Indirect Start with XPM_IST - LS Electric XGB PLC from AutomationDirect

the ls electric xgb has multiple ways to initiate motion for complex and sequential moves we will use the position data table in the xgp software to Define them and then use various function blocks in the xg5000 programming software to call them up to call up these moves xg5000 primarily uses xpm IST which is the indirect start function block this function block allows the user to specify an axis and execute a step number in the position data tape for that access the system will then take any actions of that step number including advancing to any other steps identified in the position data table this is the most common way to execute multi-axis interpolated moves or multi-step single axis moves for this example I have the XM motion training project open this file is available to download from the xgb interactive guide at automation direct.com it is designed to allow us to simulate a 3axis motion system without having to have any physical Hardware attached to the CPU we are online with the PLC in monitor mode and the figurative axes in our project have all been made ready and homed we can see the axes are ready and axes are homed bits are both High we have also already configured our axes in the xgp software in a different help topic please refer to it and the product documentation for more information on access configuration prior to attempting any motion to trigger any indirect motion for our system we need add moves to our position data table in X GPM let's launch X ggpm from the xg5000 programming environment by going to tools position control once xgp launches we'll open XM motion training X GPM which is the X GPM file associated with the XM motion training project to open the position data table for Access one we will go to the project window on the left side of the screen maximize number one access data and then double click on position data this opens the position data table for AIS one we cover the various fields in the position data table in our help topic on position data table configuration in our current example we already have a multi-step move programmed into step 40 let's scroll down and take a look we see that step 40 is an incremental single axis position-based move it will execute a move forward 5,000 pulses at a speed of 750 pulses per second using Xcel Time 1 and D Cel Time 1 which are configured in the axis parameters we cover setting these parameters in The Help topic on initial motion configuration please refer to it for further details step 40 will then wait 2 and 1/2 seconds and proceed to step 41 note that there is no sub axis nor helical interpolation axis set for this move even if there were information in these fields the the control type being set to single axis would cause the motion controller to ignore any information here it is therefore very important to properly select your control type as the system does not warn you or fault if you have information here that won't be used step 41 is a similar incremental single axis position-based move which will move forward another 7500 pulses at a speed of 1,000 pulses per second it will use Xcel Time 1 and Dell time one once the move is complete the system will wait 2 and 1/2 seconds and then proceed to step 42 step 42 is our third incremental single axis position based move which will move backwards 12,500 pulses at a speed of 1,000 pulses per second it will also use Excel Time 1 and dcel Time 1 this move will take us back to our original starting point and then end it has no dwell upon completion of the move now let's work on triggering step 40 with an indirect start function block and the system will then run through these three moves in sequence if we go back to the xg5000 software we can go to axis one motion program and line 130 we see here that if we make the axis one command. indirect relative move bit true and the axis one status. axis ready bit true then we will trigger an indirect start for base zero which is our main PLC base slot one which is our pulse motion controller slot and access one when this indirect start is triggered it will execute whatever step number is set in the variable indirect step number we know we want to trigger step 40 so let's change this variable to 40 and since our access status is already true once we make the trigger bit true the movement should start we want to be able to observe our axis moving so before we trigger it let's set up our monitoring we will go to monitor Trend monitoring and we see that our Trend graph is already set up to monitor the system flag pause one Cur pause this is a flag variable that reflects axis 1's current position we cover setting up Trend monitoring and another help topic please refer to it for details for configuring this window since we are in monitor mode and have a valid variable in the graph it is already trending let's leave monitor mode reset the trend graph and then go back to our axis one in direct start trigger logic if we return to monitor mode make the trigger bit true and and then look at the trend monitoring we can see the move as it executes it goes to the first position Waits moves to the second position at a faster speed Waits and then returns to the original position and stops perfect we have just triggered a multi-step move with an indirect start in xg5000 referencing the position data table in the xgp software