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13
Motion Control Concepts
Section 1-3
speed part and they are specified in master link distances. This can be partic-
ularly useful for synchronizing two axes for a fixed period.
Adding Axes
It is very useful to be able to add all movements of one axis to another. One
possible application is for instance changing the offset between two axes
linked by an electronic gearbox. The MC Unit provides this possibility by using
the ADDAX command. The movements of the linked axis will consists of all
movements of the actual axis plus the additional movements of the master
axis.
1-3-4
Other Operations
Canceling Moves
In normal operation or in case of emergency it can be necessary to cancel the
current movement from the buffers. When the CANCEL or RAPIDSTOP com-
mands are given, the selected axis respectively all axes will cancel their cur-
rent move.
Origin Search
The encoder feedback for controlling the position of the motor is incremental.
This means that all movement must be defined with respect to an origin point.
The DATUM command is used to set up a procedure whereby the MC Unit
goes through a sequence and searches for the origin based on digital inputs
and/or Z-marker from the encoder signal.
Speed
Time
Master Axis (1)
MOVELINK Axis (0)
Synchronized
MOVELINK(50,60,10,10,1) AXIS(0)
BASE(0)
ADDAX(2)
FORWARD
MOVE(100) AXIS(2)
MOVE(-60) AXIS(2)
Speed axis 0*
Speed axis 2
Speed axis 0
Time
Time
Time
+
=