From RSI - Robotic Systems Integration - SynqNet Systems
RapidCode VLC driver extends the RapidCode and SynqNet functionality to flowcharts and IEC 1131-1 programming, using Steeplechase VLC.
You can download | RapidCodeVLC Documentation
VLC SynqNet Support
Setting VLC SynqNet project successfully
Install RSI drivers from our website: http://roboticsys.com/download/RapidCodeVLC_2_1.zip
Password: Contact RSI
Open Control Designer->new project
Add Interface-> RapidCode VLC
Right click on RapidCode VLC->Add Device ->Axis
Right click on RapidCode VLC -> Configure and click on Apply
Click on Apply
Setting an Axis Object successfully
Follow the steps below to add an axis to your project:
Right click on controller and go to Add Device -> Axis Device
Now right click on controller_Axis_device, in the example we will rename to Axis2
Now right click and click on Configure.
Add date accordingly and click on Apply as shown below:
At this point, Axis 2 has been configured and is in a happy state (Green)
Move Cam Linear - Relative Move
Make sure both axes are enabled. You can verify from RapidSetup also.
In this basic sample application: There is one master and one slave. We have defined a 5 point array.
• Master axis has relative positions defined in the array. Motion type will be a relative moves.
• Slave axis 1 has absolute positions defined in the array. Motion type will be relative moves.
Sample application array:
Graph of result:
Let's discuss the sample application in detail:
Screen shot of sample application:
Detailed information to create block above:
Create tags with the following properties:
Set Axis 0 Pos to 0
Call method: PositionSet
Set Axis 1 Pos to 0
Call method: PositionSet
Define Array
Motion Attribute Get
OR attribute Mask
Set Motion Attribute
Move Cam Linear
Call method: MoveCamLinear
Move Trapezoidal
Call method: MoveTrapezoidal
Below we have entered a Position of 5000 counts which is the relative distances of Master Axis added together ( 1000 + 1000 + 1000 + 1000 + 1000 = 5000 )
Check for Motion Done:
You can always click on Help icon for more information.
Move Cam Linear - Sample Application 1
Make sure both axes are enabled. You can verify from RapidSetup also.
In this basic sample application: There is one master and one slave. We have defined a 5 point array.
• Master axis has relative positions defined in the array. Motion type will be a relative moves.
• Slave axis 1 has absolute positions defined in the array. Motion type will be absolute moves.
Sample application array:
Graph of result:
Let's discuss the sample application in detail:
Screen shot of sample application:
Detailed information to create block above:
Create tags with the following properties:
Set Axis 0 Pos to 0
Call method: PositionSet
Set Axis 1 Pos to 0
Call method: PositionSet
Define Array
Move Cam Linear
Call method: MoveCamLinear
Move Trapezoidal
Call method: MoveTrapezoidal
Below we have entered a Position of 5000 counts which is the relative distances of Master Axis added together ( 1000 + 1000 + 1000 + 1000 + 1000 = 5000 )
Check for Motion Done:
You can always click on Help icon for more information.
Move Cam Linear - Sample Application 2
Make sure all three axes are enabled. You can verify from RapidSetup too.
In this Sample Application: The arrangement of caming configuration is shown below. There are two slave axes linked to one master.
• Master axis has relative positions defined in the array. Motion type will be a relative moves.
• Slave axis 1 has absolute positions defined in the array. Motion type will be absolute moves.
• Slave axis 2 has absolute positions defined in the array. Motion type will be absolute moves.
Sample array table used:
Graph results from the array table:
Detailed information to create block above:
Create tags with the following properties:
BLUE: Slave axis 1
RED: Slave axis 2
Let’s discuss the sample application in detail:
Screen shot of sample application:
Let’s discuss the sample application in detail:
Screen shot of sample application:
Detailed information to create block above:
Create tags with the following properties:
Set Axis 0 Pos to 0
Call method: Position Set
Set Axis 1 Pos to 0
Call method: Position Set
Set Axis 2 Pos to 0
Call method: Position Set
Define Array
Set Cam Linear 1
Call method: MoveCamLinear
Set Cam Linear 2
Call method: MoveCamLinear
Move Trapezoidal
Call method: MoveTrapezoidal
Below we have entered a Position of 5000 counts which is the relative distances of Master Axis added together ( 1000 + 1000 + 1000 + 1000 + 1000 = 5000 )
Check for Motion Done
You can always click on Help icon for more information.
