Start

lrGearInDistance

Data type: LREAL

Synchronization distance (in user units of the master axis)
lrGearInDistance = 0 means that the slave synchronizes without a transition function. Depending on the curve profile, the setpoint profile may be inconsistent.
With lrGearInDistance > 0, a transition function is created automatically when synchronization starts.

The parameter only takes effect if eTransitionType has the value "MASTERBASED". An automatic transition function is calculated so that the slave axis is synchronous after the synchronizing time.

lrGearInOffset

Data type: LREAL

Offset to the reference position lrGearInReferencePosition (master)

lrGearIn
ReferencePosition

Data type: LREAL

Reference position (in user units of the master axis). This reference position takes effect only with the following settings for eStartMode:

• WITH_CW_REFERENCE_POSITION
• WITH_CCW_REFERENCE_POSITION
• WITH_CW_CCW_REFERENCE_POSITION

eStartMode

Data type: E_CAMMINGSTARTMODE

Behavior when setting xStart:

• CW_DIRECT
  Immediate synchronization with a rising edge of xStart with a positive direction of movement of the master
• CCW_DIRECT
  Immediate synchronization with a rising edge of xStart with a negative direction of movement of the master
• CW_CCW_DIRECT
  Immediate synchronization with a rising edge of xStart with a positive or negative direction of movement of the master
• WITH_CW_REFERENCE_POSITION
  Synchronization based on the reference position defined in lrGearInReferencePosition with a positive direction of movement of the master
• WITH_CCW_REFERENCE_POSITION
  Synchronization based on the reference position defined in lrGearInReferencePosition with a negative direction of movement of the master
• WITH_CW_CCW_REFERENCE_POSITION
  Synchronization based on the reference position defined in lrGearInReferencePosition with a positive or negative direction of movement of the master

eTransitionType

Data type: E_TRANSITIONTYPE

Type of an automatically calculated transition function when synchronizing:

• NONE
• No transition function is calculated when synchronizing. This setting can lead to a discontinuous setpoint profile (e.g. speed jump).
• MASTER-BASED
• A master-based transition function is calculated for synchronizing. The duration of the transition function is defined by the lrGearInDistance parameter. If lrGearInDistance has the value 0, the behavior is the same as for the setting "NONE".
• TIME-BASED
• A time-based transition function is calculated for synchronizing. The duration of the transition function is defined by the lrGearInTime parameter.
• (PROFILE-BASED)
• Reserved for future functions.

lrGearInTime

Data type: LREAL

Synchronizing time [s] for time-based synchronization

The parameter only takes effect if eTransitionType has the value "TIMEBASED". An automatic transition function is calculated so that the slave axis is synchronous after the synchronizing time.