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Chapter 4
Functional Overview
Note
Refer to the FlexMotion Software Reference Manual for more information on
blending and blend factors.
Refer to the FlexMotion Software Reference Manual for more information on
Note
electronic master/slave gearing.
7344 Hardware User Manual
decelerating from the previous trajectory move. The 2-position command
outputs are combined digitally by superposition. You can use the
7344 controller's infinite trajectory control processing to automatically and
smoothly blend any move type into any other move without stopping the
axis or axes involved.
Electronic Gearing
With electronic gearing, you can slave both position and velocity on one or
more axes to a master position/velocity source for synchronous ratio-based
motion. The master can be the feedback of an axis, an independent encoder
input or ADC channel, or even the trajectory generator output of another
axis.
A slave axis operates in a special mode that calculates an instantaneous
position command value that is a ratio of the master position. Since this
calculation is completed every PID update, the axis accurately tracks the
ratio of the master position velocity. For example, setting a gear ratio of 3:2
results in the slave axis rotating three revolutions for every two revolutions
of the master. Each slave axis can have its own gear ratio independent and
relative to the master axis.
You can also superimpose any move type on top of the geared slave because
its trajectory generators are not used for gearing. Again, the target position
command values are combined digitally using superpositon. This very
powerful feature allows registration moves in an electronically geared,
master/slave system.
Linear and Circular Interpolation
You can synchronize and control multiple axes to perform 2D and 3D
linear interpolation, 2D circular interpolation, and 3D helical and spherical
interpolation.
The 7344 controller generates linear interpolated moves by scaling the
velocity, acceleration, deceleration, and S-curve values appropriately so
that the axes assigned to the 2D/3D move travel in a straight line in 2D or
3D space and arrive at their target positions simultaneously.
4-4
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