Software modules for the example application.
In this section we define the modules for the MotoLogix example application. This helps to create some structure in the program and makes it easier to understand the relations between the various program parts. We can distinguish between common modules and application modules.
Common modules
The common modules are designed to handle basic MotoLogix tasks and run independently of the machine’s operating mode. There is no relation between the common modules.
MceAlarms– Handling the alarms for a MotoLogix system.MceWarnings– Handling the warnings for a MotoLogix system.MceActualPositions– Read actual positions and speed from a MotoLogix system.
Application modules
By defining the application modules (and the relation between them) we create the architecture of the application software.
MceStartStop– Start/stop logic for a MotoLogix system.This also implements a robot controller speed override.MceManualMotion– Handling manual motions for a MotoLogix system.McePosTable– Run trajectories on a MotoLogix system, using a dynamic program where the trajectory is defined by data, not by the program code.