MC_CombineAxes, MCP_CombineAxes – Combine the motion of 2 axes into a third axis

Block SymbolsLicensing group: MOTION CONTROL

Function Description

The MC_CombineAxes block combines a motion of two master axes into a slave axis command. The slave axis indicates synchronized motion state. Following relationship holds:

\begin{array}{rcl} SlavePosition & = & Master1Position \cdot \frac{GearRatioNumeratorM1}{GearRatioDenominatorM1} + \\ + Master2Position \cdot \frac{GearRatioNumeratorM2}{GearRatioDenominatorM2} \end{array}

Negative number can be set in GearRatio... parameter to obtain the resulting slave movement in form of difference of master axes positions.

Inputs

uMaster1	First master axis reference	Reference
uMaster2	Second master axis reference	Reference
uSlave	Slave axis reference	Reference
Execute	The block is activated on rising edge	Bool
GearRatioNumeratorM1	Numerator for the gear factor for master axis 1	Long (I32)
GearRatioDenominatorM1	Denominator for the gear factor for master axis 1	Long (I32)
GearRatioNumeratorM2	Numerator for the gear factor for master axis 2	Long (I32)
GearRatioDenominatorM2	Denominator for the gear factor for master axis 2	Long (I32)
BufferMode	Buffering mode	Long (I32)
	1 .... Aborting (start immediately) 2 .... Buffered (start after finish of previous motion) 3 .... Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 4 .... Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands) 5 .... Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity) 6 .... Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)
RampIn	RampIn factor (0 = RampIn mode not used)	Double (F64)

Outputs

yMaster1	First master axis reference	Reference
yMaster2	Second master axis reference	Reference
ySlave	Slave axis reference	Reference
InSync	Slave axis reached the cam profile	Bool
CommandAborted	Algorithm was aborted	Bool
Busy	Algorithm not finished yet	Bool
Active	The block is controlling the axis	Bool
Error	Error occurred	Bool
ErrorID	Result of the last operation	Error
	i .... REXYGEN general error
SyncDistance	Position deviation of the slave axis from synchronized position	Double (F64)

Example

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