Download Geo Brick LV User Manual

Geo Brick LV User Manual
Encoder Loss Example PLC:
A 4-axis Geo Brick is setup to kill all motors upon detection of one or more encoder loss. In addition, it
does not allow enabling any of the motors when an encoder is in a loss condition:
#define Mtr1AmpEna
Mtr1AmpEna->X:$B0,19
#define Mtr2AmpEna
Mtr2AmpEna->X:$130,19
#define Mtr3AmpEna
Mtr3AmpEna->X:$1B0,19
#define Mtr4AmpEna
Mtr4AmpEna->X:$230,19
#define Mtr1EncLoss
Mtr1EncLoss->Y:$078807,0,1
#define Mtr2EncLoss
Mtr2EncLoss->Y:$078807,1,1
#define Mtr3EncLoss
Mtr3EncLoss->Y:$078807,2,1
#define Mtr4EncLoss
Mtr4EncLoss->Y:$078807,3,1
#define SysEncLoss
SysEncLoss=0
M139
M239
M339
M439
M180
M280
M380
M480
P5989
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Motor#1 Amplifier Enable Status
Suggested M-Variable
Motor#2 Amplifier Enable Status
Suggested M-Variable
Motor#3 Amplifier Enable Status
Suggested M-Variable
Motor#4 Amplifier Enable Status
Suggested M-Variable
Motor#1 Encoder Loss Status Bit
Bit
Bit
Bit
Bit
Motor#2 Encoder Loss Status Bit
Motor#3 Encoder Loss Status Bit
Motor#4 Encoder Loss Status Bit
System Global Encoder Loss Status (user defined)
Save and Set to 0 at download, normal operation
=1 System Encoder Loss Occurred
OPEN PLC 1 CLEAR
If (SysEncLoss=0)
; No Loss yet, normal mode
If (Mtr1EncLoss=0 or Mtr2EncLoss=0 or Mtr4EncLoss=0 or Mtr4EncLoss=0)
CMD^K
; One or more Encoder Loss(es) detected, kill all motors
SysEncLoss=1
; Set Global Encoder Loss Status to Fault
EndIf
EndIF
If (SysEncLoss=1)
; Global Encoder Loss Status At Fault?
If (Mtr1AmpEna=1 or Mtr2AmpEna=1 or Mtr4AmpEna=1 or Mtr4AmpEna=1) ; Trying to Enable Motors?
CMD^K
; Do not allow Enabling Motors, Kill all
EndIF
EndIF
CLOSE
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Connections And Software Setup