Hi guys another day and another topic 2
And today we are going to 3
Work 4
One of the most important chapters of the course chapter 27 5
gearing in simotion 6
We will go into deeper and learn more about gearing 7
And make some examples and practice with our 8
Scout 9
Development 10
So let's start 11
I am going to use program lecture notes with sitrain simotion 12
gearing Chapter 13
So 14
What we are going to learn more details 15
Is how synchronous operation is structured 16
Creating axis making assignment leading axis and cams 17
Settings for synchronous operation 18
Enable gearing different kind of gearings with different parameter settings 19
Reference point for leading axis 20
Master switch 21
time related synchronization 22
tRailing synchronisation leading sync 23
With different format acceptance so next page 24
Engagement Trace recording enable and disable gearing 25
Different kind of gearing 26
Set offset on earing with MCC and ST 27
Actual value coupling with extrapolation settings and so on 28
So let's continue with our lecture notes 29
You have already some information about sync operation instructions we have an 30
following Aksis 31
Working in IPO or servo cycle 32
Synchronous operation to is interconnected with external encoders 33
Or leading access to manage 34
All of the operation 35
in camming And there is a little bit difference the gear ratio factor is not 36
Constant it depends on time its change according to our cam profile 37
So I opened a last project created with project generator and 38
click 39
To open the Scout project so let's start to simosim 40
Okay 41
Here we have two for five 42
Axes 43
I think we should rename 44
Axis is on the speed control axis here we have a position of axis 45
delete all of the comments here 46
delete this axis 47
delete This one 48
And I want to create axes with sync opereation let's say a red 49
linear virtual axis 50
I'm going to use another axis axis blue 51
And select your sample of operation I want to be possible 52
Between 53
Master Slave relationship 54
From Blue to Reds or vice-versa 55
I'm okay let's open the interconnection settings 56
These are for standard position Axis I'm going to use the ecollection on the side 57
Operation 58
Let's see here it's possible to make interconnection to axis red 59
can be 60
master at set point 61
Master value and for Axis red I'm going to interconnect 62
It's sync object to axis blue Axis Blue Maybe 63
In the next time ask set point coupling 64
The master red 65
so 66
So let's save and compile and check the 67
If any failure exists 68
So we used in our program here 69
Start-up check 70
exis 71
Let's say now we are using 72
axis blue 73
and axis red 74
so Another program message on link let's say here 75
axis blue axis red 76
Let's start again 77
another errors 78
in template axis fb 79
axis blue 80
axis red 81
now it is done 82
and Consistency check that are some additional failure here 83
measuring input is not interconnected active input here 84
Function is only available for input with timestamp 85
under conveyor belt 86
and let's say 87
Drive related 88
Let's open execution system and check 89
Start up task motion tasks are empty there are some programs in background task so 90
That just create an MCC units 91
by ourselves 92
insert MCC units 93
MCC units for 94
Organized 95
Let's check our options and settings 96
for compiler 97
Let's create on some programs for 98
task system MCC startup 99
Okay 100
Another one MCC backgrounds 101
Another one 102
axis red control 103
Another one axis blue control 104
So I'm going to assign to axis control 2 different motion task 105
I have to organize with my background task first 106
I need to check the Task State here 107
motion task 1 State 108
Let's see global and exportable 109
Okay 110
The same way for motion task two 111
and Motion Task 2 state is exportable 112
and lets use 113
These variable 114
check start motion tasks 115
Task States equals two Task State invalid 116
locked or 117
Stopped 118
Or task state suspended 119
For instance then let's start again the task 120
motion task 1 program 121
copy and paste 122
similar way 123
Let's save and compile first after that I'll see 124
Programs ready to use in execution system 125
Here 126
then assign and check the settings activation of the startup I don't want to use that 127
Current i will assign 128
axis red first 129
And second axis blue 130
I'm for background task lle say MCC back 131
It's possible to arrange the order here on the right side 132
On program used 133
Define 134
Okay let's say accept and close 135
No I'm going to create some. 136
ST source 137
you will see here 138
Let's say I want to use a structure with type 139
Let's say it's the axis control blocks 140
and bo enable bool 141
bo disable 142
bool 143
jog Positive 144
bo jog negative 145
Let's gear on 146
boolean 147
gear off 148
