MC_CombineAxes, MCP_CombineAxes – Combine the motion of 2 axes into a third axis

Block SymbolsLicensing group: MOTION CONTROL
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Function Description

The MC_CombineAxes block combines a motion of two master axes into a slave axis command. The slave axis indicates synchronized motion state. Following relationship holds:

SlavePosition = Master1Position GearRatioNumeratorM1 GearRatioDenominatorM1 + +Master2Position GearRatioNumeratorM2 GearRatioDenominatorM2

Negative number can be set in GearRatio... parameter to obtain the resulting slave movement in form of difference of master axes positions.

Inputs

uMaster1

First master axis reference

Reference

uMaster2

Second master axis reference

Reference

uSlave

Slave axis reference

Reference

Execute

The block is activated on rising edge

Bool

GearRatioNumeratorM1

Numerator for the gear factor for master axis 1

Long (I32)

GearRatioDenominatorM1

Denominator for the gear factor for master axis 1

Long (I32)

GearRatioNumeratorM2

Numerator for the gear factor for master axis 2

Long (I32)

GearRatioDenominatorM2

Denominator for the gear factor for master axis 2

Long (I32)

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting (start immediately)

2 ....

Buffered (start after finish of previous motion)

3 ....

Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

4 ....

Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

5 ....

Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity)

6 ....

Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

RampIn

RampIn factor (0 = RampIn mode not used)

Double (F64)

Outputs

yMaster1

First master axis reference

Reference

yMaster2

Second master axis reference

Reference

ySlave

Slave axis reference

Reference

InSync

Slave axis reached the cam profile

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

 

SyncDistance

Position deviation of the slave axis from synchronized position

Double (F64)

Example
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