu here default variables can be specified for the axis 81 00:05:50,719 --> 00:05:53,023 here and used in program 82 00:05:53,279 --> 00:05:59,423 For example positioning comments when programming imcc this is done by entry text default 83 00:06:00,191 --> 00:06:01,983 In the command dialog box 84 00:06:03,263 --> 00:06:09,407 So it's an easy way to use default values 85 00:06:10,431 --> 00:06:12,223 With motion comments 86 00:06:12,991 --> 00:06:18,623 For instance you might consider this page as an example or template 87 00:06:19,135 --> 00:06:21,951 Normally I use 88 00:06:23,231 --> 00:06:26,047 Smooth acceleration characteristic 89 00:06:28,095 --> 00:06:30,399 For positioning tasks 90 00:06:30,655 --> 00:06:32,191 For example 91 00:06:33,215 --> 00:06:38,079 our axis is rotary type that's why we will see here 92 00:06:38,591 --> 00:06:40,639 as unit degrees 93 00:06:41,919 --> 00:06:44,479 Second score 94 00:06:45,759 --> 00:06:48,831 And that are other default values for motion 95 00:06:49,087 --> 00:06:55,231 This is another function that are some limits software limit switchs 96 00:06:55,487 --> 00:06:56,767 Activated 97 00:06:57,023 --> 00:07:00,607 Minus -1 position 98 00:07:01,119 --> 00:07:04,447 Plus positive and position you will see here 99 00:07:04,703 --> 00:07:10,847 when i execute a comment in my MCC program for example and 100 00:07:11,103 --> 00:07:12,639 Let's say 101 00:07:12,895 --> 00:07:17,503 It's lower value than the negative position limits 102 00:07:17,759 --> 00:07:22,623 The system says automatically throws and warning and alarm 103 00:07:23,391 --> 00:07:29,535 here in output window and let's say axis movement is not possible due to negative 104 00:07:29,791 --> 00:07:31,583 Position limit switch 105 00:07:33,887 --> 00:07:40,031 So with axis we can use the hardware in the switches at assign some digital input 106 00:07:42,079 --> 00:07:48,223 The next thing is maximum velocity setting and programmable possible 107 00:07:50,271 --> 00:07:53,087 normally we just calculate 108 00:07:53,343 --> 00:07:59,487 Maximum Motor speed and take the perimeter to axis and set here value 109 00:08:02,047 --> 00:08:08,191 Because in real systems we don't want to harm the mechanics that are some mechanical limits 110 00:08:10,495 --> 00:08:12,799 It's also possible to prevent 111 00:08:13,055 --> 00:08:15,615 Unexpected speeds 112 00:08:16,383 --> 00:08:17,407 Overwrite 113 00:08:20,223 --> 00:08:26,367 so Another tab dynamics limits 114 00:08:26,623 --> 00:08:30,975 Acceleration or jerk limits 115 00:08:31,743 --> 00:08:35,071 Is really high values entered as default 116 00:08:36,351 --> 00:08:41,471 Sometimes it's needed to be reduce the acceleration here 117 00:08:41,727 --> 00:08:43,519 Or positive jerk 118 00:08:44,287 --> 00:08:49,151 If I click this button automatically sets this value 119 00:08:49,919 --> 00:08:51,711 For acceleration 120 00:08:52,735 --> 00:08:55,295 These are software limits 121 00:08:57,343 --> 00:08:58,367 Yep 122 00:08:59,903 --> 00:09:06,047 Another menu is monitoring this test signal and sync. operation 123 00:09:07,839 --> 00:09:12,447 So let's say our axes enabled 124 00:09:13,983 --> 00:09:17,055 You see here that actually real 125 00:09:17,311 --> 00:09:18,847 velocity 126 00:09:19,615 --> 00:09:21,663 Light green Curve 127 00:09:22,943 --> 00:09:25,247 There's a bandwidth 128 00:09:25,503 --> 00:09:28,319 or dead band considered 129 00:09:28,575 --> 00:09:31,391 This is the threshold value 130 00:09:32,415 --> 00:09:37,535 Set this case is 1800 degrees per second 131 00:09:38,047 --> 00:09:40,607 And there's a delay time 132 00:09:41,119 --> 00:09:42,655 That means 133 00:09:42,911 --> 00:09:46,239 0.2 seconds 134 00:09:46,495 --> 00:09:47,775 for example. 135 00:09:49,055 --> 00:09:50,847 Or let's say 136 00:09:51,615 --> 00:09:53,151 2 milliseconds 137 00:09:54,943 --> 00:09:56,479 I think it's too low 138 00:09:58,783 --> 00:09:59,551 Okay 139 00:10:01,343 --> 00:10:04,159 for sync. operation 140 00:10:04,671 --> 00:10:10,815 This some parameters are activate setpoint monitoring with jerk or without jerk 141 00:10:12,095 --> 00:10:13,887 setpoint monitoring tolerence 142 00:10:14,655 --> 00:10:19,007 It's related with sync axis operation 143 00:10:20,543 --> 00:10:23,103 So next tab profiles 144 00:10:23,615 --> 00:10:29,759 It's possible to use some cam curves here as motion profile 145 00:10:30,015 --> 00:10:33,599 Time-based velocity profile 146 00:10:34,367 --> 00:10:37,439 or position locked velocity profile 147 00:10:38,463 --> 00:10:43,071 You're using some sensors for force and pressure 148 00:10:44,095 --> 00:10:46,911 Then you just 149 00:10:47,167 --> 00:10:49,983 Activate and use some cam curve 150 00:10:50,751 --> 00:10:54,335 To use the pressure-volume as master 151 00:10:55,103 --> 00:11:01,247 calculate according to actual value slave value as velocity 152 00:11:01,503 --> 00:11:04,063 For axis points 153 00:11:05,343 --> 00:11:11,487 That's for valve characteristics use most common hydraulic axis 154 00:11:11,743 --> 00:11:17,887 To calculate and scale the characteristics of valve and set the analog output 155 00:11:18,143 --> 00:11:20,447 for example 156 00:11:20,703 --> 00:11:23,263 To control the control proportional valves 157 00:11:24,799 --> 00:11:27,871 So next thing is control panel 158 00:11:28,383 --> 00:11:31,199 we can only use it in 159 00:11:31,455 --> 00:11:35,807 Online mode to rotate and test axis movements 160 00:11:38,111 --> 00:11:43,999 It interconnection menu here several different 161 00:11:44,511 --> 00:11:47,839 Possibility to interconnect 162 00:11:48,095 --> 00:11:53,471 our axis motion profile or motion input 163 00:11:55,519 --> 00:11:59,871 with other axis Vector variables 164 00:12:01,919 --> 00:12:03,455 Or... 165 00:12:03,711 --> 00:12:05,759 Actuality velocity 166 00:12:06,271 --> 00:12:07,807 One of the vectors 167 00:12:09,599 --> 00:12:10,623 Yep 168 00:12:11,135 --> 00:12:15,999 we have selected synchronous operation that's why 169 00:12:16,511 --> 00:12:18,559 in virtual axis 170 00:12:19,071 --> 00:12:22,143 have Additional object inside 171 00:12:23,423 --> 00:12:28,799 and it has its own expert list and 172 00:12:29,311 --> 00:12:31,615 Different kinds of parameters here 173 00:12:33,407 --> 00:12:39,551 Let's create another axis and see the difference for instance axis slave 174 00:12:43,647 --> 00:12:46,719 only position 175 00:12:47,743 --> 00:12:49,535 Linear axis 176 00:12:51,071 --> 00:12:54,911 So with this technology object there is no 177 00:12:55,167 --> 00:12:57,471 Synchronous operation 178 00:12:57,727 --> 00:13:01,567 and I said before it's not possible to 179 00:13:01,823 --> 00:13:03,359 Change the 180 00:13:03,615 --> 00:13:06,175 Axis technology type 181 00:13:08,735 --> 00:13:09,503 Okay 182 00:13:11,807 --> 00:13:16,415 Let's check what we have here in configuration window 183 00:13:17,439 --> 00:13:23,583 There are some parameter overshot factor for dynamic response values during sync. op. 184 00:13:27,167 --> 00:13:33,311 It's some cases this parameters is really important to adjust to 185 00:13:33,567 --> 00:13:35,359 Run the machine 186 00:13:36,895 --> 00:13:41,503 Right now maybe it's not so clear for you 187 00:13:43,551 --> 00:13:45,343 Let's say 188 00:13:46,367 --> 00:13:50,207 Default values here you will set 189 00:13:50,975 --> 00:13:54,303 Actually your default values 190 00:13:55,839 --> 00:14:01,983 Later on in user program in MCC window you may consider to use 191 00:14:04,799 --> 00:14:06,591 motion control comments 192 00:14:07,871 --> 00:14:10,943 These are just default values for the comments 193 00:14:11,455 --> 00:14:14,271 You define once here 194 00:14:14,527 --> 00:14:20,671 You will choose to use the default values otherwise you would enter parameters 195 00:14:22,207 --> 00:14:23,999 later on in your program 196 00:14:28,351 --> 00:14:31,423 Interconnections section is important 197 00:14:32,959 --> 00:14:33,727 So 198 00:14:33,983 --> 00:14:40,127 We will set here at the beginning which axis is possible to 199 00:14:41,663 --> 00:14:45,503 be a Slave of which Axis or which 200 00:14:45,759 --> 00:14:49,087 cam will interconnect to an axis 201 00:14:49,599 --> 00:14:51,903 If we don't Define 202 00:14:52,159 --> 00:14:53,951 This interconnection 203 00:14:54,207 --> 00:14:55,743 after that 204 00:14:55,999 --> 00:15:00,607 When we set CPU in run mode it's not possible to use 205 00:15:00,863 --> 00:15:04,191 gearing or camming commands During during run time 206 00:15:04,959 --> 00:15:09,311 So that's why we have to Define here all of the possibilities 207 00:15:10,079 --> 00:15:13,663 According to this settings simotion calculates 208 00:15:13,919 --> 00:15:15,967 Requirements and timing 209 00:15:17,247 --> 00:15:20,831 Find a cycle clocks at the background 210 00:15:21,855 --> 00:15:27,999 This logic is similar also if you have already used in your projects 211 00:15:28,255 --> 00:15:32,863 TIA Portal with step 7 1500 technology CPU 212 00:15:34,655 --> 00:15:37,471 Is the same way we have to use 213 00:15:37,727 --> 00:15:40,031 Interconnections 214 00:15:41,055 --> 00:15:41,823 So... 215 00:15:44,639 --> 00:15:46,687 we have selected axis slave 216 00:15:48,991 --> 00:15:53,087 Let's see here not the slave this will be the master 217 00:15:54,111 --> 00:15:56,159 I'm going to change the name 218 00:15:57,695 --> 00:16:03,839 It's an information message note that possible referencing problems of the old name with name changes 219 00:16:06,143 --> 00:16:12,287 After I write some program and then couple of days I just 220 00:16:12,543 --> 00:16:14,079 wanted to change my 221 00:16:14,591 --> 00:16:16,383 Technology object name 222 00:16:16,895 --> 00:16:23,039 Then manually I have to go in my code and replace 223 00:16:23,295 --> 00:16:27,135 All of the old symbol of my technology objects 224 00:16:29,183 --> 00:16:30,719 So it says here 225 00:16:33,279 --> 00:16:35,583 So be careful 226 00:16:36,351 --> 00:16:39,167 Let's say axis master 227 00:16:41,215 --> 00:16:43,519 And axis virtual here 228 00:16:44,287 --> 00:16:46,335 it's going to 229 00:16:47,103 --> 00:16:49,407 Follow our Axis Master 230 00:16:49,919 --> 00:16:51,711 Coupling type 231 00:16:52,223 --> 00:16:58,367 When we are using external encoder there's only one option and it is actual