Motion controls, need help with logic.

Scott-bc · Dec 11, 2008

I am working on a project where there are x, y and z directional control. I have a cage that moves forward and back on rail, this is the x axis. On that same cage there is a clamp on each side that clamps in on a tray, this is the y axis. These clamps then move up and down and lift up the part it has picked up, this is the z axis. Once it has lifted it up the part, the cage (x-axis) moves forward and then the clamps z axis goes down and drops it into a stacking area. The process then repeats. The z axis position comes from an encoder on the top and also has a homing position photoeye that gets active before picking up the next part. The encoder is wired into the HSC of an S7-200 PLC. The x axis has proximity sensors along the track that detect the fully forward and fully back position. All motion is driven by hydraulic motors connected to 2-way three position solenoids. Also the hydraulic motors are fed from proportional flow control valves to adjust the speed from start to end positions. This is only on the x and z axis. I am not an expert in programming this sort of thing but what I wanted to ask on this forum is what are some good guidelines for structuring the logic and basically what would be the best way to tackle this? I understand the encoder counts will need to be added and subtracted so that every time a new part is placed on top of the final stack it has to remember the last height position. Hope someone can help me here. Much appreciated. Thanks guys ad gals.

Motion controls, need help with logic.

Scott-bc

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