Real Axis In Ccd Master And Ccd Slave Move Synchronously To Measuring Encoder Position In Ccd Slave - Bosch REXROTH IndraDrive Applications Manual

DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
7.5.3 Real Axis in CCD Master and CCD Slave Move Synchronously to
Measuring Encoder Position in CCD Slave
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Synchronous Multi-Axis Motion With Virtual Master Axis
Real Axis in CCD Master and CCD Slave Move Synchronously to Measuring
Encoder Position in CCD Master
Example
Two axes are to move phase-synchronously to the measuring encoder position
of the CCD master axis.
Parameterization
Parameterization must be made in the CCD master axis.
Master axis format converter CCD dead time compensation (extrapolator)
P‑0‑0916, Master axis format
converter signal selection
P‑0‑0052
The parameter "P‑0‑0750, Master axis revolutions per master axis
cycle" for all axes has to be set to the value of the parameter
"P‑0‑0765, Modulo factor measuring encoder" of the CCD master
axis.
Programming
The operation mode "phase synchronization" is activated via the function block
"MB_GearInPos".
MB_GearInPos
Declaration fbGearInPosAxis1: MB_GearInPos;
Task Activation and parameterization of the operation mode "phase syn‐
chronization" in the CCD master axis.
Slave Axis 1 (with MLD-M, always corresponds to CCD master axis and with
MLD-S, always corresponds to local axis)
Master VmAxisExt (specification of master axis in the parameter "P‑0‑0053,
Master axis position")
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 in the parameter "P‑0‑0053,
Master axis position")
Example
Two axes are to move phase-synchronously to the measuring encoder position
of the CCD slave axis.
Parameterization
Bosch Rexroth AG
P‑0‑1616, CCD: Extrapo‐ P‑0‑1617, CCD: Number
lated cmd value signal se‐ of extrapolation steps
lection
P‑0‑0761 2
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