value 232 00:16:58,623 --> 00:17:04,511 with Extrapolation using axis with Drive 233 00:17:05,791 --> 00:17:09,375 It's possible to connect the master setpoint 234 00:17:10,143 --> 00:17:12,447 Or the master actual value 235 00:17:13,983 --> 00:17:16,287 According to our application 236 00:17:21,151 --> 00:17:26,783 I created two virtual axes right now I'm going to save and compile 237 00:17:39,327 --> 00:17:40,607 Yep. 238 00:17:43,423 --> 00:17:46,495 And here I want to show you 239 00:17:46,751 --> 00:17:49,567 Some system available about 240 00:17:49,823 --> 00:17:51,615 Axis technology objects 241 00:17:55,455 --> 00:17:57,247 I would use 242 00:17:57,759 --> 00:18:01,855 in My projects frequently actual speeds 243 00:18:02,111 --> 00:18:06,975 a lot of variables here maybe you're not going to use it 244 00:18:07,231 --> 00:18:10,303 All of them in your entire life 245 00:18:11,327 --> 00:18:17,471 But there are some variables are really important actual speed from drive as RPM 246 00:18:19,007 --> 00:18:22,847 it Is actor Data actor monitoring if there's an drive error 247 00:18:23,359 --> 00:18:29,503 We'll see here yes or no drivei-State is pulse enabled or not 248 00:18:30,015 --> 00:18:31,295 you will see here 249 00:18:32,063 --> 00:18:34,623 The power enables or not 250 00:18:35,391 --> 00:18:37,183 As active inactive 251 00:18:39,231 --> 00:18:45,375 Control is active means axis is operational and we may use 252 00:18:45,631 --> 00:18:47,679 our Motion control comments 253 00:18:49,215 --> 00:18:53,823 Control panel is used to control panel 254 00:18:54,079 --> 00:18:55,615 Active or not 255 00:18:56,383 --> 00:18:58,175 we can use 256 00:18:58,943 --> 00:19:05,087 error variable means technological there is an alarm at axis 257 00:19:06,879 --> 00:19:09,439 It's my cause to stop 258 00:19:09,695 --> 00:19:15,583 It's my cause the disable or it is just an information it depends on Case 259 00:19:15,839 --> 00:19:19,423 But is there any alarm number you see here 260 00:19:19,935 --> 00:19:22,495 The actual status value set YES 261 00:19:23,263 --> 00:19:29,407 Then next two variables are or group and reactions related with detail of the 262 00:19:29,663 --> 00:19:30,943 Error message 263 00:19:32,735 --> 00:19:35,551 So error reaction 264 00:19:36,063 --> 00:19:38,367 enumaxiserror reaction type 265 00:19:40,159 --> 00:19:42,463 I'm going to use context help and to see 266 00:19:47,327 --> 00:19:49,631 What are the possibilities? 267 00:20:00,895 --> 00:20:07,039 Yeah my help system is not working properly that's why I need to wait 268 00:20:08,319 --> 00:20:10,111 now couple of minutes 269 00:20:11,391 --> 00:20:15,999 That's a shame For simotion and Windows 10 270 00:20:24,191 --> 00:20:30,335 I think you're going to meet some variable to go to check if axis standstill 271 00:20:30,591 --> 00:20:32,895 or our axis is enabled 272 00:20:33,919 --> 00:20:40,063 Right proper program when you use transition and delay commands 273 00:20:40,319 --> 00:20:46,463 You have to assign your program in MCC to motion task 274 00:20:47,487 --> 00:20:50,047 Because your programming acyclically 275 00:20:51,071 --> 00:20:55,167 It's not possible to use background tasks in this case 276 00:20:55,423 --> 00:20:58,495 Because you can't just 277 00:20:58,751 --> 00:21:01,567 Use wait comments in background task 278 00:21:03,359 --> 00:21:07,199 it's also possible to use motion control comments 279 00:21:07,455 --> 00:21:12,319 In background task and this case you are program cyclically 280 00:21:12,831 --> 00:21:18,208 And at the backgrounds maybe next cycle you have to check 281 00:21:18,976 --> 00:21:23,584 If your program executed that are some system variables 282 00:21:24,608 --> 00:21:30,752 Comments in your comment library to check for instance get state of motion command 283 00:21:31,520 --> 00:21:32,800 Function 284 00:21:40,992 --> 00:21:43,552 so in our lectuer notes. 285 00:21:44,064 --> 00:21:49,184 That are some capital named as axis and drives 286 00:21:49,952 --> 00:21:52,000 I'm going to use 287 00:21:52,256 --> 00:21:54,048 Next time 288 00:21:55,840 --> 00:21:58,144 So yeah just 289 00:21:58,400 --> 00:22:01,984 Making some practice we are going to examine 290 00:22:02,496 --> 00:22:05,056 Our comment in toolbars 291 00:22:15,296 --> 00:22:16,576 So... 292 00:22:21,952 --> 00:22:24,000 By the way 293 00:22:24,256 --> 00:22:26,560 It's someone browser you will see 294 00:22:26,816 --> 00:22:29,376 The same variables as 295 00:22:29,888 --> 00:22:31,424 Expert list 296 00:22:33,728 --> 00:22:39,872 Some of them is configuration data some of them is real active config data 297 00:22:41,920 --> 00:22:44,992 Some of them is readable some of them is 298 00:22:46,272 --> 00:22:48,064 both Writable and readable 299 00:22:48,320 --> 00:22:50,880 And next time 300 00:22:51,136 --> 00:22:56,256 You can just drag and drop your variable to trace 301 00:22:57,536 --> 00:22:59,584 Monitor as a curve 302 00:22:59,840 --> 00:23:02,656 Or square wave whatever 303 00:23:03,680 --> 00:23:08,544 To see what's going on in your program codes for debug for examples 304 00:23:22,112 --> 00:23:23,136 Yep. 305 00:23:40,288 --> 00:23:46,432 Yeah just added two different type of axis i will test on MCC program 306 00:23:46,688 --> 00:23:51,296 We are going to use couple of motion comments 307 00:23:51,552 --> 00:23:55,136 if You want to use absolute positioning 308 00:23:57,184 --> 00:24:00,000 You have to home your axis First 309 00:24:00,512 --> 00:24:05,376 In Virtual axis homing acts like just 310 00:24:05,632 --> 00:24:11,264 Set home position function because there's no encoder real 311 00:24:11,776 --> 00:24:17,408 You can just easily set your axis home 312 00:24:20,224 --> 00:24:21,504 Let's say 313 00:24:21,760 --> 00:24:25,088 It's done in my help window 314 00:24:26,624 --> 00:24:27,904 error reaction 315 00:24:28,160 --> 00:24:29,696 it's possible 316 00:24:30,208 --> 00:24:32,256 to be motion stop or none 317 00:24:35,840 --> 00:24:37,376 That's mean 318 00:24:37,632 --> 00:24:42,496 That means this is just an warning or information about axes 319 00:24:44,288 --> 00:24:47,104 And in my program I'm going to use 320 00:24:48,128 --> 00:24:50,688 Parents creative bit 321 00:24:51,456 --> 00:24:54,528 To check real 322 00:24:54,784 --> 00:24:55,808 errors 323 00:24:56,064 --> 00:24:58,624 Let's say if 324 00:24:59,392 --> 00:25:05,536 Axis Master. Error equals active and axis master error reaction 325 00:25:06,816 --> 00:25:10,912 it's not equals none that means 326 00:25:11,168 --> 00:25:15,776 There's a real error prevents axis to rotate 327 00:25:16,032 --> 00:25:17,312 Four examples 328 00:25:23,200 --> 00:25:26,016 there are too many structures here 329 00:25:26,784 --> 00:25:29,600 inside my axis Master 330 00:25:31,392 --> 00:25:35,744 with force values usually 331 00:25:38,304 --> 00:25:40,608 we Used in hydraulic axis 332 00:25:41,120 --> 00:25:42,912 homming comments 333 00:25:43,936 --> 00:25:45,984 It's possible to trace 334 00:25:46,752 --> 00:25:49,824 The state of the home command 335 00:25:50,336 --> 00:25:52,128 It's done 336 00:25:53,920 --> 00:25:55,968 For its effective or ineffective 337 00:25:57,760 --> 00:26:03,904 motion State data. There are a lot of useful information here actual acceleration actual velocity 338 00:26:05,440 --> 00:26:07,744 Command velocity and motion states 339 00:26:09,024 --> 00:26:15,168 Is axys accelerating or constant velocity for example 340 00:26:20,032 --> 00:26:21,568 So... 341 00:26:24,640 --> 00:26:30,784 move command, when I used , it's possible to track our comment here state 342 00:26:32,832 --> 00:26:35,392 Active or inactive 343 00:26:38,720 --> 00:26:41,280 Another thing is override 344 00:26:42,560 --> 00:26:44,608 To adjust axis speeds 345 00:26:45,120 --> 00:26:47,936 Positioning comments when I 346 00:26:48,448 --> 00:26:49,472 Set 347 00:26:50,240 --> 00:26:56,384 Positional command and want to go axis to set position I can trace here 348 00:26:56,640 --> 00:26:58,432 The distances to go 349 00:26:59,456 --> 00:27:01,248 As milimeter unit 350 00:27:01,504 --> 00:27:02,528 state 351 00:27:02,784 --> 00:27:04,576 Is active or inactive 352 00:27:06,112 --> 00:27:10,976 And after that I can go and next step in my program 353 00:27:12,512 --> 00:27:18,656 positioning state is another Useful structure with 354 00:27:19,168 --> 00:27:20,704 different kind of System variables 355 00:27:20,960 --> 00:27:23,520 For users 356 00:27:24,800 --> 00:27:30,432 I've seen here the actual position of axis as milimeters 357 00:27:32,992 --> 00:27:35,552 It's comes from the motor encoder 358 00:27:36,064 --> 00:27:38,624 Or second external encoder 359 00:27:38,880 --> 00:27:42,976 There are some similar functions to switch between encoders 360 00:27:44,768 --> 00:27:50,912 So I see here the common position we will use this variable oftently 361 00:27:51,168 --> 00:27:52,448 in Trace 362 00:27:53,472 --> 00:27:58,080 There's a homed bit axis home status 363 00:27:58,848 --> 00:27:59,616 If 364 00:28:00,128 --> 00:28:06,272 Operation and procedure is successful than it should be yes after that 365 00:28:07,296 --> 00:28:11,136 I will able to use my absolute positioning command 366 00:28:13,440 --> 00:28:19,584 So there are some sitting here just like home position set as milimeters 367 00:28:19,840 --> 00:28:24,448 Because I have selected the Master axis as linear 368 00:28:25,728 --> 00:28:27,008 and reset 369 00:28:27,776 --> 00:28:33,920 Means execution status of reset commands informations are quite Good 370 00:28:34,176 --> 00:28:36,992 And by the way they related system variable 371 00:28:37,760 --> 00:28:43,904 Sensor data it's possible to use eight different sensors here 372 00:28:45,696 --> 00:28:49,280 That's means an encoder 373 00:28:49,536 --> 00:28:51,328 external encoder 374 00:28:52,608 --> 00:28:55,936 We will see here incremental position 375 00:28:56,448 --> 00:28:57,728 pulse value 376 00:28:58,496 --> 00:29:00,544 From incremental 377 00:29:00,800 --> 00:29:04,384 HTL / TTL encoder for instance 378 00:29:05,408 --> 00:29:11,296 And the sensor States is measuring system is connected and sensors date built 379 00:29:11,552 --> 00:29:14,368 That means everything's ready 380 00:29:14,624 --> 00:29:16,416 cabling are good 381 00:29:16,928 --> 00:29:21,536 My SMC