Chapter 7 Program
(1) Command condition
: It is a condition to give synchronous operation/synchronous operation cancellation commands to the axis.
(2) Axis connection state flag
: When axis to be operated is connected to motion control module, and EtherCAT communication with motion control module is
normally performed, it is On.
(3) Axis error/Warning state flag
: If there are errors and warning in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 2Axis synchronous operation/Synchronous operation cancellation commands
: In the example program, electronic gear operation (MC_GearIn) motion function block is executed under the following
conditions.
- Synchronous operation condition is On.
- The axis and main axis is normally connected.
- There should be no errors and warnings.
- The axis is not in operation.
In addition, electronic gear cancellation (MC_GearOut) motion function block is executed under the following conditions.
- Synchronous operation cancellation condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- The axis is in operation.
Conditions to execute motion function block may vary depending on systems.
(6) Synchronous command input variables
: These are input variables to execute electronic gear operation (MC_GearIn) motion function block.
- Main axis: It sets serve axis of synchronous operation.
- Serve axis: It sets the axis in which synchronous operation is to be performed.
- Changes in parameters during operation: It sets whether to apply to the operation by changing input variable values of the
function block. For details, refer to “6.1.5 Changes in parameters during execution of motion function block”.
- Synchronization ratio numerator: It sets numerator value among synchronization ratio to be operated by synchronization of
the operation of main axis.
- Synchronization ratio denominator: It sets denominator among synchronization ratio to be operated by synchronization of the
operation of main axis.
- The speed of serve axis in a state of gear operation (InGear) is set as follows.
Serve axis speed = Main axis speed x (Synchronization ratio numerator/Synchronization denominator)
- Main axis data selection: It selects whether the data of main axis is set to command speed or current speed.
In case command speed is set, synchronization is achieved based on the speed of main axis calculated in motion control
module.
In case current speed is set, synchronization is achieved by using speed data of main axis servo drive transmitted through
the communication.
- Acceleration, deceleration, jerk: Each value is set in synchronous operation.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute immediately
or execute after the completion of commands which are currently being performed. For details, refer to “6.1.4 Buffer Mode
Input”.
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