XPM_SSSPD

XPM_SSSPD is used to control the operating speed between two axes at the set ratio.

  • The sub-axis will stop when its position reaches the POS value.

  • The synchronization is done with the Master Ratio and Sub-axis Ratio.

  • If master ratio value is larger, then the sub-axis will move slower than the master.

  • If sub-axis ratio value is larger, then the sub-axis will move faster than the master.

  • The sub-axis will move in the same direction as the master axis if the ratio is positive.

  • The sub-axis will move in the opposite direction of the master axis if the ratio is negative.

  • XPM_SSSPD has a 32-bit integer ratio and can only be used with the XBF-PN08B and XBF-PN04B modules.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Equal to 0 for built-in position control.
SLOT Input Slot number of the motion controller. Equal to slot number of XBF-PN04B or XBF-PN08B module.
AXIS Input

Axis number to control.

  • XBF-PN04B: 1 ~ 4 (1 axis - 4 axis)

  • XBF-PN08B: 1 ~ 8 (1 axis – 8 axis)

This can be a constant or variable.
MST_AXIS Input

Master axis number.

  • XBF-PN04B: 1 ~ 4 (1 axis - 4 axis)

  • XBF-PN08B: 1 ~ 8 (1 axis – 8 axis) .
MST_RAT Input Master speed ratio value. Value can be between -2,147,483,648 ~ 2,147,483,647.
SLV_RAT Input Sub-axis speed ratio value. Value can be between -2,147,483,648 ~ 2,147,483,647.
POS Input Target position of the sub-axis.
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

This example is Scan Program ‘LP611_XPM_SSSD_SSSPD_Example’ in OnlineHelp_ECAT_Example.

  • In this example Axis 4 is the master axis and Axis 1 is the sub-axis. Axis 4 is a virtual axis.

  • When the ‘Axis1_Sync_CMD2’ variable is true, Axis 4 will do a speed control move to 50000 pulses/sec and Axis1 will execute an XPM_SSSPD function block.

  • Axis 1’s XPM_SSSPD is setup to speed synchronize with at Axis 4’s speed.

  • Axis 1 will stop after its position reaches 50000 pulses.

  • Execute XPM_ECON to connect EtherCAT network.

  • Execute XPM_SVON fbs to power on axes.

  • Execute ‘Home_Axes’ command before ‘Axis1_Sync_CMD2’.

 

 

 

 

LP615-2