Linear 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 = "TIMEBASED", the eGearingState state switches directly from "ACTIVE" (3) to "GEAR_OUT" (5).
- After the desynchronization time lrGearOutTime has passed, the eGearingState state switches from "GEAR_OUT" (5) to "STOPPED" (0).
- The slave axis stops at the position that it would reach when the master axis crosses the stop position lrGearOutStopPosition.
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:
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 |
Procedure
- While the master axis is not moving, the xStart start signal is removed in the "Gearing" mode of the slave axis.
- With the transition set to eTransitionType = "TIMEBASED", the eGearingState state switches from "ACTIVE" (3) to "GEAR_OUT" (5), and the slave axis transitions to the configured stop position lrGearOutStopPosition = "1000.0".
- At the end of the configured desynchronization time lrGearOutTime, the eGearingState state switches from "GEAR_OUT" (5) to "STOPPED" (0).