LauMotion

25 Mar 2022

Here is some code i used for testing back in 2016, for two X axis.
Hope it helps:-)

	(******* Main Program, State Machine  *******)
	
CASE nState OF
0:  (******* Manual mode *******)
    IF nState <> 60 AND NOT bTestLaser THEN bTurnLaserOn := FALSE; ELSE bTurnLaserOn := TRUE;  END_IF 
	(* Home Axis *)
	fbMC_HomeX(Axis:=  X_AXIS, Execute:=bHomeX , Position:=0 , HomingMode:=0 , bCalibrationCam:=NOT bHome_X_CAM ,);
    fbMC_HomeX2(Axis:= X2_AXIS,Execute:=bHomeX , Position:=0 , HomingMode:=0 , bCalibrationCam:=NOT bHome_X2_CAM ,);
    fbMC_HomeY(Axis:=  Y_AXIS, Execute:=bHomeY , Position:=0 , HomingMode:=0 , bCalibrationCam:=NOT bHome_Y_CAM ,);
	(* Jog Axis*)
	
	
	IF iJogMode = 1 THEN JogMode := MC_JOGMODE_STANDARD_FAST ; END_IF;
	IF iJogMode = 2  THEN JogMode := MC_JOGMODE_INCHING   ; END_IF;
	IF iJogMode = 3  THEN JogMode := MC_JOGMODE_INCHING   ; END_IF;
	IF iJogMode = 4  THEN JogMode := MC_JOGMODE_INCHING   ; END_IF;
	IF iJogMode = 5  THEN JogMode := MC_JOGMODE_INCHING   ; END_IF;
    fbMC_Jog_Y(Axis:=  Y_AXIS, JogForward:= bJogForwardY,JogBackwards:=bJogBackwardsY,Mode:= JogMode,Velocity:=800,Position:=lrJogDistance,);  	
    fbMC_Jog_X(Axis:=  X_AXIS, JogForward:= bJogForwardX,JogBackwards:=bJogBackwardsX,Mode:= JogMode,Velocity:=800,Position:=lrJogDistance,);
    fbMC_Jog_X2(Axis:= X2_AXIS,JogForward:= bJogForwardX,JogBackwards:=bJogBackwardsX,Mode:= JogMode,Velocity:=800,Position:=lrJogDistance,); 
    (* Store Zero shift G54 *)
    IF bZeroX THEN arr_ZeroShiftDesc[54].fShiftX:= X_AXIS.NcToPlc.ActPos; END_IF;
	IF bZeroY THEN arr_ZeroShiftDesc[54].fShiftY:= Y_AXIS.NcToPlc.ActPos; END_IF;
	(* Run A G-code *)
	IF bExec THEN bBusy	:= TRUE;bErr	:= FALSE;nErrId	:= 0;nLastState	:= 0;nState := 10;END_IF
	
10: (******* build interpolation group *******)
	fbBuildGrp(bExecute	:= TRUE ,nGroupId	:= ItpGetGroupId(sNciToPlc:= in_stItpToPlc),nXAxisId	:=  X_AXIS.NcToPlc.AxisId,nYAxisId	:=  Y_AXIS.NcToPlc.AxisId,tTimeOut:= T#200MS);
    IF NOT fbBuildGrp.bBusy THEN fbBuildGrp( bExecute := FALSE );IF NOT fbBuildGrp.bErr THEN nState	:= 11;
	ELSE (* an error occured *) bErr:= TRUE; nErrId	:= fbBuildGrp.nErrId; nLastState:= nState; nState:= 510; END_IF END_IF
	
11: (******* Write ZeroShift [G54] *******)			
	fbItpWriteZeroShiftEx(bExecute:= TRUE,nZsNo:= 54,tTimeOut:= T#2S,sNciToPlc:= in_stItpToPlc,sZeroShiftDesc:= arr_ZeroShiftDesc[54],);
	IF NOT fbItpWriteZeroShiftEx.bBusy THEN fbItpWriteZeroShiftEx(bExecute:= FALSE,nZsNo:= 54,tTimeOut:= T#2S,sNciToPlc:= in_stItpToPlc,sZeroShiftDesc:= arr_ZeroShiftDesc[54], );	
	IF NOT fbItpWriteZeroShiftEx.bErr THEN nState:= 12; 
    ELSE (* an error occured *)  bErr:= TRUE; nErrId:= fbItpWriteZeroShiftEx.nErrId; nLastState	:= nState; nState:= 510; END_IF END_IF;	
				
