XyTable

This is a demo utilizing Zeugwerk Framewerk and Struckig to writing text on a XY table with a pneumatic actuator that holds a pen (laser-cutter or similar) and two motors to move the pen.

A C# program is capturing input of a user and splits every character that is typed into segments of lines and splines. The segments are sent to a Beckhoff PLC via an ADS client. On the PLC side, depending on the segment type, either straight lines are drawn or centripetal Catmull–Rom splines are calculated for the segment. The trajectory of the x- and y-axis are phase-synchronized with Struckig and the interpolated mode is used to send the current target position and velocity to both drives.

Requirements

To run this application, ensure you have the following installed:

• TwinCAT >= 4024.xx
• Zeugwerk Development Kit >= 1.6
• Python 3.x (We recommend Miniconda)

Visualization

To run the Visualization in Windows a python distribution has to be installed (Anaconda or Miniconda is recommended). With an installed python distribution, execute the following commands in the Visualization folder to prepare a virtual environment for python and install all requirements

pip install virtualenv
virtualenv venv
venv\Scripts\activate
pip install -r requirements.txt

Activate the PLC and run the Visualization with

python main.py

You can use the Servicepanel, which is integrated into Zeugwerk Creator to control the PLC.