model is operating via drive cliq 382 00:29:23,072 --> 00:29:29,216 Sometimes we will use this variable during startup to check 383 00:29:29,728 --> 00:29:35,872 If simotion and all of the other modules are ready to operate or not 384 00:29:37,664 --> 00:29:39,712 So... 385 00:29:40,992 --> 00:29:45,088 Sensor monitoring is also another structure commonly used 386 00:29:45,600 --> 00:29:51,744 You may read information and later on yourself if you want to 387 00:29:52,000 --> 00:29:54,560 Get some more information 388 00:29:54,816 --> 00:29:58,144 Because there are a lot of variables here 389 00:29:58,656 --> 00:30:03,264 Maybe you're going to use torque limiting 390 00:30:04,288 --> 00:30:08,896 positive or negative torque limiting command, you should check here 391 00:30:10,688 --> 00:30:13,248 Or maybe you're not going to use 392 00:30:14,016 --> 00:30:19,392 Advanced hydraulic axis for this Case 393 00:30:19,648 --> 00:30:21,696 You're not going to need 394 00:30:21,952 --> 00:30:24,000 These structures here 395 00:30:24,512 --> 00:30:27,840 So another important thing is 396 00:30:28,096 --> 00:30:30,912 After I make my interconnection 397 00:30:31,424 --> 00:30:35,008 System automatically added here 398 00:30:35,264 --> 00:30:39,360 Axis virtual synchronous operation 399 00:30:41,920 --> 00:30:48,064 And under the menu axis virtual object has its own 400 00:30:48,320 --> 00:30:54,464 Expert list as I said before when I see here the items on their symbol browser 401 00:30:55,488 --> 00:31:00,864 These are a little bit different than normal positioning or drive axis variables 402 00:31:04,704 --> 00:31:10,080 So let's say we use commonly active cam 403 00:31:10,592 --> 00:31:13,408 The type and objects 404 00:31:13,920 --> 00:31:15,712 Default is null 405 00:31:18,272 --> 00:31:21,088 An object is not attached here 406 00:31:21,344 --> 00:31:22,880 Or not referenced 407 00:31:23,136 --> 00:31:24,672 as offline value 408 00:31:25,952 --> 00:31:32,096 If you assign a cam and use camming function you will see here actual Cam Running 409 00:31:32,864 --> 00:31:36,960 Or the actual Master as leading objects 410 00:31:38,240 --> 00:31:44,128 If you're going to use the gearing function we will see here master 411 00:31:45,152 --> 00:31:47,200 As an object 412 00:31:48,736 --> 00:31:52,832 So another thing is 413 00:31:54,368 --> 00:31:57,440 There are some variables 414 00:31:57,952 --> 00:32:00,512 For beginners easy to use 415 00:32:01,536 --> 00:32:05,120 The error group and error reaction is the same 416 00:32:06,912 --> 00:32:13,056 Reset restart activation simulation is the same here the state 417 00:32:13,312 --> 00:32:15,104 Is commonly used 418 00:32:15,360 --> 00:32:17,152 in Programs 419 00:32:18,432 --> 00:32:21,248 Function status on following objects 420 00:32:21,760 --> 00:32:27,904 Which comment is processing camming or Gearing or it's deactivated 421 00:32:29,696 --> 00:32:35,840 Also you need to check sync State and syncl State here 422 00:32:39,168 --> 00:32:42,496 you can detect 423 00:32:43,520 --> 00:32:49,152 You are slave axis is in syncronous mode yes or no 424 00:32:53,248 --> 00:32:57,344 is syncronization is active or not 425 00:32:58,368 --> 00:32:59,648 So... 426 00:33:00,416 --> 00:33:04,512 These are just quick information about axis object 427 00:33:06,304 --> 00:33:09,632 Let's start to program some examples 428 00:33:10,144 --> 00:33:12,448 MCC program 429 00:33:14,752 --> 00:33:16,544 Axis Control 430 00:33:17,568 --> 00:33:18,336 Okay 431 00:33:22,688 --> 00:33:24,992 First of all 432 00:33:26,528 --> 00:33:29,600 I will check here 433 00:33:29,856 --> 00:33:32,928 My comments in MCC editor 434 00:33:33,184 --> 00:33:35,232 place here 435 00:33:37,792 --> 00:33:42,400 The blue commands are logic comments as I said basic commands 436 00:33:42,656 --> 00:33:43,936 Wait time 437 00:33:44,192 --> 00:33:45,728 wait for axis 438 00:33:48,544 --> 00:33:53,664 Axis virtual axis status stationary 439 00:33:55,200 --> 00:34:00,064 there are other useful common waiting axis state 440 00:34:03,136 --> 00:34:09,280 I wonder if there is an enabled or disabled accelerating or in motion stationary 441 00:34:09,536 --> 00:34:12,864 Decelerating or motion completed 442 00:34:14,400 --> 00:34:15,936 Unfortunately not 443 00:34:19,520 --> 00:34:23,104 Okay let's create some variable 444 00:34:24,896 --> 00:34:28,736 Gbo enable axis 445 00:34:28,992 --> 00:34:30,272 Master 446 00:34:31,296 --> 00:34:32,576 And yes 447 00:34:32,832 --> 00:34:37,184 GPO enable axis 448 00:34:38,208 --> 00:34:39,744 virtual 449 00:34:41,024 --> 00:34:43,072 As the type boolean 450 00:34:48,704 --> 00:34:49,984 So... 451 00:34:55,360 --> 00:34:57,152 Let's say 452 00:34:58,944 --> 00:35:00,992 Gbo 453 00:35:01,760 --> 00:35:03,040 jog 454 00:35:04,064 --> 00:35:07,136 Positive axis master 455 00:35:08,672 --> 00:35:14,560 GBO jog negative axis master 456 00:35:19,168 --> 00:35:24,032 GBO axis Master enabled 457 00:35:25,312 --> 00:35:26,336 Gbo 458 00:35:26,592 --> 00:35:28,384 axis master sorry 459 00:35:29,152 --> 00:35:33,504 axis virtual enabled 460 00:35:35,040 --> 00:35:38,112 axis master standstill 461 00:35:41,440 --> 00:35:46,816 axis master virtual standstill 462 00:35:51,680 --> 00:35:52,704 Yep 463 00:35:55,520 --> 00:35:58,080 and let's check 464 00:36:00,640 --> 00:36:02,176 I would use 465 00:36:02,432 --> 00:36:03,968 Program structure 466 00:36:08,832 --> 00:36:12,160 GBO enable Axis Master 467 00:36:15,744 --> 00:36:19,840 I'm going to check the current States 468 00:36:22,400 --> 00:36:24,704 of Axis 469 00:36:27,776 --> 00:36:29,824 Formula 470 00:36:31,616 --> 00:36:33,920 if Axis Master not enabled 471 00:36:42,880 --> 00:36:48,000 I'm going to use enable switch axis enable cummins or master 472 00:36:48,512 --> 00:36:50,304 virtual master 473 00:36:51,328 --> 00:36:57,216 There are some settings here if I choose do they program execution 474 00:36:57,472 --> 00:37:01,568 The program Waits here for Axis enable 475 00:37:02,336 --> 00:37:06,176 That means it may happen anytime 476 00:37:07,200 --> 00:37:10,016 That means I'm going to use acycling program 477 00:37:10,272 --> 00:37:11,552 If I disconnect 478 00:37:12,320 --> 00:37:15,136 I have to track 479 00:37:15,392 --> 00:37:17,184 The comments by myself 480 00:37:18,464 --> 00:37:20,256 Axis Master 481 00:37:20,512 --> 00:37:22,560 And position control the enable 482 00:37:23,840 --> 00:37:28,192 Because I'm going to use position set points 483 00:37:31,520 --> 00:37:32,288 Right now 484 00:37:34,080 --> 00:37:35,104 Okay 485 00:37:38,944 --> 00:37:40,480 Let's say 486 00:37:45,344 --> 00:37:47,904 Variable assignment 487 00:37:49,440 --> 00:37:51,744 axis master enabled 488 00:37:53,792 --> 00:37:55,072 Here 489 00:37:55,840 --> 00:37:59,168 The system readable Axis Master 490 00:38:00,448 --> 00:38:02,496 and Control 491 00:38:06,336 --> 00:38:07,872 That's not going to work 492 00:38:08,896 --> 00:38:11,200 Because I have to write 493 00:38:11,712 --> 00:38:17,088 Technology object axis master control is active 494 00:38:18,112 --> 00:38:19,392 Yep 495 00:38:24,256 --> 00:38:30,144 if not enabled enable when we will disable all axes 496 00:38:36,800 --> 00:38:38,080 Maybe 497 00:38:38,336 --> 00:38:40,128 Fallen edge 498 00:38:40,384 --> 00:38:41,920 of our variable 499 00:38:45,248 --> 00:38:48,576 What should I use to detect the falling edge 500 00:38:49,856 --> 00:38:52,416 System function call 501 00:38:54,208 --> 00:38:56,000 What's the system function? 502 00:39:03,680 --> 00:39:05,472 Actually this is a function block 503 00:39:06,752 --> 00:39:08,544 Instance 504 00:39:10,336 --> 00:39:12,896 List three axis 505 00:39:13,152 --> 00:39:14,176 Disabled 506 00:39:15,456 --> 00:39:16,992 For master 507 00:39:18,272 --> 00:39:22,368 Okay I'm going to use global exportable 508 00:39:25,184 --> 00:39:26,976 need a clock input 509 00:39:28,512 --> 00:39:31,072 Available axis 510 00:39:31,328 --> 00:39:33,888 enable master 511 00:39:34,912 --> 00:39:36,448 and output 512 00:39:37,728 --> 00:39:39,776 Not necessary right now 513 00:39:41,056 --> 00:39:44,896 Okay another falling trigger for 514 00:39:45,152 --> 00:39:48,736 axis disable virtual 515 00:39:51,808 --> 00:39:54,112 Global exportable 516 00:39:56,416 --> 00:40:02,048 and the input will be axis virtual 517 00:40:03,840 --> 00:40:05,376 Yep 518 00:40:07,168 --> 00:40:11,264 so let's say enable axis Master 519 00:40:12,544 --> 00:40:15,104 Otherwise if it's false 520 00:40:17,152 --> 00:40:18,688 Let's say 521 00:40:22,528 --> 00:40:25,600 Control state disabled 522 00:40:26,624 --> 00:40:27,648 Master 523 00:40:27,904 --> 00:40:30,720 dot output then 524 00:40:31,744 --> 00:40:33,792 check the axis state 525 00:40:37,120 --> 00:40:38,656 Another 526 00:40:38,912 --> 00:40:40,192 Branch meaning 527 00:40:45,056 --> 00:40:46,848 if the axis 528 00:40:47,104 --> 00:40:50,688 States use enabled 529 00:40:53,504 --> 00:40:56,064 Then use disable comments 530 00:40:58,624 --> 00:41:00,416 for axis master 531 00:41:02,720 --> 00:41:03,488 Okay. 532 00:41:08,352 --> 00:41:10,144 so we Created a logic 533 00:41:10,656 --> 00:41:14,752 For a enabeling and disabling Master axis 534 00:41:16,544 --> 00:41:18,592 It's 535 00:41:19,872 --> 00:41:23,712 it's going to complicated with large programs 536 00:41:24,736 --> 00:41:29,856 So it's possible to make modules and group some comments here 537 00:41:30,368 --> 00:41:31,904 when you select 538 00:41:33,696 --> 00:41:34,720 Like this 539 00:41:36,256 --> 00:41:37,792 Right click 540 00:41:39,840 --> 00:41:42,144 and create a module 541 00:41:44,448 --> 00:41:50,592 You can enter here comment as enable 542 00:41:50,848 --> 00:41:53,151 Disabled Axiss Master 543 00:41:55,967 --> 00:42:00,063 You make copy and paste for 544 00:42:00,575 --> 00:42:02,879 axis virtual 545 00:42:04,671 --> 00:42:06,975 Let's change 546 00:42:08,511 --> 00:42:14,655 Yeah by the way we're not using function blocks so this example just for learning to come out 547 00:42:16,447 --> 00:42:17,727 virtual 548 00:42:18,239 --> 00:42:21,311 normally you're going to use 549 00:42:22,591 --> 00:42:23,871 Function blocks 550 00:42:33,343 --> 00:42:35,647 I'm already added this one 551 00:42:36,415 --> 00:42:38,975 master 552 00:42:39,999 --> 00:42:43,327 virtual I'm going to delete virtual