Real Axis In Ccd Slave Moves Synchronously To Real Axis In Ccd Master - Bosch REXROTH IndraDrive Applications Manual

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Synchronous Multi-Axis Motion With Virtual Master Axis
7.5.2 Real Axis in CCD Slave Moves Synchronously to Real Axis in CCD
Master
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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
Example
There are applications in which axes are to carry out the same motion as the
real CCD master axis. At this point, it is possible to extend the example; a sec‐
ond axis (CCD slave axis), for example, is to move in a phase synchronous way
to the CCD master axis. The CCD slave axis is operated in the operation mode
"phase synchronization". The principle of this operation mode is that the real
drive, after it has synchronized to the master axis, moves in a phase synchro‐
nous way to the master axis. This master axis ("P‑0‑0053, Master axis posi‐
tion") is generated from the parameter "P‑0‑0434, Position command value of
controller" of the CCD master axis. The value of P‑0‑0434, which is available
in the position data format, must be converted to the master axis format. This
is done via the master axis format converter in the CCD master (see also
IndraWorks dialog "Master Axis Generator" and Functional Description "Master
Axis Generator: Master Axis Format Converter" in the drive documentation).
The result is contained in the parameter "P‑0‑0761, Master axis position for
slave axis". This value must be transmitted to the slave axis. Due to the CCD
transmission and the subsequent command value processing in the CCD slave,
a position offset would occur between the CCD master and the CCD slave. To
compensate this, the master axis position must be pre-controlled. This is done
via an extrapolator. The output of the extrapolator is written to the parameter
"P‑0‑0053, Master axis position" and is available to all axes in the CCD group
at the same time with the same value. For the configuration, see the table in
the following section.
Parameterization
The parameterization of example 1 has to be extended as follows:
Master axis format converter
P‑0‑0916, Master axis format
converter signal selection
P‑0‑0434
When the CCD master axis has been scaled in absolute form, the
CCD slave axis, too, must be scaled in absolute form and the pa‐
rameter "P‑0‑0750, , Master axis revolutions per master axis cy‐
cle" must have the value "0" for all axes.
Programming
The operation mode "phase synchronization" is activated via the function block
"MB_GearInPos" for the CCD slave axis.
MB_GearInPos
Declaration fbGearInPosAxis2: MB_GearInPos;
Task Activation and parameterization of the operation mode "phase syn‐
chronization" in the CCD slave axis.
Slave Axis2 (corresponds to CCD slave axis [first CCD slave axis in CCD
axis group])
Master VmAxisExt (specification of master axis via "P‑0‑0053, Master axis
position")
DOK-INDRV*-MLD-APPLI**-AW02-EN-P
CCD dead time compensation (extrapolator)
P‑0‑1616, CCD: Extrapo‐
P‑0‑1617, CCD: Number
lated cmd value signal se‐
of extrapolation steps
lection
P‑0‑0761 2