Characteristic Values - Beckhoff TwinCAT 2 Manual

6

Characteristic values

Once the Universal Flying Saw has been started, the MC_ReadFlyingSawCharacteristics PLC function block
can be used to read the characteristic values associated with the slave set value profile that has been
calculated for the synchronisation phase. These characteristic values therefore refer neither to the
synchronous phase nor to the preliminary phase, but only apply to the synchronisation phase!
The individual characteristic values are described in the table below.
When calculating the dynamic characteristic values it is assumed that after the Universal Flying Saw has
been started (after the coupling moment) the master will continue to move without acceleration. It follows
that the calculated characteristic values are only precisely correct for a master that is not accelerating, and
that in practice there may be overshoot or undershoot if the master accelerates or decelerates.
Structure of the characteristic values
The characteristic values are stored in the comprehensive MC_FlyingSawCharacValuesstructure, which
contains the following magnitudes:
The start time described in the table always refers to the start of the synchronisation phase, while
the end time refers to the end of the synchronisation phase (not the end of the synchronous phase)!
The focus here is always on the synchronisation phase.
The third column of the table indicates whether any acceleration that the master may undergo will
affect the characteristic value or not.
Denomination
fMasterVeloNom
fMasterPosStart
fSlavePosStart
fSlaveVeloStart
fSlaveAccStart
fSlaveJerkStart
fMasterPosEnd
fSlavePosEnd
fSlaveVeloEnd
fSlaveAccEnd
fSlaveJerkEnd
fMPosAtSPosMin
TS5055
NOTE
Description
Master velocity at the start time of
the Universal Flying Saw
Master position at the start time of
the Universal Flying Saw
Slave position at the start time of
the Universal Flying Saw
Slave velocity at the start time of
the Universal Flying Saw
Slave acceleration at the start time
of the Universal Flying Saw
Slave jerk at the start time of the
Universal Flying Saw
Master position at the end of the
synchronisation phase
Slave position at the end of the
synchronisation phase
Slave velocity at the end of the
synchronisation phase
Slave acceleration at the end of the
synchronisation phase
Slave jerk at the end of the
synchronisation phase
Master position at the time of the
minimum slave position
Version: 1.3
Characteristic values
Independent of master accelera-
tion
no
yes
yes
no
no
no
yes
yes
no
no
no
no
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