here 553 00:42:47,167 --> 00:42:49,215 master here 554 00:42:49,471 --> 00:42:53,055 I'm going to select axis virtual 555 00:42:55,103 --> 00:42:57,663 Yes axis 556 00:42:58,431 --> 00:42:59,967 virual enables 557 00:43:03,807 --> 00:43:06,367 axis virtual 558 00:43:11,487 --> 00:43:13,023 axis 559 00:43:14,303 --> 00:43:16,095 virtual 560 00:43:20,191 --> 00:43:23,007 it is a basic way to do programming 561 00:43:23,775 --> 00:43:26,847 Normally we don't follow this way 562 00:43:28,895 --> 00:43:30,687 virtual 563 00:43:33,503 --> 00:43:34,527 Okay 564 00:43:38,111 --> 00:43:39,647 master enabled 565 00:43:39,903 --> 00:43:42,719 virtual enabled or not 566 00:43:50,143 --> 00:43:51,679 Yes 567 00:43:52,703 --> 00:43:55,519 axis virtual 568 00:43:56,287 --> 00:43:58,591 Control is active or not 569 00:43:59,359 --> 00:44:04,223 So let's check and compile if there's any mistake 570 00:44:10,111 --> 00:44:12,671 So I did expected 571 00:44:12,927 --> 00:44:14,719 You see here the error 572 00:44:15,487 --> 00:44:21,631 And I double Click it is not going automatically it's where it belongs 573 00:44:24,447 --> 00:44:29,055 I have to go by myself as manually here 574 00:44:29,567 --> 00:44:31,615 Axis virtual 575 00:44:33,407 --> 00:44:35,199 also 576 00:44:36,735 --> 00:44:38,527 Axis vir 577 00:44:40,575 --> 00:44:42,623 Yep 578 00:44:44,415 --> 00:44:45,951 Let's try again 579 00:44:52,095 --> 00:44:54,911 Okay 580 00:44:56,191 --> 00:44:57,471 Everything's fine 581 00:44:58,751 --> 00:45:01,311 Let's start simulation 582 00:45:06,943 --> 00:45:09,503 Okay it's ready to download 583 00:45:11,039 --> 00:45:12,319 Let's go online 584 00:45:14,879 --> 00:45:16,159 And 585 00:45:17,695 --> 00:45:23,839 Download our program before to do that we are forgot to assign our 586 00:45:24,095 --> 00:45:27,167 Program to a motion Task 587 00:45:28,959 --> 00:45:32,287 So let select 588 00:45:33,311 --> 00:45:35,615 axis Control 589 00:45:35,871 --> 00:45:39,455 Program reaction execution fault task 590 00:45:39,967 --> 00:45:45,087 And after that we need to manage in the background 591 00:45:47,135 --> 00:45:48,159 Let's say 592 00:45:50,719 --> 00:45:55,583 Copy and paste our motion task 593 00:45:56,095 --> 00:45:59,423 mt2 States 594 00:46:00,959 --> 00:46:03,519 Okay motion Test 2 595 00:46:05,823 --> 00:46:08,639 Okay let's save and compile 596 00:46:17,087 --> 00:46:19,903 Download our program 597 00:46:40,127 --> 00:46:44,479 It takes a couple of minutes 598 00:46:44,991 --> 00:46:46,015 at most 599 00:46:46,271 --> 00:46:47,295 Or 600 00:46:50,367 --> 00:46:51,903 now it is downloading 601 00:46:52,159 --> 00:46:53,183 TP 602 00:46:53,951 --> 00:46:54,975 TPCAM 603 00:46:55,487 --> 00:47:00,607 As default selected in older versions you had to select as manual 604 00:47:04,703 --> 00:47:07,263 ok Ready to go 605 00:47:07,519 --> 00:47:09,311 it Is in run mode 606 00:47:11,103 --> 00:47:13,407 Let's say I want to control 607 00:47:13,663 --> 00:47:18,527 My axis movements and test via control panel first 608 00:47:20,319 --> 00:47:21,599 I will go 609 00:47:23,391 --> 00:47:26,207 Control panel under axis master 610 00:47:26,719 --> 00:47:30,047 Let's Click diagnostic area 611 00:47:30,303 --> 00:47:36,447 and Button assume control priority with monitoring time 612 00:47:37,983 --> 00:47:39,007 Okay 613 00:47:40,543 --> 00:47:42,079 Let's enable 614 00:47:42,335 --> 00:47:44,639 virtual master 615 00:47:45,919 --> 00:47:49,503 It's in operation means control is active 616 00:47:49,759 --> 00:47:52,319 Power is enabled 617 00:47:53,087 --> 00:47:58,975 Actor monitoring Drive state is enabled you will see 618 00:47:59,487 --> 00:48:04,095 You're the actual values of position and velocity 619 00:48:04,863 --> 00:48:06,911 Let's try 620 00:48:07,167 --> 00:48:08,703 Speed control 621 00:48:08,959 --> 00:48:11,775 Commands in positive direction 622 00:48:12,543 --> 00:48:14,335 Let's say run 623 00:48:15,103 --> 00:48:16,127 Okay 624 00:48:18,687 --> 00:48:20,991 You'll see here set point speeds 625 00:48:21,503 --> 00:48:27,135 velocity 100 and actual velocity as 100 626 00:48:27,391 --> 00:48:33,535 we're using speed based commands so that's why you don't see here any position 627 00:48:33,791 --> 00:48:35,327 Increasing 628 00:48:35,583 --> 00:48:37,887 It's not relevant right now 629 00:48:39,679 --> 00:48:44,287 This button is for jogging in positive direction 630 00:48:45,055 --> 00:48:51,199 Or when you set here a negative velocity that means in negative Direction 631 00:48:53,759 --> 00:48:58,111 It is possible to use this slider for 632 00:48:59,135 --> 00:49:00,415 velocity override 633 00:49:00,927 --> 00:49:02,975 You'll see here 200 634 00:49:04,511 --> 00:49:05,535 Okay. 635 00:49:09,119 --> 00:49:11,679 So at the meantime 636 00:49:11,935 --> 00:49:16,543 Let's use trace function with simotion 637 00:49:24,479 --> 00:49:27,039 What we have here a blank page 638 00:49:28,575 --> 00:49:34,719 I will use isochronous recording at the endless trace with servo cycle 639 00:49:35,999 --> 00:49:39,327 4 milliseconds right now and factor is 1 640 00:49:39,839 --> 00:49:43,423 I'm going to start my Trace immediately 641 00:49:44,959 --> 00:49:51,103 I was just select somewhere variables here under technology object tree 642 00:49:51,359 --> 00:49:54,687 axis Master for instance 643 00:49:54,943 --> 00:49:59,551 Position State and actual position 644 00:50:00,063 --> 00:50:02,367 I'll click here to add 645 00:50:02,623 --> 00:50:03,903 Add to list 646 00:50:04,415 --> 00:50:08,511 motion State data and the actual velocity click 647 00:50:08,767 --> 00:50:10,815 Second button to add to list 648 00:50:12,351 --> 00:50:13,631 So 649 00:50:16,447 --> 00:50:18,239 Motion State 650 00:50:21,055 --> 00:50:25,663 And for second axis virtual axis 651 00:50:25,919 --> 00:50:27,711 Positioning state data 652 00:50:28,223 --> 00:50:29,503 actual position 653 00:50:29,759 --> 00:50:31,039 may be 5 654 00:50:32,575 --> 00:50:33,599 and 655 00:50:33,855 --> 00:50:37,183 motion state data the actual velocity 6 656 00:50:37,439 --> 00:50:39,743 motion state at 7 657 00:50:41,023 --> 00:50:46,911 That's enough for now I need to download my setting to CPU 658 00:50:47,167 --> 00:50:52,287 Then if I press the play button the trace recording view starts 659 00:50:53,311 --> 00:50:54,335 Okay 660 00:50:55,103 --> 00:50:59,967 At the meantime I want to control my axis let's say a jog 661 00:51:00,479 --> 00:51:02,527 or positive stop motion 662 00:51:04,831 --> 00:51:07,647 So you will see here 663 00:51:08,415 --> 00:51:10,719 Some colored curves 664 00:51:11,743 --> 00:51:17,375 Is you click trace diagram you can change your colors of Trace 665 00:51:17,887 --> 00:51:21,727 Or display or not display 666 00:51:25,567 --> 00:51:27,359 Yep. 667 00:51:29,407 --> 00:51:31,199 if yuo right click On the window that are 668 00:51:31,711 --> 00:51:37,343 too many Options commonly used measuring cursors for 669 00:51:38,111 --> 00:51:39,391 Time axis 670 00:51:39,647 --> 00:51:41,439 and real axis Y 671 00:51:44,255 --> 00:51:47,071 during trace still running 672 00:51:47,583 --> 00:51:53,727 There are some new data we are reading from simulation CPU so 673 00:51:53,983 --> 00:51:57,311 It's possible to arrange Curves 674 00:51:59,615 --> 00:52:00,895 with scaling 675 00:52:02,943 --> 00:52:07,295 we can enter here manual factors or 676 00:52:07,551 --> 00:52:08,319 Offset 677 00:52:10,111 --> 00:52:14,975 Or it's possible to use Auto scaling function 678 00:52:15,999 --> 00:52:20,351 There is another possibility to arrange curves in trace 679 00:52:22,655 --> 00:52:26,751 So you can zoom here or undo zoom 680 00:52:29,311 --> 00:52:34,175 Yep or yellow curve is actual velocity of the axis 681 00:52:35,455 --> 00:52:41,343 we will see here trapezoidal curve during ramp up and ramp down 682 00:52:41,599 --> 00:52:43,135 And different times 683 00:52:44,671 --> 00:52:48,767 Actual position of axis is 0 because we didn't used 684 00:52:49,023 --> 00:52:50,303 Position-based 685 00:52:51,071 --> 00:52:52,607 Jogging function 686 00:52:52,863 --> 00:52:57,215 So status of axis motion when you 687 00:52:57,471 --> 00:52:58,751 Drag-and-drop 688 00:52:59,007 --> 00:53:00,031 or shift 689 00:53:01,823 --> 00:53:04,127 Your measuring cursor here 690 00:53:05,151 --> 00:53:09,503 You see some parameters and actually values changing 691 00:53:10,271 --> 00:53:13,855 here starts the status 692 00:53:14,623 --> 00:53:18,975 Retriever that is the t2 and t1 693 00:53:20,767 --> 00:53:23,583 Have you see here the difference 694 00:53:23,839 --> 00:53:25,119 on Timeline 695 00:53:26,143 --> 00:53:30,239 here it is standsill when I press the button right here 696 00:53:30,751 --> 00:53:33,311 axis is accelerating 697 00:53:35,103 --> 00:53:40,223 And right now it's running in constant speed 698 00:53:41,247 --> 00:53:44,319 under milimeter per seconds 699 00:53:46,111 --> 00:53:51,487 You see here axis is decelerating 700 00:53:52,767 --> 00:53:55,327 And standstill again 701 00:53:58,911 --> 00:54:03,263 There's some axis alarm comment aborted okay 702 00:54:06,079 --> 00:54:08,639 Because I switch the window here 703 00:54:11,199 --> 00:54:14,271 Let's clear your technology alarm 704 00:54:16,319 --> 00:54:17,855 Try again 705 00:54:18,367 --> 00:54:19,391 Enable 706 00:54:22,975 --> 00:54:29,119 For this time I'm going to change Dynamic dispose settings with smooth 707 00:54:29,375 --> 00:54:30,911 S-curve 708 00:54:31,679 --> 00:54:32,447 with jerk 709 00:54:33,215 --> 00:54:37,823 Acceleration-deceleration that's why you see different 710 00:54:38,335 --> 00:54:40,127 Trapezoidal curve 711 00:54:41,151 --> 00:54:42,943 Okay let's start 712 00:54:44,223 --> 00:54:46,271 Let's stop 713 00:54:47,807 --> 00:54:49,087 lets click here 714 00:54:49,343 --> 00:54:50,367 Let's go click 715 00:54:51,903 --> 00:54:55,743 then you get your axis stopped 716 00:54:57,791 --> 00:55:01,631 When you click you see here 717 00:55:01,887 --> 00:55:04,447 Control priorities is lost 718 00:55:04,703 --> 00:55:07,007 and you will get an axis alarm 719 00:55:07,263 --> 00:55:11,359 Let's say, command aborted because axis 720 00:55:12,127 --> 00:55:14,431 Enables our removed 721 00:55:15,967 --> 00:55:22,111 Under the axis symbol list let's check our error situation 722 00:55:24,159 --> 