12: (******* Write R Parameters *******)	
    fbItpWriteRParamsEx(bExecute:= TRUE, pAddr:= ADR (arr_R_ParameterToNci), nIndex:= 0, nCount:= SIZEOF(arr_R_ParameterToNci) / SIZEOF(arr_R_ParameterToNci[1]), tTimeOut:= T#2S, sNciToPlc:= in_stItpToPlc, );		
    IF NOT fbItpWriteRParamsEx.bBusy THEN
	fbItpWriteRParamsEx(bExecute:= FALSE, pAddr:= ADR (arr_R_ParameterToNci), nIndex:= 0, nCount:= SIZEOF(arr_R_ParameterToNci) / SIZEOF(arr_R_ParameterToNci[1]), tTimeOut:= T#2S, sNciToPlc:= in_stItpToPlc,);	IF NOT fbItpWriteRParamsEx.bErr THEN 
	iIndex:=1;   nState:= 13;
	ELSE (* an error occured *)bErr:= TRUE; nErrId:= fbItpWriteRParamsEx.nErrId; nLastState:=nState;nState:= 510;END_IF END_IF
	
13:	(******** Write Tool Parameters *******)	
	fbItpWriteToolDescEx(bExecute:= TRUE,nDNo:= iIndex, tTimeOut:= T#2S, sNciToPlc:=in_stItpToPlc , sToolDesc:= arr_ToolDescToNci[iIndex], );
    IF NOT fbItpWriteToolDescEx.bBusy THEN fbItpWriteToolDescEx(bExecute:= FALSE, nDNo:= 1, tTimeOut:= T#2S, sNciToPlc:=in_stItpToPlc , sToolDesc:= arr_ToolDescToNci[1],);
	IF NOT fbItpWriteToolDescEx.bErr THEN 
	nState := 14;
	ELSE (* an error occured *) bErr:= TRUE;nErrId	:= fbItpWriteToolDescEx.nErrId; nLastState	:= nState; nState:= 510;END_IF END_IF
	
14: (******** Check if more Tool Parameters *******)

    IF iIndex = 2 THEN nState:= 20; ELSE iIndex:= iIndex +1 ;  nState := 13 ; END_IF
	
20:(******* load part program *******)
	fbLoadProg(bExecute	:= TRUE,sPrg:= sFileName,nLength:= LEN(sFileName),tTimeOut:= T#200MS,sNciToPlc:=in_stItpToPlc);
    IF NOT fbLoadProg.bBusy THEN fbLoadProg( bExecute:=FALSE, sNciToPlc:=in_stItpToPlc);IF NOT fbLoadProg.bErr THEN nState	:= 30;
	ELSE(* an error occured *)bErr:= TRUE;nErrId:= fbLoadProg.nErrId;nLastState:=nState;nState:= 510;END_IF END_IF

30:(******* wait until interpreter is in ready state *******)
    nItpState	:=	ItpGetStateInterpreter(  in_stItpToPlc );
	IF nItpState = NCI_INTERPRETER_READY THEN
	(* load part program succeeded *) 
    nState	:= 31;
	ELSIF nItpState = NCI_INTERPRETER_ABORTED THEN
	(* load program failed - probably there is a load time error, e.g. syntax error *)
	(* add error handling here *)bErr:= TRUE;nErrId	:= 4711;	(* substitute with own error code *)   nLastState:= nState;nState:= 510;	END_IF

31:(******* Gear In X + X2 *******)
    fbMC_GearIn(Master:= X_AXIS,Slave:= X2_AXIS,Execute:= TRUE,RatioNumerator:=1,RatioDenominator:=1,);
    IF fbMC_GearIn.InGear THEN fbMC_GearIn( Master:= X_AXIS, Slave:= X2_AXIS, Execute:= FALSE,);IF NOT fbMC_GearIn.Error THEN nState	:= 40;     
    ELSE (* an error occured *)bErr		:= TRUE;nErrId	:= fbMC_GearIn.ErrorID;nLastState:= nState;nState:= 510;END_IF END_IF 

40:(******* start part program *******)
	fbStart(bStart	:= TRUE,bStop		:= FALSE,tTimeOut	:= T#200MS,sNciToPlc:= in_stItpToPlc );
    IF NOT fbStart.bBusy THEN fbStart( bStart:=FALSE, sNciToPlc:=in_stItpToPlc );IF NOT fbStart.bErr THEN nState:= 50;
	ELSE(* an error occured *)bErr:= TRUE;nErrId:= fbStart.nErrId;nLastState	:= nState;nState	:= 510;END_IF END_IF

