5
Startup
Software startup
Assembly and Operating Instructions – Parallel Arm Kinematics Kit
39
5. Press the <F11> button and compile the IEC editor project.
6. Save your settings.
5.5.7
Integrating MOVIKIT
®
Robotics
Installing the package
1. Unpack the rar archive
MOVIKIT Robotics*.rar
included in the delivery.
2. Double-click the file
SEW_MOVIKIT_Robotics_*.package
and install it.
3. Install further
*.package
included in the delivery, if required.
Integrating the library
1. Open the IEC editor.
2. Click the [Add library] button in the library manager.
3. Open the category "(Other)".
4. Select SEW_MOVIKIT_Robotics.
5. If required, select further libraries.
6. Confirm your entries.
Importing open program code
1. Mark the node "Application" in the device tree.
20615135883
2. Select the menu command "Project" > "Import...".
3. Select the export
MOVIKIT_Robotics_*.export
included in the delivery.
ð
A window is displayed.
4. Confirm the window.
Adding calls in User_PRG
Inserting Init call
1. Open the
User_PRG.Init
.
2. Paste the following code
xInitDone := SEW_PRG_Robotics.INIT();
3. If the user code is also to be initialized, paste it below.
Inserting WriteSetpointValues call
1. Open the
User_PRG.WriteSetpointValues
.
2. Paste the following code
SEW_PRG_Robotics.WriteSetpointValues();
3. If the user code is also to be initialized, paste it above.
25797530/EN – 04/2018