Set value generators
Every axis is assigned to a set value generator, and this in turn consists of three components:
- block preparation generator (in the block preparation task): checking the start parameters and, in the case of master axes, calculation of the dynamic profile.
- block execution generator (in the block execution task): calculation of the local set values.
- asynchronous generator for reaction to asynchronous requirements (override, new end position, position compensation etc.).
Master generator: SVB
The SVB master generator checks whether a start is permissible in the current operating state of the axis, checks the start parameters in general and in relationship to the axis parameters, and calculates, from the global set values, a dynamic profile which is saved in compressed form (a run-time table) for the generation of the local set values. When these actions have been successfully completed, the SVB master generator automatically starts the SAF master generator.
Master generator: SAF
Each time the task is called, the SAF master generator calculates the local set values of from the runtime table for
- position (for the position controller),
- velocity with arithmetic sign (for the velocity feed forward),
- acceleration (for a controller with acceleration feed forward),
- direction (for the feed enable, which depends on the direction).
Master generator: Asynchronous
The generator for reaction to asynchronous instructions (override, new end position, position compensation etc.) checks the parameters of the instruction as well as whether the instruction is permissible in the current operating state, and initiates execution of the instruction the next time the SAF is called. This implies that final knowledge as to whether the instruction has indeed been initiated does not exist until after this SAF call.
Slave generator: SVB
The SVB slave generator checks whether the coupling is permitted and whether a start is permitted in the current operating state of the axis, checks the coupling parameters and sets global start parameters. When these actions have been successfully completed, it couples the slave logically to the master.
Slave generator: SAF
Each time the task is called, the SAF master generator calculates, from the local set values of the master axis (which can, in turn, be a slave axis) and the coupling factor, the local set values for
- position (for the position controller),
- velocity with arithmetic sign (for the velocity feed forward),
- acceleration (for a controller with acceleration feed forward),
- direction (for the feed enable, which depends on the direction).
Slave generator: asynchronous
The generator for reaction to asynchronous instructions (position compensation, online decoupling etc.) checks the parameters of the instruction as well as whether the instruction is permissible in the current operating state, and initiates execution of the instruction the next time the SEC task is called. This implies that final knowledge as to whether the instruction has indeed been initiated does not exist until after this SEC call.
Slave generator: flying saw
Because of the wide variety of its functions, the flying saw has its own type of set value generator, consisting of an SPP master generator working together with an SEC master generator in the waiting and synchronization phase. In the synchronous phase, the flying saw has an SEC slave generator. This can be converted into either an initialized SEC braking generator (in the stop phase) or (decoupled) online into a suitably initialized SEC master generator.