Aerotech’s A3200 MotionPAC is a software-based Programmable Logic Controller (PLC) that is completely integrated with the company’s A3200 motion controller, and can be used independently for full machine control or in conjunction with AeroBasic™ programs. MotionPAC complies with IEC 61131-3 and PLCopen and allows users to program in Ladder Diagrams (LD), Function Block Diagrams (FBD) or Structured Text (ST). The MotionPAC’s tight integration with the A3200 motion controller allows users to command asynchronous, coordinated, blended, geared or cammed motion directly from LD, FBD, ST or directly start, stop or share tags with AeroBasic™ programs. Programmers can create shared variables and tags that are referenced by name in all of the A3200 tools, Operator Interface and existing AeroBasic™ programs as well as in .NET programs. MotionPAC tools like user definable libraries (LD, FBD, ST or .NET), integrated axis manager for readout and manual control, global tag database, automatic memory management and virtual execution of the PLC increase your programming efficiency and quality. Standard fieldbuses, drive I/O and high-end data acquisition are integrated into the MotionPAC and can be shared among all applications by name.
The MotionPAC’s integrated automation will reduce programming and commissioning time by 30% to 50% and is ideal for machine control program development. The development environment includes an axis manager for axis readout and manual control during the development of LD, FBD or ST, eliminating the need for separate readout and development applications. All of the usual hardware associations, task assignments and programs are organized in an easy-to-use tree structure.
Toolboxes are provided for each language for drag and drop programming, or just start typing on the palette and the Intellisense will assist in the programming. The programming palette is free-form meaning that function blocks and functions can be used on a ladder diagram rung, even motion function blocks, making programming easy.
Global Tags
Integration of PLC and motion is difficult and time consuming due to the lack of coordination between variables and tags. MotionPAC’s Global Tag Database eliminates this. All variables or tags in the MotionPAC can be shared by name with all of the other applications in the A3200 including the CNC Operator Interface, Scope, Motion Composer, AeroBasic™ programs and even custom .NET programs. Not only are variables available by name, but all of the memory management is done for the programmer automatically. Of course, the programmer is free to view the memory addresses or even assign addresses, if desired.
MotionPAC programmers can create their own libraries from Function Blocks, Functions, Ladder Diagrams, Structured Text or combinations of each. These libraries can be referenced and reused in every application. This programming style – code reuse of tested components – aids users in quickly writing quality programs.
Motion Capabilities
Motion capabilities include asynchronous, coordinated and blended motion. Moves can be specified as relative or absolute in user units (either English or metric). Other motion commands include electronic gearing, camming, end point modification and much more. Fully compliant CNC or G code can be called from the PLC program.
.NET and PLCs
While MotionPAC is completely IEC61131-3 compliant, it also can be programmed entirely with .NET. Programmers can write custom .NET programs that run in real-time. The programs can be packaged as function block libraries and included in any program as a function block or structured text. The Global Tags created in MotionPAC are available by name to both the PLC and the .NET programmer so that PLC and .NET programmers can collaborate in the same environment and use the programming language of their choice.
Simulation Environment
Programmers can completely simulate the program execution on the PC without changing any of the code. Virtual hardware can be associated with the system so that the programs can be executed in a virtual environment. This functionality, coupled with the MotionPAC’s debugging tools such as breakpoints, Step Into, Step Over, Step Out functions, forcing I/O as well as watch windows for tags and variables, assists in full-featured program debugging and system commissioning in less time.
Fieldbuses
Fieldbus I/O such as Modbus TCP or EtherCAT tags are also shared globally among all applications and programming languages. While the address of the I/O must be assigned to a physical input, the memory management between applications and programming languages is done automatically for the programmer. The I/O assignment is made easier by the I/O Mapping Tool that displays all of the I/O in the system and the programmer drags and drops I/O points to the Global Tags for association.
Standard features like Cold, Warm, Hot Start and Hot Swapping Programs on next scan are available. MotionPAC can be online and monitoring the program execution with all variables, tags and state information shown in real-time directly on the program.
