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).