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Synchronisation to velocity

TS5055

14

Version: 1.3

PLC function blocks

The function block MC_GearInVelo is used for the coupling. To end the synchronous phase by uncoupling
(online change) the function block MC_GearOut is used.

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Summary of Contents for TS5055

Page 1: ...Manual EN TS5055 TwinCAT 2 NC Flying Saw 2022 11 22 Version 1 3...

Page 2: ......

Page 3: ...tic values 21 7 Calculating the synchronisation phase 23 8 Reversal of the master axis movement reverse motion stop 25 9 Diagonal saw 29 10 Interfaces 30 11 Operation from the System Manager 32 12 PLC...

Page 4: ...Table of contents TS5055 4 Version 1 3...

Page 5: ...ve already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT TwinCAT BSD TC BSD EtherCAT EtherCAT G EtherCAT G10 EtherCAT P...

Page 6: ...familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions mus...

Page 7: ...The latter should be connected to the corporate network or the Internet only if appropriate protective measures have been set up In addition the recommendations from Beckhoff regarding appropriate pr...

Page 8: ...aster See diagram The Universal Flying Saw basically provides two different synchronization methods In the case of synchronization to velocity the slave is synchronized to the master as quickly as pos...

Page 9: ...Synchronisation to position 15 the slave axis is synchronised to the master at the specified synchronisation position using the specified dynamic parameters This means that the slave axis reaches the...

Page 10: ...future movement is not known at the time of coupling An acceleration of the master that might occur in the future will also affect the slave dynamics as a result of the coupling Such acceleration by t...

Page 11: ...value profile for the synchronization is calculated This calculated set value profile for the slave is then specified for phase 2 of the slave axis At the end of phase 2 the slave axis precisely achie...

Page 12: ...to velocity TS5055 12 Version 1 3 Example 2 As example 1 but with coupling factor 1 5 Start parameters fMasterVelo 500 fSlaveVelo 250 Coupling parameters fGearRatio 1 5 fSlaveAcc 2500 fSlaveDec 2500...

Page 13: ...S5055 13 Version 1 3 Example 3 The start of the coupling in the acceleration phase of the future slave Start parameters fMasterVelo 500 fSlaveVelo 400 Coupling parameters fGearRatio 1 fSlaveAcc 2500 f...

Page 14: ...tion to velocity TS5055 14 Version 1 3 PLC function blocks The function block MC_GearInVelo is used for the coupling To end the synchronous phase by uncoupling online change the function block MC_Gear...

Page 15: ...ter sync position and when the slave is at the slave synchronisation position slave sync position The synchronous velocity corresponds to the master velocity multiplied by the chosen coupling factor I...

Page 16: ...Version 1 3 Example 2 Start parameters fMasterVelo 500 fSlaveVelo 250 fMasterStartPos 500 fSlaveStartPos 500 Coupling parameters fGearRatio 1 5 fMasterSynchronPos 1000 fSlaveSynchronPos 500 fSlaveAcc...

Page 17: ...055 17 Version 1 3 PLC function blocks The function block MC_GearInPos is used for coupling To end the synchronous phase i e for uncoupling online change of the slave into an independent master the fu...

Page 18: ...is generated to synchronize the slave axis to the master axis GEARINSYNCMODE_TIMEBASED In this mode of the universal flying saw a time dependent motion profile is generated for synchronizing the slav...

Page 19: ...lt When the slave has achieved the synchronous phase synchronous coupling of all the following master movements is maintained until the coupling is removed This also applies if the master changes dire...

Page 20: ...1 When calculating the coupling the acceleration of the master is ignored i e set to zero This causes the use of internal optimizations At moderate acceleration this specification leads to tolerable f...

Page 21: ...ibed in the table always refers to the start of the synchronisation phase while the end time refers to the end of the synchronisation phase not the end of the synchronous phase The focus here is alway...

Page 22: ...Minimum slave dynamic moment NOT SUPPORTED YET no fMPosAtSPosMax Master position at the time of the maximum slave position no fSlavePosMax Maximum slave position yes fMPosAtSVeloMax Master position a...

Page 23: ...thing which as a rule is never mathematically free from acceleration particular care must be taken to filter the actual acceleration Alter natively the determination of the actual acceleration can be...

Page 24: ...order polynomial can be combined with a first order polynomial in order to maintain the parameterized boundary conditions The way in which the individual boundary conditions influence the selection of...

