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

Master1 AXIS_REF	Reference to master axis 1 Motion axes (AXIS_REF)
Master2 AXIS_REF	Reference to master axis 2 Motion axes (AXIS_REF)
Slave AXIS_REF	Reference to slave axis The slave axis can be a virtual or physical axis. Motion axes (AXIS_REF)
Execute BOOL
FALSE↗TRUE	Clutch in slave axis and execute cam. The clutch-in process only starts if master and slave axis are enabled for movements.
ContinuousUpdate BOOL	Continuous acceptance of the parameters Control input ContinuousUpdate
FALSE	Die anliegenden Parameter werden mit einer steigenden Flanke an Execute übernommen.
TRUE	Die anliegenden Parameter werden kontinuierlich übernommen, d. h. während der Abarbeitung ist eine Änderung der Parameter möglich.
CombineMode MC_COMBINE_MODE	Combine mode for calculating the new position setpoint: mcAddAxes: Sum of the position setpoints for the two input axes mcSubAxes: Subtraction of the position setpoints of the two input axes
GearRatioNumeratorM1 INT	Gear factor (numerator/denominator) between slave and master axis 1
GearRatioDenominatorM1 UINT
GearRatioNumeratorM2 INT	Gear factor (numerator/denominator) between slave and master axis 2
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 [Units/s]
Acceleration LREAL	Maximum acceleration [Units/s ² ]
Deceleration LREAL	Maximum deceleration [Units/s ² ]
Jerk LREAL	Maximum jerk [Units/s ³ ]
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode Note: Only thei mcBuffered and mcAborting buffer modes are supported.

Master1

AXIS_REF

Reference to master axis 1

Motion axes (AXIS_REF)

Master2

AXIS_REF

Reference to master axis 2

Motion axes (AXIS_REF)

Slave

AXIS_REF

Reference to slave axis

The slave axis can be a virtual or physical axis.

Motion axes (AXIS_REF)

Execute

BOOL

FALSE↗TRUE

Clutch in slave axis and execute cam.

The clutch-in process only starts if master and slave axis are enabled for movements.

ContinuousUpdate

BOOL

Continuous acceptance of the parameters

Control input ContinuousUpdate

FALSE

Die anliegenden Parameter werden mit einer steigenden Flanke an Execute übernommen.

TRUE

Die anliegenden Parameter werden kontinuierlich übernommen, d. h. während der Abarbeitung ist eine Änderung der Parameter möglich.

CombineMode

MC_COMBINE_MODE

Combine mode for calculating the new position setpoint:

mcAddAxes: Sum of the position setpoints for the two input axes

mcSubAxes: Subtraction of the position setpoints of the two input axes

GearRatioNumeratorM1

INT

Gear factor (numerator/denominator) between slave and master axis 1

GearRatioDenominatorM1

UINT

GearRatioNumeratorM2

INT

Gear factor (numerator/denominator) between slave and master axis 2

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 [Units/s]

Acceleration

LREAL

Maximum acceleration [Units/s ² ]

Deceleration

LREAL

Maximum deceleration [Units/s ² ]

Jerk

LREAL

Maximum jerk [Units/s ³ ]

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Note: Only thei 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 =Â TRUE: Error number for the error that has occurred.

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