Tracking with configured axis as master source

 

The following application example illustrates how you can configure the "Tracking" operating mode using a configured axis as the master source. In this example, axis 2 follows axis 1. In "Velocity" operating mode, axis 1 moves at 60 cycles per minute. The proportional factor is set to 100 mm/cycle.

Control

Control the axis in the Velocity structure as follows:

  • To activate the operating mode, set xActivate to "TRUE".
  • Define a speed of 60 cycles per minute by setting lrVelocity, lrAcceleration, and lrDeceleration to 60.
  • To start the operating mode, set xStart to "TRUE".

Control the axis in the Tracking structure as follows:

  • To activate the operating mode, set xActivate to "TRUE".
  • Define a proportional factor of 100 mm/cycle by setting diTrackingNumerator to 100 and diTrackingDenominator to 1.
  • To start the operating mode, set xStart to "TRUE".

Interface in the IEC Editor

Control for axis 1 (master axis)
Control for axis 2 (slave axis)

Trace recording

[1]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.In.xActivate

[2]

SEW_GVL.Interface_Axis1.ProfileGeneration.Velocity.In.xStart

[3]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrPosition

[4]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrVelocity

[5]

SEW_GVL_Internal.Axis1._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrAcceleration

[6]

SEW_GVL.Interface_Axis2.ProfileGeneration.Tracking.In.xActivate

[7]

SEW_GVL.Interface_Axis2.ProfileGeneration.Tracking.In.xStart

[8]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrPosition

[9]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrVelocity

[10]

SEW_GVL_Internal.Axis2._fbProfileGenerationControl._stOUTInterpolation.stSetpointsUserUnits.lrAcceleration

Note:
  • The measurement with Cursor1 and Cursor2 shows that the slave axis moves exactly 100 mm, while the master axis moves 1 cycle.
  • The master axis moves at 60 cycles per minute. The slave axis therefore moves at 100 mm/s.
  • The master axis accelerates at a rate of 60 cycles per minute per second. It reaches the speed after 1 second; therefore, the slave axis accelerates at a rate of 100 mm/s/s.