50: (******* check if the part program is really started *******)
	(* as long as the part program is active we are not in the ready state *)
	(* if the part program has finished without an error we switch back to the ready state *)
	(* if the program has finished with an error the interpreter is in the aborted state *)
	nItpState	:=	ItpGetStateInterpreter( in_stItpToPlc );
	IF nItpState <> NCI_INTERPRETER_READY THEN
	nState	:= 60; END_IF
	
	
	
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	
	
	
60: (******* Running State *******)
    (* Stop *)
	
	IF bStop THEN nState := 61; END_IF;
	(* confirm m-func - e.g. m30 *)
	
	bTurnLaserOn := ItpIsFastMFunc( nFastMFuncNo:= FastMFuncs.M22_LaserOn,sNciToPlc:= in_stItpToPlc );
	
	(* Laser Power *)
	
	IF ( ItpIsHskMFunc(in_stItpToPlc) ) THEN bConfirm:= TRUE; ELSE bConfirm	:= FALSE; END_IF
	fbConfirm(bExecute:= bConfirm,sNciToPlc:= in_stItpToPlc,sPlcToNci:=  out_stPlcToItp );IF NOT fbConfirm.bBusy THEN IF fbConfirm.bErr 
    THEN(* an error occured *)
	(* this usually can just occur, if a confirmation is triggered without a request *)	
	bErr:= TRUE; nErrId	:= fbStart.nErrId; nLastState	:= nState; nState	:= 510; END_IF END_IF
    nItpState:=	ItpGetStateInterpreter(  in_stItpToPlc );
	IF nItpState = NCI_INTERPRETER_READY THEN
	(* part program is finished without an error *)
	fbConfirm( bExecute:= FALSE, sNciToPlc:=  in_stItpToPlc, sPlcToNci:=  out_stPlcToItp );
	nState	:= 69;
	ELSIF nItpState = NCI_INTERPRETER_ABORTED THEN
	(* a runtime error occured - e.g. a lag distance error occured *)
	 bErr:= TRUE;  nErrId	:= ItpGetError(in_stItpToPlc);nLastState:= nState;nState:= 510;	END_IF
	 
	 
	 
	 
	 
	 
	 
	 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	

	 
61: (******* Stop State *******)
    
    bTurnLaserOn:= FALSE;
    fbItpEStopEx(sNciToPlc:=in_stItpToPlc,bExecute:=TRUE,);
	IF NOT fbItpEStopEx.bBusy THEN 
	fbItpEStopEx(sNciToPlc:=in_stItpToPlc,bExecute:=FALSE,);
	IF NOT fbItpEStopEx.bErr THEN nState := 62;
    ELSE(* an error occured *)bErr:= TRUE;nErrId:= fbItpEStopEx.nErrId;nLastState:= nState;nState:= 510;END_IF  END_IF

62:(******* Restart Part Program *******)
    IF bReset THEN nState := 63; END_IF 
    IF bExec THEN fbItpStepOnAfterEStop(bExecute:=TRUE,nGrpId:=5,);
	IF NOT fbItpStepOnAfterEStop.bBusy THEN	
	fbItpStepOnAfterEStop(bExecute:=FALSE,nGrpId:=5,);
	IF NOT fbItpStepOnAfterEStop.bErr THEN nState := 60;
	ELSE(* an error occured *)bErr:= TRUE;nErrId:= fbItpStepOnAfterEStop.nErrId;nLastState	:= nState;nState	:= 510;END_IF END_IF END_IF 
  
	
	
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	
	
	
63: (******* Reset *******)
	fbItpResetEx2(bExecute:=TRUE ,sNciToPlc:=in_stItpToPlc , );
	IF NOT fbItpResetEx2.bBusy THEN
	fbItpResetEx2(bExecute:=FALSE,sNciToPlc:=in_stItpToPlc,);
	IF NOT fbItpResetEx2.bErr THEN nState:=69;
	ELSE(* an error occured *)bErr:= TRUE;nErrId	:= fbItpResetEx2.nErrId;nLastState	:= nState;nState	:= 510;END_IF END_IF

69: (******* Gear out *******)
    fbMC_GearOut(Slave:=X2_AXIS,Execute:=TRUE,);
	IF fbMC_GearOut.Done THEN fbMC_GearOut(Slave:=X2_AXIS,Execute:=FALSE ,) ;
	IF NOT fbMC_GearOut.Error THEN nState := 70;
	ELSE(* an error occured *)bErr		:= TRUE;nErrId	:= fbMC_GearOut.ErrorID;nLastState	:= nState;nState	:= 510;END_IF END_IF

