Modulo axes

The following configuration is set under Gearing.Config.Stop:

Interface in the IEC Editor

Procedure

  • While the master axis is moving, the xStart start signal is removed in the "Gearing" mode of the slave axis.
  • With the configuration eStopMode = "WITH_CW_CCW_EXTERNAL_POSITION" and eTransitionType = "MASTERBASED", the eGearingState state first switches from "ACTIVE" (3) back to "WAITING_FOR_STOPPOSITION" (4).
  • As soon as the master axis crosses the trigger position (stop position - half of desynchronization distance) (position of cursor), the master-based transition begins. The eGearingState state switches from "WAITING_FOR_STOPPOSITION" (4) to "GEAR_OUT" (5).
  • After traveling the configured desynchronization distance lrGearOutDistance, the eGearingState state switches from "GEAR_OUT" (5) to "STOPPED" (0).

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