00:55:25,951 Error is 723 00:55:29,279 --> 00:55:31,071 Yes 724 00:55:32,351 --> 00:55:34,143 errorgroup 725 00:55:34,399 --> 00:55:38,495 there is a double word error reaction is none 726 00:55:44,639 --> 00:55:50,783 This is just for information because axis is already disabled when standstill 727 00:55:52,319 --> 00:55:53,343 So 728 00:55:56,415 --> 00:55:58,207 Let's check again 729 00:56:02,303 --> 00:56:06,655 you will see here again at trapezoidal curve 730 00:56:10,239 --> 00:56:11,007 Yeah 731 00:56:14,335 --> 00:56:19,455 So whatever let's try the next one 732 00:56:20,223 --> 00:56:23,039 Position based axis movement 733 00:56:24,319 --> 00:56:26,367 Let's say Direction positive with smooth curve 734 00:56:31,999 --> 00:56:36,095 Yeah maybe jerk are too much let's reduce 735 00:56:41,471 --> 00:56:42,495 Yep 736 00:56:52,991 --> 00:56:54,527 Stop the trace 737 00:56:54,783 --> 00:56:57,343 You got a measurements here 738 00:56:58,367 --> 00:57:03,231 Number one and under the measurements you see here 739 00:57:03,487 --> 00:57:06,303 Your curves and variables 740 00:57:07,327 --> 00:57:13,471 It is possible to save that measurement in your hard drive as TRC 741 00:57:13,727 --> 00:57:15,263 Extension 742 00:57:16,799 --> 00:57:21,919 After that you are able to send to another college for 743 00:57:22,943 --> 00:57:25,759 Examine for instance 744 00:57:27,039 --> 00:57:29,855 there are some other options you may use 745 00:57:30,623 --> 00:57:32,159 measurement sectipn 746 00:57:32,671 --> 00:57:37,023 bit-track parameterization or mathematical functions 747 00:57:37,279 --> 00:57:38,815 Let's start again 748 00:57:40,095 --> 00:57:41,887 Let's say 749 00:57:42,143 --> 00:57:43,423 Stop motion 750 00:57:44,703 --> 00:57:45,471 Okay 751 00:57:48,031 --> 00:57:50,591 Position based 752 00:57:52,127 --> 00:57:55,967 velocity comments USC here s curve 753 00:57:56,223 --> 00:57:57,759 i say stop 754 00:57:59,039 --> 00:58:04,671 actual position of the virtual axis is rising year 755 00:58:06,207 --> 00:58:07,743 you will see 756 00:58:08,511 --> 00:58:09,535 Right now 757 00:58:10,303 --> 00:58:13,375 s-curve at the velocity profile 758 00:58:16,959 --> 00:58:17,983 So... 759 00:58:20,543 --> 00:58:22,591 let's disable this one 760 00:58:23,615 --> 00:58:28,991 You see here standstill accelerating 761 00:58:29,759 --> 00:58:32,831 constant move 762 00:58:36,415 --> 00:58:39,487 So next comment 763 00:58:39,743 --> 00:58:42,047 relative and absolute positioning 764 00:58:42,559 --> 00:58:46,399 Let's try and see absolute positioning 765 00:58:46,655 --> 00:58:52,799 Position 100 by the way the actual position is this 766 00:58:53,055 --> 00:58:54,335 this value right now 767 00:58:56,127 --> 00:58:59,455 So let's try execute this command 768 00:59:05,087 --> 00:59:08,415 normally i didn't Used homing procedure for axis 769 00:59:08,671 --> 00:59:10,719 But this is virtual axis 770 00:59:12,255 --> 00:59:16,351 So it's not important to use homming comments 771 00:59:17,375 --> 00:59:18,399 at this case 772 00:59:20,703 --> 00:59:21,471 Then 773 00:59:22,239 --> 00:59:28,383 I say just go 200 mm and motion completed 774 00:59:30,431 --> 00:59:33,759 Let's check the homming axis comments 775 00:59:34,015 --> 00:59:36,831 there are here some parameters active homing 776 00:59:37,599 --> 00:59:43,743 Set home position active homming will not work because we didn't a assigned any 777 00:59:43,999 --> 00:59:47,071 Digital input as homing sensors 778 00:59:47,327 --> 00:59:53,215 So I will set home position and enter here the position coordinates for homing 779 00:59:53,983 --> 00:59:56,287 Let's execute command 780 00:59:56,543 --> 01:00:01,151 and actual position is set to zero 781 01:00:01,407 --> 01:00:07,551 You'll see here positioning state and home bit is set 782 01:00:11,903 --> 01:00:13,439 to logic 1 783 01:00:14,975 --> 01:00:18,047 Under the symbol browser here 784 01:00:18,303 --> 01:00:22,399 Position states if it's 785 01:00:23,935 --> 01:00:27,007 axis homing status and yes 786 01:00:29,055 --> 01:00:30,591 So well... 787 01:00:30,847 --> 01:00:32,895 axis is running well 788 01:00:33,407 --> 01:00:39,039 Let's use some functions in our program and see what would happen 789 01:00:40,831 --> 01:00:44,671 So I give up the priority of control 790 01:00:45,951 --> 01:00:49,791 So now axis is disabled and free to go 791 01:00:52,351 --> 01:00:56,703 Let's add some variables to watch table 792 01:00:58,239 --> 01:01:01,055 axis Master symbol browser 793 01:01:02,335 --> 01:01:07,711 Actual position and right click on watch table 794 01:01:08,735 --> 01:01:12,319 Let's say axis control 795 01:01:13,855 --> 01:01:14,623 Okay 796 01:01:16,415 --> 01:01:17,439 homed 797 01:01:18,719 --> 01:01:20,255 Axis Control 798 01:01:23,583 --> 01:01:26,399 if control is active or not 799 01:01:27,935 --> 01:01:30,751 Axis Control error Bit 800 01:01:37,151 --> 01:01:40,479 and motion state data and actual velocity 801 01:01:41,503 --> 01:01:45,855 lets select axis control and For the other axis virtual 802 01:01:46,623 --> 01:01:49,439 I would do the same thing 803 01:01:51,743 --> 01:01:52,767 Or 804 01:01:53,023 --> 01:01:56,351 I can copy these variables and change 805 01:02:00,703 --> 01:02:01,727 Yep 806 01:02:10,431 --> 01:02:12,223 Let's change 807 01:02:14,527 --> 01:02:15,551 Master 808 01:02:15,807 --> 01:02:21,439 Find next and replace 809 01:02:22,719 --> 01:02:24,255 Okay 810 01:02:24,511 --> 01:02:27,071 here status value 811 01:02:29,375 --> 01:02:31,423 Okay 812 01:02:35,007 --> 01:02:41,151 I want to use my variables Global device variables 813 01:02:43,455 --> 01:02:44,991 Master 814 01:02:46,015 --> 01:02:47,551 Enable master 815 01:02:47,807 --> 01:02:49,599 master enabled 816 01:02:51,391 --> 01:02:52,159 Okay 817 01:02:54,975 --> 01:02:56,511 Enable virtual true 818 01:02:58,303 --> 01:03:01,375 axis virtual and virtual enabled 819 01:03:03,423 --> 01:03:05,727 Okay 820 01:03:06,495 --> 01:03:08,799 Yep 821 01:03:13,407 --> 01:03:19,295 Virtual control is not active master control is not active 822 01:03:19,551 --> 01:03:21,599 Let's say enable master 823 01:03:22,367 --> 01:03:26,463 now wee see our master aaxis is enabled 824 01:03:27,231 --> 01:03:28,511 and here trur 825 01:03:29,279 --> 01:03:35,423 Let's enable virtual axis enabled at here 826 01:03:35,679 --> 01:03:39,263 An error on Virtual axis 827 01:03:40,287 --> 01:03:42,591 Let's say command aborted 828 01:03:43,615 --> 01:03:44,895 Okay 829 01:03:49,759 --> 01:03:51,551 enable virtual Axis 830 01:03:53,087 --> 01:03:54,879 So let's try again 831 01:03:55,135 --> 01:04:01,279 axis virtual 832 01:04:09,471 --> 01:04:15,615 So control is active and active here 833 01:04:17,407 --> 01:04:20,735 Then I'm going to disable the Master axis 834 01:04:20,991 --> 01:04:26,623 You'll see here it's inactive you'll see here is not active 835 01:04:27,647 --> 01:04:29,183 Let's try again 836 01:04:30,463 --> 01:04:32,767 active no error 837 01:04:33,023 --> 01:04:37,375 inactive no error inactive 838 01:04:37,631 --> 01:04:43,775 So let's try with motion control commands 839 01:04:44,799 --> 01:04:48,639 with start axis as position controlled 840 01:04:51,199 --> 01:04:53,759 Axis master 841 01:04:54,015 --> 01:04:55,807 velocity 842 01:04:56,319 --> 01:05:01,183 I don't want to use default settings positive direction 843 01:05:01,695 --> 01:05:07,839 So you see here the transition Behavior 844 01:05:08,095 --> 01:05:09,887 of this command is Substitute 845 01:05:10,399 --> 01:05:16,031 attach or superimpose and delay program execution setting 846 01:05:16,287 --> 01:05:19,359 What's that meaning 847 01:05:19,615 --> 01:05:23,199 If you use you substitute value for transition 848 01:05:23,711 --> 01:05:29,855 Then there is in motion interpreter related to technology object axis and 849 01:05:30,111 --> 01:05:33,183 there is a Motion command queue, let's see 850 01:05:33,439 --> 01:05:37,791 If that is an already running comments 851 01:05:38,047 --> 01:05:44,191 For instance before we execute this comments every motion comments has it 852 01:05:44,447 --> 01:05:46,239 own ID 853 01:05:46,495 --> 01:05:52,639 And name is command ID we may assign here a value as a variable 854 01:05:53,663 --> 01:05:57,759 To trace or track in Later on 855 01:05:58,015 --> 01:06:01,855 If my access is running 856 01:06:02,111 --> 01:06:08,255 When I've used this comment and let's say transition is substitute the last comment on the motion queue is canceled 857 01:06:11,839 --> 01:06:17,983 you will see here of the picture and new command will be executed 858 01:06:18,239 --> 01:06:20,799 The velocity will be changed 859 01:06:21,055 --> 01:06:22,079 also 860 01:06:22,335 --> 01:06:28,479 Ramp up or ramp down whatever if I choose another option here 861 01:06:28,735 --> 01:06:34,879 For example attach 3 trapezoidal 862 01:06:35,135 --> 01:06:41,279 Positioning based axis movement command for instance 863 01:06:41,535 --> 01:06:44,351 Let's say it's possible to 864 01:06:44,863 --> 01:06:51,007 add 3 positioning commands in our motion queue of this 865 01:06:51,263 --> 01:06:57,407 Axis is also and configuration variable located in expert list 866 01:06:58,175 --> 01:07:02,783 So when are you attached command as translation Behavior 867 01:07:03,807 --> 01:07:07,647 this command will be executed after the last command 868 01:07:09,183 --> 01:07:10,975 it's done 869 01:07:11,487 --> 01:07:12,767 So... 870 01:07:13,279 --> 01:07:18,911 Another setting attached and discard existing command meanings 871 01:07:20,191 --> 01:07:26,335 If there is 2 motion command before this actual command 872 01:07:27,615 --> 01:07:33,503 The last comments running is discarded and 873 01:07:37,343 --> 01:07:42,463 actual Axis positioning comments will be attached 874 01:07:42,719 --> 01:07:48,095 To Motion queue 875 01:07:48,351 --> 01:07:49,887 so last setting Attention please 876 01:07:50,399 --> 01:07:52,191 Superimpose 877 01:07:52,447 --> 01:07:57,823 Because these are really going to be useful for you later on 878 01:07:58,335 --> 01:08:04,479 if i select superimpose transition Behavior here the picture will be changed 879 01:08:06,527 --> 01:08:12,671 That means the last comment and this comment will be superimposed 880 01:08:12,927 --> 01:08:19,071 That's why for example the last command