Link Operation with LS_MoveLink

LS_MoveLink is used to synchronize the speed of the master and slave axes using the set gear ratio and synchronization positions. The Master axis must always operate in the forward direction while using LS_MoveLink. RatioNumerator and RatioDenominator set the ratio of the slave’s speed to the master’s speed. If the RatioNumerator value is set to a negative number, the slave will move in the opposite direction of the master.

  • The MasterValueSource input is used to set the synchronization to master commanded or current position.

  • The slave axis will enter SynchronizedMotion state while this function block is executing.

  • MasterSyncPosition and SlaveSyncPosition inputs can be used to control when the gearing starts.

  • MasterStartDistance input starts synchronization at the set distance from the MasterSyncPosition and should be greater than 0.

  • When the gear operation starts and the SlaveEndPosition is reached, the gear operation ends and the main axis moves the distance set in the MasterEndDistance input, while the slave axis performs the release action to reach the SlaveWaitPositon.

  • LS_Connect and MC_Power/MC_PowerAll must be executed before these function blocks can be used.

  • The following examples can be found in the XMC_LSDedicated_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
Master Input/Output Select the master axis for the gearing operation. This must be a UINT variable with a value of the master axis number.
Slave Input/Output Select the slave axis for the gearing operation. This must be a UINT variable with a value of the slave axis number.
RatioNumerator Input Specify the numerator of the gear ratio. (-2147483648 ~ 2147483647)
RatioDenominator Input Specify the denominator of the gear ratio. (0 ~ 4294967295)
MasterValueSource Input

Select the source of the main axis for gearing operation.

  • 0: Synchronizes to the command position of the main axis.

  • 1: Synchronizes to the current position of the main axis.

MasterStartDistance Input Specify the move distance of the main axis where synchronization starts.
MasterSyncPosition Input Specify the position of the master axis to start synchronization.
MasterEndDistance Input Specify the movement distance of the main axis that occurs from the SlaveEndPosition to the SlaveWaitPosition.
SlaveSynPosition Input Specify the position of the master axis to start synchronization.
SlaveEndPosition Input Specify the position of the master axis where the synchronization ends.
SlaveWaitPosition Input Specify the position where the slave axis waits.
BufferMode Input Specify the sequential operation setting. See BufferMode Table.
Done Output Indicates the function block has finished the operation.
StartSync Output Indicates the synchronization is starting.
InSync Output Indicates the gearing operation is running at the specified gear ratio.
Busy Output Indicates the function block is currently being executed.
Active Output Indicates the function block is controlling the slave axis.
CommandAborted Output Indicates the function block was aborted.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.

Sections 6.1.4 and 8.2.10 of the XMC user manual provide more information about buffer modes.

Value Buffer Mode Description
0 Aborting Abort previous command and execute the command immediately.
1 Buffered Execute the command after previous command is completed.
2 BlendingLow The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3 BlendingPrevious The new command is blended into a previous command using the velocity of the previous command.
4 BlendingNext The new command is blended into a previous command using the velocity from the new command.
5 BlendingHigh The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM800