Motion synchronous actions
10.4 Actions in synchronized actions
Job planning
Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
10-55
Parameters
Activate unsynchronized coupled motion:
... DO TRAILON(FA, LA, Kf)
with:
FA: Following axis
LA: Leading axis
Kf: Coupling factor
Deactivate unsynchronized coupled motion:
... DO TRAILOF(FA, LA, LA2)
... DO TRAILOF(FA)
with:
FA: Following axis
LA: Leading axis, optional
LA2: Leading axis 2, option
All couplings to the
following axis are
disengaged.
Example
$A_IN[1]==0 DO TRAILON(Y,V,1) ;Activate 1st combined axis pair when the digital
;input is 1
$A_IN[2]==0 DO TRAILON(Z,W,-1) ;Activate 2nd coupled axis grouping
G0 Z10 ;Infeed Z and W axes in opposite axial directions
G0 Y20 ;Infeed of Y and V axes in same axis directions
...
G1 Y22 V25 ;Superimpose dependent and independent movement of
;trailing axis "V"
...
TRAILOF (Y,V) ;Deactivate 1st coupled axis grouping
TRAILOF (Z,W) ;Deactivate 2nd coupled axis grouping
Example of conflict avoidance with TRAILOF
The coupled axis is released again for access as a channel axis by invoking the TRAILOF
function for the axis. It must be ensured that TRAILOF is executed before the channel
requests the
axis. However, this is not the case in this example
…
N50 WHEN TRUE DO TRAILOF(Y,X)
N60 Y100
…
In this case, the axis is not released early enough because the non-modal synchronized
action becomes active synchronously with N60 with TRAILOF, see section, Motion-
synchronous action, "Structure, basic information".
To avoid conflict situations the following procedure
should be followed.
…
N50 WHEN TRUE DO TRAILOF(Y,X)
N55 WAITP(Y)
N60 Y100
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