Page 25: ...rview explains in detail the effect of the GEARINSYNC_OPMASK_ROLLBACKLOCK and GEARINSYNC_OPMASK_INSTANTSTOPONROLLBACK bits ROLL BACK LOCK INSTANT STOP ON ROLLBACK Synchro nous phase reached Descriptio...

Page 26: ...tion 0 1 no Case 3 As in case 2 except that the velocity of the slave axis is reduced to zero within one tick after reaching the coupling position The velocity reduction in one tick can trigger the fo...

Page 27: ...therefore prevented in that the slave velocity is continuously reduced as soon as the coupling position is reached 1 1 no Case 7 The behavior is identical to case 3 1 1 yes Case 8 The bit combination...

Page 28: ...Reversal of the master axis movement reverse motion stop TS5055 28 Version 1 3 ROLL BACK LOCK INSTANT STOP ON ROLLBACK Synchro nous phase reached Description...

Page 29: ...rsal Flying Saw This coupling factor must be calculated in such a way that in the synchronized phase the component of the velocity of the slave axis in the direction of the master axis is the same as...

Page 30: ...ACTIVE other Master State Explanation see TwinCAT NC General documentation 11 Slave State The slave is in a preliminary movement phase PREPHASE 12 Slave State The slave is in the synchronization phase...

Page 31: ...Interfaces TS5055 31 Version 1 3 ADS interface Documentation of the ADS interface...

Page 32: ...Operation from the System Manager TS5055 32 Version 1 3 11 Operation from the System Manager For commissioning purposes the Universal Flying Saw can also be started directly from the System Manager...

Page 33: ...niversal Flying Saw Function Block Synchronisation to velocity MC_GearInVelo 33 Synchronisation to position MC_GearInPos 36 Read the characteristic values MC_ReadFlyingSawCharacteristics 39 Uncouple t...

Page 34: ...fied the maximum deceleration of the axis from the System Manager data is used The deceleration given here is only checked if this checking is activated through the SyncMode 41 variable Jerk Maximum s...

Page 35: ...cution Error Becomes TRUE as soon as an error occurs ErrorID If the error output is set this parameter supplies the error number see Overview of NC errors TC2 Inputs outputs VAR_IN_OUT Master AXIS_REF...

Page 36: ...e halted using MC_Stop or MC_Halt Inputs VAR_INPUT Execute BOOL RatioNumerator LREAL RatioDenominator UINT MasterSyncPosition LREAL SlaveSyncPosition LREAL SyncMode ST_SyncMode MasterStartDistance LRE...

Page 37: ...can be specified as floating point number 0 25 under RatioNumerator The RatioNumerator may be negative Outputs VAR_OUTPUT StartSync BOOL InSync BOOL Busy BOOL Active BOOL CommandAborted BOOL Error BO...

Page 38: ...055 38 Version 1 3 The axis data structure of type AXIS_REF addresses an axis unambiguously within the system Among other parameters it contains the current axis status including position velocity or...

Page 39: ...available until the Universal Flying Saw starts Outputs VAR_OUTPUT Done BOOL Busy BOOL Error BOOL ErrorID UDINT END_VAR Done Is set to TRUE when the data record has been successfully read Busy The Bus...

Page 40: ...tor type is set to 7 phases opti mized The behavior described here is the result of a project update from TwinCAT 2 10 to TwinCAT 2 11 Depending on the circumstances an update of existing applications...

Page 41: ...OOL GearInSync_CheckMask_UndershootVelo BOOL GearInSync_CheckMask_OvershootVeloZero BOOL GearInSync_CheckMask_UndershootVeloZero BOOL operation masks GearInSync_OpMask_RollbackLock BOOL GearInSync_OpM...

Page 42: ...imum acceleration minimum slave jerk and dynamic momentum fSlaveJerkMin LREAL 19 slave minimum jerk fSlaveDynMomMin LREAL 20 slave minimum dynamic momentum NOT SUPPORTED YET maximum slave position fMP...

Page 43: ...PLC API TS5055 43 Version 1 3 Type definition for the characteristic parameters of a flying saw synchronization...

Page 44: ...saw is synchronised with the master axis and travels synchronous with the transport system During this phase the tool axis is activated which deals with the actual processing The slave axis is then u...

Page 45: ...a magnitude without arithmetic sign The synchronization positions with reference to the start positions at the time of coupling for the master must always be geometrically in the future and a must al...

Page 46: ......

Page 47: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com ts5055...

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