Linear axes

Control the axis in the Gearing.Config.Start structure as follows:

Interface in the IEC Editor

Procedure

  • While the master axis is moving, the xStart start signal is set in the "Gearing" mode of the slave axis.
  • With the configuration eTransitionType = "TIMEBASED" and eStartMode = "WITH_CW_CCW_REFERENCE_POSITION", the eGearingState state switches directly from "STOPPED" (0) to "GEAR_IN" (2).
  • After the configured synchronization time lrGearInTime has passed, the eGearingState state switches from "GEAR_IN" (2) to "ACTIVE" (3). The slave axis is synchronized so that is reaches its start position at the configured reference position lrGearInReferencePosition (position of the cursor).

Trace recording

[1]

Position of the master axis

[2]

Speed of the master axis

[3]

Acceleration of the master axis

[4]

xStart start signal of the Gearing mode

[5]

eGearingState state of the Gearing mode

[6]

Position of the slave axis

[7]

Speed of the slave axis

[8]

Acceleration of the slave axis

 

The fact that a time-based transition is also performed when the master axis is not moving can be used as a replacement for an alignment motion, as shown in the following trace recording.

At the beginning of the sequence, the master axis is at the position "200.0"; the position of the slave axis is "0.0".

Procedure

  • While the master axis is not moving, the xStart start signal is given in the "Gearing" mode of the slave axis.
  • The reference position is set to lrGearInReferencePosition = "0.0"; the transition is configured to eTransitionType = "TIMEBASED".
  • While the master axis is still stationary, the eGearingState state switches from "STOPPED" (0) to "GEAR_IN" (2) and the slave axis transitions to the position of the master axis ("200.0").
  • At the end of the configured synchronization time lrGearInTime, the slave axis becomes synchronous. The eGearingState state switches from "GEAR_IN" (2) to "ACTIVE" (3). When the master axis begins moving, the slave axis moves immediately with the identical position.

Trace recording

[1]

Position of the master axis

[2]

Speed of the master axis

[3]

Acceleration of the master axis

[4]

xStart start signal of the Gearing mode

[5]

eGearingState state of the Gearing mode

[6]

Position of the slave axis

[7]

Speed of the slave axis

[8]

Acceleration of the slave axis