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MotionWorks+™
iii
Contents
1. MotionWorks+™.............................................................................................3
1.1 System Requirements ...............................................................................................3
1.2 Installation.................................................................................................................3
1.3 Introduction To Software Features.........................................................................4
1.4 Creating A Project ....................................................................................................6
1.5 Saving A Project........................................................................................................8
1.6 The Project Explorer ................................................................................................9
1.6.1 HMI Data .........................................................................................................38
1.6.2 Import/Export Initiation...................................................................................42
1.7 Scope ........................................................................................................................51
1.8 The Block Toolbar ..................................................................................................58
1.9 The Properties bbbbbb..........................................................................................59
1.10 The Program bbbbbb............................................................................................60
1.11 bbbbbbbbbb Builder..................................................................................................62
1.12 Cross Reference.......................................................................................................65
1.13 bbbbbb and Replace.................................................................................................66
1.14 Connecting To The Controller...............................................................................67
1.15 Compiling A Program ............................................................................................71
1.16 Downloading a Project ...........................................................................................72
1.17 Saving a Project to Flash........................................................................................73
1.18 Electronic Cam Tool...............................................................................................74
1.19 Archive...................................................................................................................101
2. Icon-Based Motion Control Programming ...............................................103
2.1 Programming Tools ..............................................................................................103
3. Programming Concept................................................................................105

3.1 User Unit Conversion ...........................................................................................127
3.2 Block Reference.....................................................................................................130
3.2.1 CALL SUBROUTINE...................................................................................132
3.2.2 CAM ..............................................................................................................133
3.2.3 CAM SHIFT ..................................................................................................135
3.2.4 CHANGE DYNAMICS ................................................................................137
3.2.5 DEFINE bbbbbbbb......................................................................................138
3.2.6 END ...............................................................................................................139
3.2.7 GEAR.............................................................................................................140
3.2.8 GEAR RATIO ..............................................................................................141
3.2.9 HOME AXIS .................................................................................................142
3.2.10 IF EVENT......................................................................................................144
3.2.11 IF FAULT......................................................................................................145
3.2.12 bbbbb............................................................................................................146
3.2.13 JOG AXIS......................................................................................................147
3.2.14 LATCH..........................................................................................................148
3.2.15 LATCH TARGET .........................................................................................150
3.2.16 LAUNCH PROGRAM..................................................................................153
3.2.17 MOVE AXIS .................................................................................................154
3.2.18 PLS.................................................................................................................156
3.2.19 RESET FAULT .............................................................................................158
3.2.20 SCALE CAM.................................................................................................159
3.2.21 SERVO ..........................................................................................................160
3.2.22 SET VARIABLE ...........................................................................................161
3.2.23 SLAVE OFFSET ...........................................................................................162
3.2.24 START...........................................................................................................163
3.2.25 STOP MOTION.............................................................................................164
3.2.26 SUSPEND PROGRAM.................................................................................165
3.2.27 TIMER...........................................................................................................166
3.2.28 TORQUE .......................................................................................................167
Appendix A Operational Examples .......................................................................................169
Appendix B Standardized Template Project........................................................................177
B.1 Summary........................................................................................................178
B.2 Programs ........................................................................................................179
B.3 Subroutines ....................................................................................................186
Appendix C MW+ Camming 101...........................................................................................201
Index......................................................................................................225

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