Group members synchronize while moving

  1. Set the lrMACPriority_Torque_Skew variable of the SuperAxisGroup to the value "2" to activate the operating mode "Skew priority – without overload protection", and reference all group members.
  2. In the Basic.IN structure of the SuperAxisGroup, set the xEnable_EmergencyStop and xEnable_ApplicationStop variables to "TRUE".
  3. Set the xGetAccessControl variable of the ASide to "TRUE" to request access to the user interface of the axis group.
    • If the request was successful, the xControlActive variable provides the value "TRUE.
  4. In the Basic.IN structure of the ASide, set the xEnable_EmergencyStop and xEnable_ApplicationStop variables to "TRUE" to enable the axis group.
  5. In the ProfileGeneration.Positioning.IN structure of the ASide, enter 10 as the lrPosition target position.
  6. Set the xGetAccessControl variable of the ASide to "FALSE" to terminate access to the axis group.
  7. In the Basic.IN structure of the SuperAxisGroup, set the xEnable_EmergencyStop and xEnable_ApplicationStop variables to "TRUE" to enable the axis group.
  8. At the same time, set the following signals in the "Positioning" structure.
  9. In the ProfileGeneration.Positioning.IN structure of the SuperAxisGroup, enter the value "100" as the lrPosition target position.
  10. In the ProfileGeneration.Positioning.IN structure of the SuperAxisGroup, enter the value "10" for lrVelocity, lrAcceleration, and lrDeceleration for the movement of the axis group.
  11. In the ProfileGeneration.Positioning.IN structure of the SuperAxisGroup, set the xActivate and xStart variables to "TRUE" to carry out a movement.
    • By simultaneously setting the enable signals and the values in the ProfileGeneration.Positioning.IN structure, both axis groups move in the direction of the target position.
    • A closer look reveals that the ASide initially moves briefly in the direction of the BSide and only then in the direction of the target position. This corresponds to the behavior described for synchronization type "Group members synchronize while moving".