70: (******* clear interpolation group *******)
	fbClearGrp(bExecute:= TRUE,nGroupId:= ItpGetGroupId(sNciToPlc:=in_stItpToPlc),tTimeOut:= T#200MS);
    IF NOT fbClearGrp.bBusy THEN fbClearGrp(bExecute:= FALSE);IF NOT fbClearGrp.bErr THEN nState	:= 500;
    ELSE(* an error occured *)bErr:= TRUE;nErrId	:= fbClearGrp.nErrId;nLastState	:= nState;nState	:= 510;END_IF END_IF

500: (******* Finsh *******)
    bBusy:=FALSE;IF NOT bExec THEN nState:= 0;END_IF IF bReset THEN nState := 0;END_IF
	
	
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
	
	
510: (******* Error State *******)
    
    fbItpEStopEx(sNciToPlc:=in_stItpToPlc ,bExecute:=TRUE, );
	fbBuildGrp( bExecute := FALSE );
	fbLoadProg(bExecute	:= FALSE,sPrg:= sFileName,tTimeOut	:= T#200MS,sNciToPlc:=  in_stItpToPlc );
	fbMC_GearIn(Master:= X_AXIS,Slave:= X2_AXIS,Execute:= FALSE,RatioNumerator:=1,RatioDenominator:=1, );
	fbMC_ResetX(Axis:=X_AXIS , Execute:=FALSE, );
    fbMC_ResetX2(Axis:=X_AXIS , Execute:=FALSE , );
    fbMC_ResetY(Axis:=X_AXIS , Execute:=FALSE , );
	IF bReset THEN nState:= 511;END_IF

511:  (******* Reset State *******)
    fbMC_GearOut(Slave:=X2_AXIS,Execute:=TRUE,);
	fbClearGrp(bExecute:= TRUE,nGroupId:= ItpGetGroupId(sNciToPlc:=in_stItpToPlc),tTimeOut:= T#200MS);
	fbItpResetEx2(bExecute:=TRUE,tTimeOut:=,sNciToPlc:=in_stItpToPlc ,);
	fbMC_ResetX(Axis:=X_AXIS , Execute:=TRUE, );
    fbMC_ResetX2(Axis:=X_AXIS , Execute:=TRUE , );
    fbMC_ResetY(Axis:=X_AXIS , Execute:=TRUE , );
	fbTimer(IN:=TRUE , PT:=T#200MS , Q=> , ET=> );
    IF fbTimer.Q THEN nState:=512;END_IF  

512: (******* Error State *******)
    fbItpEStopEx(sNciToPlc:=in_stItpToPlc ,bExecute:=FALSE, );
    fbMC_GearOut(Slave:=X2_AXIS,Execute:=FALSE,);
	fbClearGrp(bExecute:= FALSE,nGroupId:= ItpGetGroupId(sNciToPlc:=in_stItpToPlc),tTimeOut:= T#200MS);
	fbItpResetEx2(bExecute:=FALSE,tTimeOut:=,sNciToPlc:=in_stItpToPlc ,);
	fbMC_ResetX(Axis:=X_AXIS , Execute:=FALSE, );
    fbMC_ResetX2(Axis:=X_AXIS , Execute:=FALSE , );
    fbMC_ResetY(Axis:=X_AXIS , Execute:=FALSE , );
	fbTimer(IN:=FALSE , PT:=T#200MS , Q=> , ET=> );
	nState:= 513;
 513:
    bErr	:= FALSE;
	nErrId	:= 0;
	nLastState	:= 0;
	bBusy := FALSE; 
	nState := 0;
   	  
END_CASE

24 Mar 2022

Hi , yes i use MC_GearIn after i have created the "NCI interpolation group" works fine.

How can i do it in motion ?

14 May 2016

i am trying to set up dual motors "master and slave" on a X axis in TwinCat NCI , so far i don some test with "MC_GearIn" but i keep getting this error "Error 40 14-05-2016 11:27:39 417 ms | 'TCNC' (500): NC-Ctrl (R0), Cannot configurate axis 4 into group 4 because a slave is coupled or this axis is a slave itself (CoupleState: 1) !!" when i activate NCI.

also i did try using a virtual axis as X and link two slave , but i get the same result :(

anybody knows how to do this ?

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LauMotion

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