E_GearInMultiMasterSyncMode
E_GearInMultiMasterSyncMode defines the possible synchronization modes for axis coupling at MC_GearInMultiMaster, if the slave axis motion is limited in AdvancedSlaveDynmaics mode (limitation of velocity, acceleration and jerk).
TYPE E_GearInMultiMasterSyncMode :
(
VELOSYNC := 0,
POSSYNC1 := 1,
POSSYNC2 := 2
)INT;
END_TYPE
E_GearInMultiMasterSyncMode | Description |
|---|---|
VELOSYNC | The slave axis and the master axes move with a synchronized velocity. In the case of a dynamic limitation, the slave establishes a position difference that is not caught up again. (Standard) |
POSSYNC1 | The slave axis and the master axes move with synchronized velocity and position. In the case of a dynamic limitation, the slave establishes a position difference that is then caught up at a later time. Changes in the gear ratios during the journey are executed taking into account the dynamics. The position difference between master and slave resulting from this is not caught up. |
POSSYNC2 | The slave axis and the master axes move with synchronized velocity and position. In the case of a dynamic limitation, the slave establishes a position difference that is then caught up at a later time. Changes in the gear ratios during the journey are immediately calculated internally and the slave continuously synchronizes itself to the new position. |