was set point velocity is 100 881 01:08:19,327 --> 01:08:23,935 And I see here the same velocity 882 01:08:24,191 --> 01:08:28,031 100 mm per sec as set 883 01:08:28,799 --> 01:08:34,943 So these two comments will be superimposed and I see here 200 884 01:08:35,199 --> 01:08:37,247 milimeters per sec 885 01:08:38,527 --> 01:08:40,063 When axis 886 01:08:40,319 --> 01:08:41,855 running in 887 01:08:42,879 --> 01:08:44,159 Constant velocity 888 01:08:45,183 --> 01:08:46,207 So... 889 01:08:48,255 --> 01:08:52,351 These are user definable 890 01:08:52,607 --> 01:08:55,423 so i will choose substitute 891 01:08:56,703 --> 01:09:02,847 Another setting is delay program execution if I want to use I have the check box 892 01:09:04,127 --> 01:09:05,407 Select here 893 01:09:06,687 --> 01:09:10,271 So delay program execution 894 01:09:11,551 --> 01:09:17,695 Start of deceleration phase motion start velocity reached or setpoing 895 01:09:17,951 --> 01:09:19,487 Interpolation 896 01:09:20,255 --> 01:09:22,559 or motion completed 897 01:09:23,071 --> 01:09:24,095 I mean 898 01:09:25,631 --> 01:09:31,775 It's possible to create some logic and program as acyclically 899 01:09:33,311 --> 01:09:35,871 Delay 900 01:09:36,383 --> 01:09:39,455 Program execution here 901 01:09:39,967 --> 01:09:42,783 For example 902 01:09:43,295 --> 01:09:48,927 i will execute this command and I want to execute the next command 903 01:09:49,695 --> 01:09:51,487 after motion start 904 01:09:52,511 --> 01:09:56,863 Or after axis set velocity did reached 905 01:09:57,375 --> 01:09:59,679 By the way 906 01:09:59,935 --> 01:10:02,495 There is no feedback here 907 01:10:03,263 --> 01:10:09,407 Also on the other hand there are some possibilities maybe at the meantime operator 908 01:10:09,663 --> 01:10:12,735 He's going to press the emergency stop button 909 01:10:12,991 --> 01:10:16,575 This comment will never be 910 01:10:19,647 --> 01:10:24,511 stepped or skipped to next command so we stuck here 911 01:10:25,279 --> 01:10:31,423 Then I have to check in background task the state of the motion test 912 01:10:32,959 --> 01:10:35,519 if Is it running 913 01:10:35,775 --> 01:10:37,823 Or if it's stopped 914 01:10:38,335 --> 01:10:44,479 if It takes too much time longer than usual then I have to create 915 01:10:44,735 --> 01:10:50,879 My watch dog timer in the ladder program for example to be sure 916 01:10:51,135 --> 01:10:55,743 if this command Is executed everything is fine or 917 01:10:55,999 --> 01:10:58,559 That is a problem 918 01:11:01,119 --> 01:11:03,679 This way is basic 919 01:11:04,703 --> 01:11:10,847 And it's a good way to program motion sequences with control logic 920 01:11:11,103 --> 01:11:13,919 with MCC here and simotion scout 921 01:11:14,175 --> 01:11:18,527 But there are some open points and disadvantages 922 01:11:19,039 --> 01:11:23,391 So you need to be make some progress 923 01:11:23,903 --> 01:11:27,487 And think about the all of the possiblities here 924 01:11:27,999 --> 01:11:34,143 And if you don't be careful 925 01:11:34,399 --> 01:11:40,543 Maybe there will be some bugs in your program and Machine stocks at some point after 926 01:11:40,799 --> 01:11:42,079 The operator 927 01:11:42,335 --> 01:11:46,175 has to switch off and power off your machine Maybe 928 01:11:46,431 --> 01:11:51,807 And this Case is the worst case scenario I guess 929 01:11:52,063 --> 01:11:54,367 So... 930 01:11:55,135 --> 01:11:58,463 If you are not 931 01:11:58,719 --> 01:12:01,535 Going to use the delay program execution 932 01:12:01,791 --> 01:12:07,935 Let's create some logic here so I will disable this 933 01:12:12,287 --> 01:12:14,079 Command with "hide" 934 01:12:14,591 --> 01:12:20,223 Or also it's possible to create another Motion task program and check 935 01:12:20,479 --> 01:12:21,503 The 936 01:12:21,759 --> 01:12:23,039 axis state 937 01:12:23,295 --> 01:12:26,879 Another task so there are some paralel running tasks 938 01:12:27,647 --> 01:12:33,791 2 create interlocks between two different motion tasks is another programming approach 939 01:12:36,351 --> 01:12:40,959 Let's create some new variables 940 01:12:41,471 --> 01:12:44,543 I'm going to offline mode 941 01:12:48,895 --> 01:12:51,967 So there are already defined variables 942 01:12:53,503 --> 01:12:56,831 Okay let's say 943 01:12:58,879 --> 01:13:03,487 If my Axis virtual is enabled 944 01:13:08,351 --> 01:13:09,887 Jog positive 945 01:13:10,143 --> 01:13:11,167 Virtual 946 01:13:12,191 --> 01:13:16,543 no there is no positive virtual 947 01:13:16,799 --> 01:13:20,639 Okay let's say for master axis 948 01:13:21,151 --> 01:13:23,967 if my Master axis enabled 949 01:13:33,183 --> 01:13:39,071 and master axis negative or positive axis master 950 01:13:39,327 --> 01:13:42,399 And not 951 01:13:46,239 --> 01:13:48,031 jog negative 952 01:13:51,615 --> 01:13:52,639 Okay 953 01:13:57,503 --> 01:14:01,343 Lets start axes position controlled 954 01:14:01,599 --> 01:14:03,391 cut and paste First 955 01:14:04,415 --> 01:14:09,791 Axis master substitute 956 01:14:12,351 --> 01:14:13,887 On the other hand 957 01:14:22,591 --> 01:14:27,455 If my axes master enabled and 958 01:14:27,711 --> 01:14:31,551 not jog positive master 959 01:14:31,807 --> 01:14:37,951 jog negative master than I'm going to use the negative 960 01:14:38,207 --> 01:14:39,487 velocity setpoints 961 01:14:39,743 --> 01:14:42,303 Rotate opposite sides 962 01:14:43,071 --> 01:14:49,215 of axis and the last variation is 963 01:14:52,543 --> 01:14:58,687 if axis enabled and not jog positive master and not 964 01:14:58,943 --> 01:15:02,783 jog negative master then I'm going to stop mine 965 01:15:03,039 --> 01:15:05,087 Rotating axis 966 01:15:06,623 --> 01:15:12,767 And not to axis master 967 01:15:13,023 --> 01:15:16,095 motion state data 968 01:15:19,423 --> 01:15:24,543 motion state 969 01:15:29,151 --> 01:15:31,199 not equals standstill 970 01:15:33,759 --> 01:15:35,039 Okay 971 01:15:35,295 --> 01:15:38,879 Let's say stop axis 972 01:15:39,135 --> 01:15:40,927 virtual master 973 01:15:45,791 --> 01:15:51,679 There are some options stop mode won't stop. 974 01:15:51,935 --> 01:15:58,079 Quick stop within Define periods. With Dynamic response values 975 01:15:58,335 --> 01:16:04,479 quick stop with maximum deceleration 976 01:16:04,735 --> 01:16:10,879 Default selection is stopped without abort that means after that you are able 977 01:16:11,135 --> 01:16:17,279 To continue your last motion with another Continiue motion command if you 978 01:16:17,535 --> 01:16:23,679 Select to you about you're not able to continue last motion 979 01:16:23,935 --> 01:16:29,311 Quick stop works like sinamics drives 980 01:16:32,639 --> 01:16:38,783 Off 3 emergency stop ramp off2 is Coast to stop 981 01:16:39,039 --> 01:16:42,623 So I select stop without a board 982 01:16:42,879 --> 01:16:49,023 Selection all motions when I use basic motion it will stop just Basic motion 983 01:16:49,279 --> 01:16:55,167 And I mentioned before it's possible to stop 984 01:16:55,423 --> 01:16:58,495 Just superimpose motion 985 01:16:59,007 --> 01:17:05,151 and traversing mode is position control or last set traversing mode 986 01:17:05,407 --> 01:17:06,175 Is 987 01:17:06,431 --> 01:17:07,455 Good enough 988 01:17:07,711 --> 01:17:13,599 Are the select program execution here 989 01:17:16,159 --> 01:17:19,487 dynamics response All of the variables set to default 990 01:17:20,255 --> 01:17:24,351 So I can change it or leave it 991 01:17:24,863 --> 01:17:31,007 then values will be transferred from the default page of our technology object 992 01:17:31,263 --> 01:17:32,287 Axis 993 01:17:33,567 --> 01:17:35,359 Let's say okay. 994 01:17:36,127 --> 01:17:42,271 Axis master let's compile and check if there's any mistake 995 01:17:46,111 --> 01:17:48,159 Yep. 996 01:17:49,695 --> 01:17:55,839 Okay I'm going to add my variables job positive. 997 01:17:56,095 --> 01:17:59,935 Negative axis master in the watch table 998 01:18:01,727 --> 01:18:03,519 Axis Control 999 01:18:03,775 --> 01:18:06,335 Let's go online again 1000 01:18:06,591 --> 01:18:10,175 I had to download my program 1001 01:18:10,687 --> 01:18:16,831 That's meaning the trace recorders are not available only three supporter one 1002 01:18:17,087 --> 01:18:20,159 Is available in active process operation 1003 01:18:20,671 --> 01:18:22,719 When you use 1004 01:18:23,487 --> 01:18:29,631 iso real-time Trace recording then go offline 1005 01:18:29,887 --> 01:18:34,239 That's why we lost our settings here and trace stopped 1006 01:18:34,751 --> 01:18:39,871 This message is read it related with this situation 1007 01:18:40,639 --> 01:18:44,479 So I'm going to download the program 1008 01:18:46,015 --> 01:18:48,575 CPU goes to stop mode 1009 01:18:49,599 --> 01:18:53,951 And I want to set in RUN 1010 01:18:55,743 --> 01:18:57,023 Okay. 1011 01:18:57,535 --> 01:19:00,351 Let's say a program is running 1012 01:19:01,887 --> 01:19:06,751 i will switch Axis Control 1013 01:19:07,775 --> 01:19:12,639 First of all I going to enable my axis 1014 01:19:13,663 --> 01:19:15,711 Master 1015 01:19:15,967 --> 01:19:21,087 To set the bit with control and 1 on keyboard 1016 01:19:21,599 --> 01:19:26,207 Have my master axis control is active and enabled 1017 01:19:26,719 --> 01:19:32,863 Let's use the trace functionality and set CPU 1018 01:19:33,119 --> 01:19:36,191 Operating mode to test mode here 1019 01:19:37,983 --> 01:19:41,567 Select and Trace 1020 01:19:42,335 --> 01:19:45,151 Okay new recording 1021 01:19:45,919 --> 01:19:46,943 Okay. 1022 01:19:48,223 --> 01:19:52,831 Now my program is running and this branch 1023 01:19:54,111 --> 01:19:59,487 velocity is 0 Let's. Trace it mean time 1024 01:19:59,743 --> 01:20:02,047 time diagram 1025 01:20:03,583 --> 01:20:04,607 Okay 1026 01:20:05,631 --> 01:20:10,239 Let's set the job positive axis Master 1027 01:20:10,495 --> 01:20:12,287 bit to 1028 01:20:13,055 --> 01:20:14,592 True 1029 01:20:15,872 --> 01:20:17,408 Okay 1030 01:20:17,664 --> 01:20:20,736 now i gets an alarm 1031 01:20:20,992 --> 01:20:22,016 It's 1032 01:20:22,272 --> 01:20:27,392 30002 that means command aborted 1033 01:20:27,648 --> 01:20:33,792 Because I'm using the substitute start axis positioning 1034 01:20:34,048 --> 01:20:35,584 Comments 1035 01:20:36,096 --> 01:20:37,376 Each cycle 1036 01:20:37,888 --> 