Modulo axes

Control the axis in the Camming.Config.Stop structure as follows:

Interface in the IEC Editor

Procedure

• While the master axis is moving, the start signal xStart is removed in the "Camming" 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) 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]	xStart start signal of the Camming mode
[3]	Position of the internal master
[4]	Speed of the internal master
[5]	Acceleration of the internal master
[6]	Position of the slave axis
[7]	Speed of the slave axis
[8]	Acceleration of the slave axis
[9]	eGearingState state of the Camming mode