Move Cam Cubic - Sample Application
Make sure both axes are enabled. You can verify from RapidSetup also.
In this basic sample application: There is one master and one slave. We have defined a 5 point array. We will be using method MoveCamCubic.
• Master axis has relative positions defined in the array. Motion type will be a relative moves.
• Slave axis 1 has absolute positions defined in the array. Motion type will be absolute moves.
• Slave axis 2 has absolute positions defined in the array. Motion type will be absolute moves.
Sample application array:
Graph of result. As you can see the Move Cam Cubic produced a smoother motion compared to the result using Move Cam Linear method.
Let's discuss the sample application in detail:
Screen shot of sample application:
Detailed information to create block above:
Create tags with the following properties:
Set Axis 0 Pos to 0
Call method: PositionSet
Set Axis 1 Pos to 0
Call method: PositionSet
Define Array
Move Cam Linear
Call method: MoveCamCubic
Move Trapezoidal
Call method: MoveTrapezoidal
Below we have entered a Position of 5000 counts which is the relative distances of Master Axis added together ( 1000 + 1000 + 1000 + 1000 + 1000 = 5000 )
<image>
Image:CamCubicEditSpecialFunction-MoveTrapezoidal.jpg
rect 0 0 0 0 SynqNet
desc none
</imagemap>
Check for Motion Done:
You can always click on Help icon for more information.
Motion Cam Repeat From Set/Get (Repeating Cams)
To truly mimic a mechanical arm, we need to use Motion Cam Repeat From Set method. Using this method will automatically return to the start segment immediately after the cam has finished. Look at the image at the boot.
The primary focus of this sample application is to teach the following methods:
• Motion Cam Repeat From Set
• Motion Cam Repeat From Get
The sample application also uses Move Cam Linear method, however for more information on camming look at the camming sample applications:
• Camming Sample Application – basic
• Camming Sample Application 2
Sample Array:
VLC flow chart for sample application:
Detailed Information to create the flow chart shown above:
Tags created:
Set Axis 0 Pos to 0
Call method: Position Set
Set Axis 1 Pos to 0
Call method: Position Set
Define Array
Motion Cam Repeat From Set
A value of 0 for position will indicate that the whole cam table provided is to be repeated.
0 counts for Position is to repeat the camming cycle from first point in the array (MasterArray [1] = 1000).
Motion Attribute Mask Get
OR Attribute Mask
Create a tag called motionMask as shown above; add the exact same numbers as shown below for Starting Master axis at specific position.
Motion Attribute Mask Set
Move Cam Linear
Move Trapezoidal
We provide a total Position of 12000 counts to complete three cycles (To complete one cycle, master axis needs to a relative distance of 4000 counts. Therefore 4000 * 3 cycle = 12000)
The sample application above would produce the following result:
Motion Cam Master Start Set/Get (Starting at Specific Master Axis Positions)
The primary focus of this sample application is to teach the following methods:
• Motion Cam Master Start Set
• Motion Cam Master Start Get
By default camming starts immediately after you have executed one of the motion methods specifying the offsets of each of the cam segments relative to the previous segment or the master’s position at the start (if it is the first segment). Using Motion Cam Master Start Set method, allows exact position of the master before camming starts using its defined arrays.
Sample Array:
Desired Result from Sample Array:
VLC flow chart of sample application:
Detailed Information to create the flow chart shown above:
Tags created:
Set Axis 0 Pos to 0
Call method: Position Set
Set Axis 1 Pos to 0
Call method: Position Set
Define Array
Motion Cam Master Start Set
We added 5000 counts as we want Master Axis to reach a specific position of 5000 counts before camming starts.
Motion Attribute Mask Get
OR Attribute Mask
Create a tag called motionMask as shown above; add the exact same numbers as shown below for Starting Master axis at specific position.
Motion Attribute Mask Set
Move Cam Linear
Move Trapezoidal
We provide a total Position of 9000 counts because:
• 5000 counts for Motion Cam Master Start Set. This is added so that Master Axis would reach a specific position of 5000 counts before camming starts.
• 4000 counts is the added absolute positions defines in Define Array