01:20:40,960 So let's see the trace 1037 01:20:42,752 --> 01:20:48,896 actual position is rising actual state is already reached 1038 01:20:49,152 --> 01:20:52,736 to set speed with trapezoidal 1039 01:20:54,016 --> 01:20:59,904 So let's say set bit to 0 1040 01:21:03,232 --> 01:21:09,376 Now my stop, executed just once you see your 1041 01:21:10,144 --> 01:21:11,680 ramp down 1042 01:21:12,704 --> 01:21:17,056 How do you can calculate the ramp down time 1043 01:21:18,848 --> 01:21:20,896 with measuring cursor 1044 01:21:22,176 --> 01:21:27,040 And that's delta T is almost 100 milliseconds 1045 01:21:28,576 --> 01:21:29,856 Yep 1046 01:21:32,416 --> 01:21:38,304 So let's change my command parameters 1047 01:21:39,072 --> 01:21:43,424 Your first of all I have to switch off the trace 1048 01:21:47,008 --> 01:21:51,360 Dynamic response velocity profile 1049 01:21:51,872 --> 01:21:54,176 smooth velocity profile 1050 01:21:55,456 --> 01:21:59,552 Acceleration 1051 01:21:59,808 --> 01:22:01,088 Jerk 1052 01:22:02,880 --> 01:22:09,024 Okay 1053 01:22:12,608 --> 01:22:17,984 Another way you can Define time for constant traversing time 1054 01:22:18,240 --> 01:22:22,336 After that axis is going to 1055 01:22:22,848 --> 01:22:24,384 Deceleration phase 1056 01:22:26,176 --> 01:22:27,712 It's possible to use 1057 01:22:27,968 --> 01:22:29,760 simotion 1058 01:22:30,784 --> 01:22:32,320 Okay 1059 01:22:33,344 --> 01:22:36,160 And other commands 1060 01:22:36,416 --> 01:22:37,952 Negative Direction 1061 01:22:38,976 --> 01:22:41,024 Let's say 1062 01:22:41,536 --> 01:22:46,144 It's not work because I have to choose here from velocity sign 1063 01:22:47,936 --> 01:22:49,984 with smooth profile 1064 01:22:50,496 --> 01:22:53,824 Different parameters here 1065 01:22:54,080 --> 01:22:58,688 Is really flexible for programming 1066 01:22:58,944 --> 01:23:04,064 Adjust each S curve profile individually 1067 01:23:07,904 --> 01:23:11,232 I have to compile 1068 01:23:13,792 --> 01:23:16,096 Before download 1069 01:23:24,032 --> 01:23:25,568 So 1070 01:23:27,872 --> 01:23:33,248 Let's try to download 1071 01:23:41,184 --> 01:23:47,328 source change has failed it's not possible during run 1072 01:23:47,584 --> 01:23:49,120 Maybe that's why 1073 01:23:49,376 --> 01:23:52,192 I'm going to disable my axis 1074 01:23:53,984 --> 01:23:56,800 Okay let's try again 1075 01:24:05,248 --> 01:24:07,552 it Is downloaded this time 1076 01:24:08,320 --> 01:24:12,672 Yep let's start trace 1077 01:24:12,928 --> 01:24:18,816 And see what will happen after enable to axis 1078 01:24:21,632 --> 01:24:25,984 Yeah that is an alarm but control is active 1079 01:24:26,496 --> 01:24:28,800 Let's say 1080 01:24:29,056 --> 01:24:30,848 Jog positive 1081 01:24:32,896 --> 01:24:38,528 Yeah you'll see here to smooth velocity profile 1082 01:24:39,040 --> 01:24:41,856 during ramp down 1083 01:24:42,880 --> 01:24:45,184 That is a harsh 1084 01:24:46,720 --> 01:24:52,864 ramp down phase let's say because of the stop don't we use your 1085 01:24:53,120 --> 01:24:54,400 Stop comments 1086 01:24:55,680 --> 01:24:59,776 Let's set bit negative jog true 1087 01:25:01,824 --> 01:25:04,384 you will see here negative direction and negative velocity 1088 01:25:05,664 --> 01:25:10,016 Let's stop with stop command 1089 01:25:19,488 --> 01:25:25,632 So basically 1090 01:25:25,888 --> 01:25:27,168 Axis controlled 1091 01:25:27,936 --> 01:25:29,728 in speed mode 1092 01:25:32,032 --> 01:25:34,848 Let's make some changes 1093 01:25:36,896 --> 01:25:40,992 In our MCC program 1094 01:25:42,528 --> 01:25:43,552 So... 1095 01:25:44,064 --> 01:25:50,208 Wait time, wait for axis or wait for signal and wait for some Condition 1096 01:25:51,232 --> 01:25:54,816 What do you have created already 1097 01:25:57,888 --> 01:26:04,032 sub routine is possible to use some programs inside MCC charts you can create some programs 1098 01:26:04,288 --> 01:26:10,432 or function blocks or functions in other languages like ST or Ladder 1099 01:26:10,688 --> 01:26:15,040 You can just call them inside your MCC program 1100 01:26:16,064 --> 01:26:22,208 With system function call you drag and drop whatever you want from command Library 1101 01:26:25,280 --> 01:26:27,072 So... 1102 01:26:27,584 --> 01:26:33,728 There are some comments for set output and reset output we have already used available 1103 01:26:33,984 --> 01:26:39,616 it's possible to make assignments here 1104 01:26:39,872 --> 01:26:41,152 It's one time 1105 01:26:41,920 --> 01:26:46,016 With several variables at this case 1106 01:26:46,272 --> 01:26:50,112 I prefer to choose uninterruptible assignments 1107 01:26:51,136 --> 01:26:57,280 that's way I will be sure all of the list and assignments. 1108 01:26:57,536 --> 01:26:59,584 In one cycle 1109 01:27:00,608 --> 01:27:04,192 Is it possible to use 1110 01:27:04,960 --> 01:27:08,032 Structure text comments inside 1111 01:27:08,288 --> 01:27:10,336 MCC chart 1112 01:27:13,920 --> 01:27:18,528 Unfortunately this is not quite 1113 01:27:19,296 --> 01:27:21,600 good IDE 1114 01:27:21,856 --> 01:27:28,000 For us programmers when you compare with documents reduced to the environment 1115 01:27:28,256 --> 01:27:29,792 Colorization 1116 01:27:30,048 --> 01:27:32,352 Or code Snippets 1117 01:27:32,864 --> 01:27:34,656 it's not so advanced 1118 01:27:34,912 --> 01:27:40,288 So sometimes you have to copy and paste your comment from 1119 01:27:40,544 --> 01:27:43,616 Other windows so... 1120 01:27:45,664 --> 01:27:51,808 Another comments are activation and deactivation simulation objects 1121 01:27:52,064 --> 01:27:54,880 Reset object is for resetting 1122 01:27:55,136 --> 01:27:59,744 And acknowledging technology object alarms 1123 01:28:01,536 --> 01:28:04,352 You're select here for example 1124 01:28:04,608 --> 01:28:08,448 we use this command at startup desk 1125 01:28:11,520 --> 01:28:14,336 Startup program 1126 01:28:14,848 --> 01:28:17,664 Should be here I will open it 1127 01:28:19,200 --> 01:28:21,504 So that's supposed to you 1128 01:28:24,320 --> 01:28:25,344 Yeah 1129 01:28:27,648 --> 01:28:30,720 So next thing operating States 1130 01:28:31,232 --> 01:28:37,376 it Is possible to only the stop user program or stop the CPU 1131 01:28:42,752 --> 01:28:48,896 Activating the trigger for starting Trace is possible 1132 01:28:49,152 --> 01:28:50,944 Inside your program 1133 01:28:51,200 --> 01:28:53,248 This is just for call command block 1134 01:28:56,064 --> 01:28:57,344 Okay 1135 01:28:57,600 --> 01:29:02,464 Next group task commands you have already used before 1136 01:29:03,232 --> 01:29:07,328 There are some program structure why do 1137 01:29:08,608 --> 01:29:10,656 And while 1138 01:29:12,192 --> 01:29:17,312 Through is an endless loop here 1139 01:29:23,968 --> 01:29:28,832 For Loop / until loop / case ... 1140 01:29:29,856 --> 01:29:31,648 Is possible to use 1141 01:29:32,160 --> 01:29:36,256 The labels and jump comment in your program 1142 01:29:37,024 --> 01:29:40,096 At exit the loop Continiue for Loop 1143 01:29:41,120 --> 01:29:42,400 And so on... 1144 01:29:42,912 --> 01:29:45,216 There are some communication blocks 1145 01:29:47,520 --> 01:29:51,360 These comments are acknowledging technology object alarms 1146 01:29:51,872 --> 01:29:56,992 Acknowledge all alarms reset object means 1147 01:29:57,248 --> 01:30:00,320 We want to set or restart one object 1148 01:30:00,576 --> 01:30:02,112 This is the difference 1149 01:30:04,928 --> 01:30:06,208 So... 1150 01:30:06,720 --> 01:30:12,608 Incoming message and outgoing message related with alarm as function 1151 01:30:13,632 --> 01:30:16,704 So when we want to use 1152 01:30:16,960 --> 01:30:20,032 TCP IP communication and this command 1153 01:30:20,288 --> 01:30:26,432 We will use this comment on the other hand if we want to use send and receive data 1154 01:30:26,688 --> 01:30:30,528 MPI Network we will use this command 1155 01:30:30,784 --> 01:30:34,112 It's similar to xsend comment 1156 01:30:34,624 --> 01:30:35,648 Yep 1157 01:30:36,160 --> 01:30:41,792 Let's continue with axis commands 1158 01:30:51,520 --> 01:30:54,848 MCC Axis Control 1159 01:30:58,944 --> 01:31:00,736 Yes 1160 01:31:02,528 --> 01:31:06,624 Another motion control comments will be 1161 01:31:06,880 --> 01:31:08,416 Continiue motion 1162 01:31:08,928 --> 01:31:13,024 I mentioned before and homing axis 1163 01:31:14,560 --> 01:31:17,376 And positioning axis 1164 01:31:19,936 --> 01:31:23,520 Travel to fixed and store is 1165 01:31:23,776 --> 01:31:25,824 Another useful function 1166 01:31:26,848 --> 01:31:29,664 When you want to mechanically 1167 01:31:30,432 --> 01:31:32,224 Home your axes 1168 01:31:32,992 --> 01:31:35,552 or Just set 1169 01:31:35,808 --> 01:31:37,088 Torque limits 1170 01:31:38,112 --> 01:31:41,184 and Move some objects 1171 01:31:41,696 --> 01:31:42,976 to end stop 1172 01:31:43,744 --> 01:31:49,888 There are also other useful functions for load sharing or torque limitation 1173 01:31:51,424 --> 01:31:52,448 Yep 1174 01:31:52,704 --> 01:31:58,848 Measuring system we will used to adjust the actual values from 1175 01:31:59,104 --> 01:32:00,384 Encoders 1176 01:32:00,896 --> 01:32:04,736 Online correction is similar 1177 01:32:05,504 --> 01:32:09,600 Set axis parameter we will used to change 1178 01:32:10,112 --> 01:32:11,904 The axis parameters 1179 01:32:12,672 --> 01:32:17,792 That are also several other comments did it command queue 1180 01:32:18,048 --> 01:32:24,192 Used to clear all of the comments inside the motion queue 1181 01:32:25,728 --> 01:32:29,824 and switch to parameter set is similar to 1182 01:32:30,592 --> 01:32:33,664 Switch axis data set 1183 01:32:34,432 --> 01:32:40,576 So there are some comments for external encoders and measuring inputs 1184 01:32:40,832 --> 01:32:42,368 cam outputs 1185 01:32:43,392 --> 01:32:49,536 So when we use external encoder to calculate actual value 1186 01:32:49,792 --> 01:32:54,400 First I have to enable external and 1187 01:32:55,424 --> 01:32:59,776 Synchronize external encoder is possible to 1188 01:33:00,032 --> 01:33:03,104 Adjust the actual value shifting 1189 01:33:04,128 --> 01:33:07,200 encoder monitoring on and off 1190 01:33:07,456 --> 01:33:08,992 it's 1191 01:33:10,528 --> 01:33:13,088 Some cases necessary 1192 01:33:13,344 --> 01:33:19,488 When you remove your encoder or SMC sensor 1193 01:33:20,768 --> 01:33:23,584 Sometimes you have to use 1194 01:33:24,864 --> 01:33:29,216 measuring inputs we will describe 1195 01:33:29,984 --> 01:33:31,776 First here 1196 01:33:34,336 --> 01:33:37,152 As insert measuring inputs 1197 01:33:39,968 --> 01:33:46,112 We will process in IPO cycle should be the same cycle with axis 1198 01:33:46,624 --> 01:33:52,768 I'm measuring system no the enter here which encoder we will use 1199 01:33:54,304 --> 01:33:59,936 It's possible to detect on rising or falling edge of this fast input 1200 01:34:00,192 --> 01:34:01,728 Actual value 1201 01:34:01,984 --> 01:34:03,520 of the encoder 1202 01:34:04,288 --> 01:34:09,408 we will select the hardware side which input do you want to use 1203 01:34:12,480 --> 01:34:15,296 Also there's some activation time 1204 01:34:15,808 --> 01:34:21,952 Plus or minus for this measuring input and I have to choose from the list 1205 01:34:22,208 --> 01:34:25,792 One control unit or 1206 01:34:26,048 --> 01:34:28,608 And sinamics side of fast inputs 1207 01:34:31,680 --> 01:34:34,240 Cam outputs 1208 01:34:34,496 --> 01:34:40,640 Also measuring input has its own expert list and parameter list similar to axis technology 1209 01:34:43,712 --> 01:34:49,856 cam output is similar fast output Hardware integrated digital output 1210 01:34:50,112 --> 01:34:56,000 Should be used or proper terminal Modules 1211 01:34:56,256 --> 01:35:00,096 Have to be connected together Drive click interface 1212 01:35:00,608 --> 01:35:06,752 output cam type should be position based or time based cam 1213 01:35:07,008 --> 01:35:10,336 unidirectional cam type possible 1214 01:35:10,592 --> 01:35:13,920 Type of output cam values 1215 01:35:14,944 --> 01:35:19,296 Possible to be set points or actual value 1216 01:35:22,112 --> 01:35:28,256 It is possible to activate the output as real output on module 1217 01:35:28,512 --> 01:35:34,656 Or it's possible to use inside the program as and soft output 1218 01:35:35,424 --> 01:35:40,288 we will examine more detail later on in next chapters 1219 01:35:41,824 --> 01:35:47,968 This is just information right now after we describe and 1220 01:35:48,224 --> 01:35:50,784 Define our technology objects 1221 01:35:52,064 --> 01:35:54,624 we can use 1222 01:35:54,880 --> 01:35:56,928 The comments here 1223 01:35:57,696 --> 01:36:01,280 Activate measuring input just 1224 01:36:02,816 --> 01:36:04,608 Setup a trigger 1225 01:36:04,864 --> 01:36:06,144 for measuring input 1226 01:36:06,912 --> 01:36:09,728 there is a activate measuring input command 1227 01:36:10,240 --> 01:36:16,384 Also that are similar functions for switching them on and 1228 01:36:16,640 --> 01:36:18,944 Switching off 1229 01:36:21,760 --> 01:36:24,320 There's another technology objects 1230 01:36:24,576 --> 01:36:25,600 cam track 1231 01:36:25,856 --> 01:36:28,672 It's like a pulse train outputs 1232 01:36:31,744 --> 01:36:37,888 In most of application and motion control it is a requirement 1233 01:36:38,912 --> 01:36:40,192 By the way 1234 01:36:41,216 --> 01:36:45,824 So next, group is gearing and cam comments 1235 01:36:46,080 --> 01:36:48,128 gear on and gear off 1236 01:36:48,896 --> 01:36:54,784 velocity gear on off cam on and off 1237 01:36:55,296 --> 01:37:01,440 Switch master setpoints and parameterize cams so... 1238 01:37:01,696 --> 01:37:07,584 This is just a quick overview of all of the motion comands 1239 01:37:08,352 --> 01:37:10,400 for MCC programming 1240 01:37:11,424 --> 01:37:17,568 You can do some exercises with lecture notes and go into detail 1241 01:37:17,824 --> 01:37:19,872 And read about the 1242 01:37:20,896 --> 01:37:23,968 You know the descriptions 1243 01:37:24,736 --> 01:37:27,040 Inside the notes 1244 01:37:27,808 --> 01:37:32,928 Do your own examples and test with 1245 01:37:33,184 --> 01:37:37,024 siMotion simulation on your PC it's possible 1246 01:37:37,792 --> 01:37:43,936 Because there are a lot of possibilities when your programming a machine 1247 01:37:44,192 --> 01:37:46,752 in Industrial Automation area 1248 01:37:47,776 --> 01:37:52,128 So it's really flexible Hardware 1249 01:37:52,640 --> 01:37:54,432 Right now 1250 01:37:54,944 --> 01:37:56,992 Basiccaly 1251 01:37:57,248 --> 01:38:03,392 We are going to finish our chapter 8 program 1252 01:38:03,648 --> 01:38:05,184 MCC 1253 01:38:06,208 --> 01:38:09,792 I was setting here a couple of things more 1254 01:38:10,048 --> 01:38:13,888 There are a couple of information in my mind 1255 01:38:14,144 --> 01:38:16,704 I want to give you 1256 01:38:20,288 --> 01:38:25,152 When you right-click on MCC units that are some options here 1257 01:38:26,432 --> 01:38:28,992 save variables 1258 01:38:29,248 --> 01:38:31,808 restore the retain data 1259 01:38:33,600 --> 01:38:36,160 save in your memory card or any folder 1260 01:38:39,744 --> 01:38:42,816 To any folder at your PC 1261 01:38:43,584 --> 01:38:46,912 Is just like an snapshot 1262 01:38:47,424 --> 01:38:52,032 Taking a image picture of your current run time 1263 01:38:53,824 --> 01:38:59,968 So another feature for MCC unit is export as 1264 01:39:00,224 --> 01:39:01,248 ST file 1265 01:39:03,296 --> 01:39:09,440 That means you can convert you're MCC programs to structure takes let's see what it says 1266 01:39:09,696 --> 01:39:11,488 Looks like 1267 01:39:11,744 --> 01:39:14,560 I was selected the temporary folder 1268 01:39:15,584 --> 01:39:20,448 All of the sub-programs 1269 01:39:21,472 --> 01:39:23,264 Exported 1270 01:39:24,032 --> 01:39:25,824 it is done 1271 01:39:27,616 --> 01:39:31,456 So let's go on temporary folder 1272 01:39:32,736 --> 01:39:37,856 And I see here mcc unit 1 1273 01:39:38,112 --> 01:39:42,208 That's right quick and open edit with notepad plus plus 1274 01:39:42,976 --> 01:39:44,256 So 1275 01:39:44,768 --> 01:39:50,912 This is the ST code use package and Technology package type description 1276 01:39:51,168 --> 01:39:54,240 Program program program program 1277 01:39:54,752 --> 01:40:00,896 This is the interface section there are some retained Global variables that are some 1278 01:40:01,152 --> 01:40:06,272 global exportable variables this is the implementation section 1279 01:40:07,040 --> 01:40:13,184 This is the description on defining of the first program at MCC 1280 01:40:13,440 --> 01:40:14,976 Axis Control 1281 01:40:15,232 --> 01:40:20,608 There are some compiler options here warning off 1282 01:40:21,632 --> 01:40:24,704 And you see if conditions 1283 01:40:25,216 --> 01:40:27,008 some TSI 1284 01:40:29,056 --> 01:40:30,592 User 1285 01:40:31,104 --> 01:40:37,248 suspend task about and so additional system and compile 1286 01:40:37,504 --> 01:40:38,528 Comment 1287 01:40:39,552 --> 01:40:45,696 So it's looks like this normally that are too much more comments 1288 01:40:46,464 --> 01:40:48,768 Then we use 1289 01:40:51,840 --> 01:40:53,376 Okay 1290 01:40:53,632 --> 01:40:59,520 It's possible to import this structure text in your project 1291 01:40:59,776 --> 01:41:04,128 and it will work as the same way with MCC program 1292 01:41:07,712 --> 01:41:10,016 Just for your information 1293 01:41:15,392 --> 01:41:21,536 So let's try and inserts and function block 1294 01:41:21,792 --> 01:41:25,376 Function 1295 01:41:27,936 --> 01:41:33,312 Set and reset Bits 1296 01:41:40,480 --> 01:41:45,600 Then I have to Define some IO symbols / words 1297 01:41:46,112 --> 01:41:48,416 As input and output here 1298 01:41:49,696 --> 01:41:54,304 Local parameter or variable I supposed to enter 1299 01:41:55,328 --> 01:42:01,472 initial values and commands 1300 01:42:02,240 --> 01:42:06,080 Another input 1301 01:42:06,848 --> 01:42:12,480 outputs 1302 01:42:12,736 --> 01:42:18,112 data type 1303 01:42:18,368 --> 01:42:22,464 Not not possible 1304 01:42:27,072 --> 01:42:30,656 So let's go to offline mode 1305 01:42:37,056 --> 01:42:40,384 Yep 1306 01:42:40,640 --> 01:42:46,784 enumeration as var available 1307 01:42:47,040 --> 01:42:52,672 Sorry I have to describe here for input output 1308 01:43:02,144 --> 01:43:08,288 So it's really a bad editor to use that's why we're not using MCC create function blocks 1309 01:43:08,544 --> 01:43:14,688 Set 1310 01:43:14,944 --> 01:43:21,088 and resets 1311 01:43:21,344 --> 01:43:24,160 output Q 1312 01:43:24,416 --> 01:43:28,000 var_INPUT 1313 01:43:31,072 --> 01:43:32,864 var_OUTPUT 1314 01:43:39,520 --> 01:43:42,592 It's simple logic 1315 01:43:42,848 --> 01:43:45,408 as ladder here 1316 01:43:59,488 --> 01:44:02,048 okay 1317 01:44:03,840 --> 01:44:05,120 Send through 1318 01:44:08,960 --> 01:44:11,520 Set some output 1319 01:44:11,776 --> 01:44:16,896 It's possible okay I will delete 1320 01:44:26,112 --> 01:44:29,952 My computer is working really slow due to webcam 1321 01:44:32,768 --> 01:44:33,536 Yep 1322 01:44:37,120 --> 01:44:41,472 Let's say I'll create a assign 1323 01:44:59,904 --> 01:45:03,488 Not recognizable 1324 01:45:07,072 --> 01:45:13,216 Okay I will cancel let's use ST zoom 1325 01:45:18,080 --> 01:45:21,664 Copy output 1326 01:45:21,920 --> 01:45:23,712 True 1327 01:45:24,992 --> 01:45:28,320 Otherwise it's equals to zero 1328 01:45:31,392 --> 01:45:33,952 Yeah let's compile 1329 01:45:45,216 --> 01:45:50,080 I see data type is empty okay 1330 01:46:02,880 --> 01:46:03,904 You 1331 01:46:18,752 --> 01:46:24,384 so let's call or user-defined function block from another program 1332 01:46:24,640 --> 01:46:26,432 from motion task 1 1333 01:46:33,344 --> 01:46:38,208 Okay 1334 01:46:39,488 --> 01:46:45,632 lets drag and drop here not possible I have 1335 01:46:45,888 --> 01:46:46,912 To use 1336 01:46:47,424 --> 01:46:49,984 The system function 1337 01:46:50,496 --> 01:46:54,592 subroutine 1338 01:46:54,848 --> 01:46:56,896 For subroutine call 1339 01:46:57,920 --> 01:47:04,064 Access unit 1 Source function below 1340 01:47:04,320 --> 01:47:09,696 Cancel an instance set reset 1341 01:47:10,464 --> 01:47:14,048 Define the instance 1342 01:47:16,864 --> 01:47:21,472 Now I am able to connect the input and output values 1343 01:47:22,240 --> 01:47:25,568 For example i say 1344 01:47:26,592 --> 01:47:28,384 And 1345 01:47:28,640 --> 01:47:29,920 Compile 1346 01:47:38,368 --> 01:47:43,488 Okay 1347 01:47:44,256 --> 01:47:47,072 This is a simple examples 1348 01:47:47,328 --> 01:47:53,472 I will stop right now to take a break 1349 01:47:53,728 --> 01:47:55,264 See you next time