MC_GAP_CONTROL_DIRECTION

Gap Control Direction “mcGapCtrlDirectionPositive”

CA Group

 

  • The set gap control direction applies to the entire CA group.

 

Successor

 

  • The size of the Gap is regulated in each case.
  • The successor is the only mover that controls the size of the Gap enclosed by both adjacent movers.

 

Gap Control
Mode

 

  • Gap Control Mode "mcGapCtrlModeStandard" or Gap Control Mode "mcGapCtrlModeFast" can be used to calculate the dynamic values of a directly following mover.
  • The initialization parameter Default Gap Control Mode sets the same Gap Control Mode as the default algorithm for each successor within a CA group.

 

Individual

 

  • The motion function blocks MC_MoveAbsoluteCA, MC_MoveRelativeCA, MC_HaltCA or MC_GearInPosCA can be used to change the "Gap Control Mode" individually for each mover.

 

Computing power

 

  • Gap Control Mode "mcGapCtrlModeStandard" generally requires less computing power than Gap Control Mode "mcGapCtrlModeFast".

 

Gap Control Direction „mcGapCtrlDirectionBoth“

Motion
profiles

 

  • Allows more general motion profiles, for example reverse motion.

 

CA Group

 

  • The set gap control direction applies to the entire CA group.

 

Successor
and
predecessor

 

  • The size of the Gap is regulated in each case.
  • Both adjacent movers, predecessor and successor, control the size of the Gap they enclose.

 

mcGapCtrlMode
Standard

 

  • Each mover within a CA group uses the same Gap Control Mode to calculate its dynamic values: "mcGapCtrlModeStandard".
  • Gap Control Mode "mcGapCtrlModeFast" cannot be used.

 

MC_GAP_CONTROL_DIRECTION 1:

A runtime error is triggered if the gap control direction mcGapCtrlDirectionBoth has been set for a CA group and a motion function block – MC_MoveAbsoluteCA, MC_MoveRelativeCA, MC_HaltCA or MC_GearInPosCA – is used to set the Gap Control Mode for a mover of this CA group to the value "mcGapCtrlModeFast".

Correlating control behavior

Neighborhood

 

  • The size of a gap between two adjacent movers is controlled.
  • Two gaps are (directly) adjacent if the mover separating them is both successor and predecessor.

 

Chain

 

  • (Directly) adjacent gaps form a (non-trivial) chain.
  • Within a chain the control of the respective gaps is correlated.

 

Gap Control Mode

 

  • Gap Control Mode influences the correlating control type.
  • Gap Control Mode "mcGapCtrlModeStandard" allows deviations from the target gap value for a single gap and for the gaps of a chain for softer control.