EtherCAT XPM_GEARIP for Speed Synchronization while Designating Synchronous Position

The axes being controlled must already be configured using the XG-PM software before using the synchronization function blocks.

The examples in this topic can be found in OnlineHelp_ECAT_Example.

  • XPM_GEARIP is used to control an axis by referring to the main axis movement at the Ratio (Synchronization rate) input value.

  • If the synchronization ratio is positive, the minor axis rotates in the direction of the main axis.

  • If the synchronization ratio is negative, the minor axis rotates in the opposite direction of the main axis.

  • If Ratio > 1, then minor axis will move faster.

  • If Ratio < 1, then major axis will move faster.

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 XEM CPU.
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. This will be the minor axis.
RATIO Input Synchronization rate.
MST_S_POS Input Set a position of the main axis to be synchronized. Value can be between -2,147,483,648 and 2,147,483,647.
SLV_S_POS Input Set a position for the minor axis to be synchronized. Value can be between -2,147,483,648 and 2,147,483,647.
MST_S_DIST Input Distance from the synchronous start position of (MST_S_POS, SLV_S_POS) to ramp up to synchronous motion.
CW Input

Main Axis.

  • XBF-PN04B: 1-4 (1 axis-4 axis)

  • XBF-PN08B: 1-8 (1 axis-8 axis)

  • 9: Built-in Encoder.
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 LP618_XPM_GEARIP_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_CMD1 variable is true, Axis 4 will do a speed control move to 300 pulses/sec and Axis 1 will execute an XPM_GEARIP function block.

  • Axis 1’s XPM_GEARIP is setup to speed synchronize with Axis 4 at 25% of Axis 4’s speed.

  • Execute XPM_ECON to connect EtherCAT network.

  • Execute XPM_SVON function blocks to power on axes.

  • Execute Home_Axes command before Axis1_Sync_CMD1.

XPM_GEARIP LD Code

XG-PM Monitoring for XPM_SSSD example

XG-PM Trend Showing MST_S_DIST of 2500

XG-PM Trend Showing MST_S_DIST of 1000

 

 

 

 

 

LP618