7.3 Programming
The exemplary
program has been divided into several code sections which are
illustrated in simplified form in the figure below.
Fig.7-13: Program Structure
The following motion function blocks were used for realizing the application
task.
MC_MoveAbsolute
Declaration
fbMoveAbsVmAxis: MC_MoveAbsolute;
Task Positions the virtual axis of the master axis generator.
Axis VmAxisInt: Virtual axis of the master axis generator
MC_MoveVelocity
Declaration
fbMoveVelocityVmAxis: MC_MoveVelocity;
Task Moves the virtual axis of the master axis generator with constant ve‐
locity (production velocity).
Axis VmAxisInt: Virtual axis of the master axis generator
Bosch Rexroth AG DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
64/97
Synchronous Multi-Axis Motion With Virtual Master Axis
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