MC_CombineAxes

This FB serves to combine the motions of two axes ( Master1 and Master2 ) via an addition or subtraction. Thus, a resulting third axis ( Slave ) is generated.

  • For clutching to the master axes, the slave axis carries out a compensating movement.
  • A gearbox factor can be defined between the prevailing master and slave axis.
  • Only the slave axis is moved with this FB, not the two master axes.

 

 

 

MC_CombineAxes

 

 

 

AXIS_REF

-

Master1

InSync

-

BOOL

AXIS_REF

-

Master2

Busy

-

BOOL

AXIS_REF

-

Slave

Active

-

BOOL

BOOL

-

Execute

CommandAborted

-

BOOL

BOOL

-

ContinuousUpdate

Error

-

BOOL

MC_COMBINE_MODE

-

CombineMode

ErrorID

-

L_IE1P_Error

INT

-

GearRatioNumeratorM1

UINT

-

GearRatioDenominatorM1

INT

-

GearRatioNumeratorM2

UINT

-

GearRatioDenominatorM2

MC_SOURCE

-

MasterValueSourceM1

MC_SOURCE

-

MasterValueSourceM2

LREAL

-

Velocity

LREAL

-

Acceleration

LREAL

-

Deceleration

LREAL

-

Jerk

MC_BUFFER_MODE

-

BufferMode

 

 

 

 

 

 

 

 
Inputs

GearRatioDenominatorM2

UINT

MasterValueSourceM1

MC_SOURCE

Source of relevant data for the master axis 1:

  • mcSetValue: Setpoints are used
  • mcActualValue: Current values of the feedback system are used

MasterValueSourceM2

MC_SOURCE

Source of relevant data for the master axis 2:

  • mcSetValue: Setpoints are used
  • mcActualValue: Current values of the feedback system are used

Velocity

LREAL

Maximum velocity in [unit/s]

Acceleration

LREAL

Maximum acceleration in [unit/s 2 ]

Deceleration

LREAL

Maximum deceleration in [unit/s 2 ]

Jerk

LREAL

Maximum jerk in [unit/s 3 ]

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Note: Only the mcBuffered and mcAborting buffer modes are supported.

Outputs

Name

Data type

Value/meaning

InSync

BOOL

TRUE

Master axes and slave axis are synchronised.

Busy

BOOL

TRUE

Processing is running.

Active

BOOL

TRUE

The command of the FB is currently executed.

  • The Active output matters if a motion control is carried out by several FBs (BufferMode).

CommandAborted

BOOL

TRUE

The command was aborted by another FB.

Error

BOOL

TRUE

An error has occurred. For details see ErrorID .

ErrorID

L_IE1P_Error

If Error = TRUE: Error number for the error that has occurred.

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