PLC project using the simple PLCopen FBs for 3 axes / 1 kinematic (="Robot") for free :-) if needed
This is not a question, it's just an example of a PLC project for 3axes/kinematic as well with real axes as with COREvirtual.
If someone needs a ctrlX plc-project showing the PLCopen function blocks for moving a kinematic, reset and also switch EtherCAT state and see status of PLCopen state and EtherCAT-state please find attached the ctrlX-PLC-Engineeering export file and fill free to contact me if you have questions. A short movie is also enclosed to see how to use my small internal visu.
I didn't use the much more comfortable allready existing AxisInterface in this project. It's just to see how the functions "Add Axis to Group" and "GroupEnable", "MoveLinearAbsolute" work together.
For myself I din't know before that the command MC_AddAxisToGroup has to be used. I thought GroupEnable is enough 😉