Bosch REXROTH IndraDrive Applications Manual page 54

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Synchronous Multi-Axis Motion With Virtual Master Axis
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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
relatively synchronized to the master axis, the virtual master axis is continu‐
ously moved via the function block "MC_MoveVelocity".
The cyclic sequence of motion consists of two motion steps:
● Motion step 1
Within this motion step, material feed from the master axis position "0 de‐
grees" (master axis start position for material feed) to "180 de‐
grees" (master axis end position for material feed) takes place.
● Motion step 2
The second motion step defines the punching range. Within this range,
material feed mustn't take place. The punching range reaches from the
master axis end position for material feed (180 degrees) to the master axis
start position for material feed (0 degrees).
Step 1 Material feed takes place from master axis position "0 increments" to
position "524288 increments"
Step 2 Punching takes place within this range
Fig.7-2: Sequence of Motion
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