MC_CombineAxes (FB)

FUNCTION_BLOCK MC_CombineAxes

This function block combines the motion of 2 axes into a third axis with selectable combination method.

Basically it is a calculation of a new position setpoint based on the two position setpoints of the input axes. This function block is reflected in the state diagram like a synchronized motion type. As application example one can work with a separate profile synchronized to an object on a moving belt, or a rotating knife with flexible covered distance to be cut.

Note

To stop the motion, the function block has to be interrupted by another function block issuing a new command.

Example of Ice-cream

MC_CombineAxes can generate special synchronized movements that are not possible or complex to generate in other ways. In the following example, a CAM function block and the result of a Gear function block are both synchronized to a conveyor master, are added to generate a virtual master for a MC_GearInPos function of the final axis that will execute the movement. The particular application of this example could be a machine to deposit the icecream waving layers on top of the icecream base travelling through the freezer line in icecream factory. The dosing axis has to synchronize with a waving manner to the conveyor carrying the icecream base block. And it has to do this in a particular starting position and wave phase to achieve the expected result (therefore the GearInPos). With the CAM function block one can define different wave patterns easily (like the one longer in the top of icecream).

Another case application can be chocolate bars with decoration (individual bars in mouldings). The dosificator makes the wave synchronized with conveyor and returns for the next

Application example of MC_CombineAxes

The corresponding timing diagram for MC_CombineAxes example

Note

This block has to be called within the REAL-TIME task, same task as CMC_BASIC_KERNEL

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	CombineMode	BOOL	FALSE = Addition of two input axes positions, TRUE = Subtraction of two input axes positions
	GearRatioNumeratorM1	INT	Gear ratio numerator for master axis 1 towards the slave
	GearRatioDenumeratorM1	INT	Gear ratio denominator for master axis 1 towards the slave
	GearRatioNumeratorM2	INT	Gear ratio numerator for master axis 2 towards the slave
	GearRatioDenumeratorM2	INT	Gear ratio denominator for master axis 2 towards the slave
	MasterValueSourceM1	MC_Source	Decide to use the actual position or reference position of master axis 1. mcSetValue: Synchronization on master set value. mcActualValue: Synchronization on master actual value
	MasterValueSourceM2	MC_Source	Decide to use the actual position or reference position of master axis 2. mcSetValue: Synchronization on master set value. mcActualValue: Synchronization on master actual value
	Acceleration	LREAL	[u/s°°2] Value of the acceleration (increasing energy of the motor), just applied until “insync” is reached. Range: >0. If value = 0, Acceleration will be equal to parameter paraMaxAccelerationAppl.If value > 0 and <= 1,Acceleration will be limited to 1.
	Deceleration	LREAL	[u/s°°2] Value of the deceleration (decreasing energy of the motor), just applied until “insync” is reached. Range: >0. If value = 0, Deceleration will be equal to parameter paraMaxDecelerationAppl.If value > 0 and <= 1,Deceleration will be limited to 1.
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	InSync	BOOL	Commanded gearing completed
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Master1	Axis_Ref	Reference to master axis 1
	Master2	Axis_Ref	Reference to master axis 2
	Slave	Axis_Ref	Reference to slave axis

Structure:

• MC_CombineAxes.zACTION_gear_control (ACT)