boolean cam on cam off 149
Set home 150
Another structure maybe should be ST 151
axes status 152
boolean enabled 153
standstill 154
boolean error 155
and so on... 156
Let's say another structure is the axis 157
Maybe 158
gear ratio 159
Let's say 160
set velocity 161
Let's say 162
Set position 163
Let's say acceleration 164
Deceleration 165
On the next thing is maybe we can group together axis 166
ST AXIS 167
I save status is the axis 168
Status 169
How to control Axes Control? 170
Parameters or is the axis parameters 171
i want to create a global and 172
retain variable 173
Global structures 174
axis red should be STAXIS 175
axes 176
blue 177
Let's check and compile 178
You just created some structural variables 179
normally i should the function block for each axis but I'm going to program MCC side 180
You may see here are new variables is located 181
Right there 182
STAXIS data type status and control and parameter 183
Normally we should assign some initial values and we have to limit 184
Due to operator 185
errors 186
high limit low limit 187
You have to check the parameter limits 188
Let's go to all axis red control screen 189
I was at some basic command this axis 190
Let's say I'm able axis axis red 191
And I say 192
Open control 193
without any feedback if 194
structure axis red control enable is set 195
You set 196
Then I will execute enable command then reset 197
Let's use this way 198
Similar for disabling 199
for axis red 200
axis red... 201
disable 202
okay 203
next thing use if branch 204
for homing axis 205
Control 206
Set home 207
Okay 208
And this time you're going to use reference axis command axis red 209
type Set home position and default is going to be 210
used 211
for axis red 212
Gearing on and gearing off 213
Or maybe we should use a stop axis command 214
for axis Red 215
Stop without abort all motions dynamics response 216
so I'm going to reorganize my structure in ST then 217
For controlling or create stop 218
bo stop 219
bo estop as bool 220
So if we right click and compile 221
My structured here 222
And it should be enough 223
For MCC 224
red control 225
Another if case 226
So I'm not going to use any of the comments just 227
Triggering the function 228
symbol browser axis red 229
Bo stop okay 230
Let's say false 231
Cuts and pastes 232
Enable disable said. And next one should be the gear on 233
gear off 234
For testing 235
Yep at this screen we may arrange the parameters 236
following axis 237
Red 238
And leading axis is blue 239
gear direction from sign of your ratio 240
Okay 241
It is possible to select opposite direction same direction or 242
axis is 243
In move 244
Opposite to current directions that are several parameters type of gear ratio 245
Normally according to real system sometimes Dominator denominator 246
is 247
Best choice for 248
Not losing resolution 249
1o1 250
gear value input 251
referance value tye let's say not absolute we are going to use 252
next tab or synchronization parameters synchronisation reference 253
will be position-based 254
And start of synchronisation 255
Let's say 256
immediately 257
And 258
You see that are some other options disabled and hidden 259
So 260
Let's check again if I select the leading axis position then I have to enter the reference 261
of leading axes 262
I'm leading axis position if I said 263
following axis position then I have to enter reference point of leading axis 264
The 3 options at the following position 265
Let's say this time basically synchronize immediately 266
I just saved enter the synchronization length for the system to calculate the 267
calculate Polynomial 268
Equations for set point position and velocity 269
So let's say here 100 mm 270
Sync look at hits 271
Extended look ahead 272
And the direction 273
Maintain direction of the following axis 274
sync Direction okay 275
Let's see in expert parameters 276
That is just on the command id for track s executed or 277
Return variable 278
Integer that are 2 variables master setpoint sync op 279
I'm going to use system variables to track the command 280
Let's say enough for now 281
And I'm going to use similar 282
for gearing off command 283
following axis is red our reference is leading axis at this case is not required to 284
Define a master value because we are 285
I'm going to select sync reference 286
leading axis 287
Already 288
Attached To axis 289
Then I can just say desync. position should be 290
This 291
Or if I select time I have to 292
enter dynamic parameters let's say 293
leading axis so I'm using 294
relative gearing 295
sync position could be immediately 296
Leading axis or following axis 297
Depends on your choice 298
When I said immediately 299
After the command executed the 300
Procedure gearing off started 301
when i select with leading axis value than I have and to the reference point of the sync 302
Symmetrical stop before or stop after the position 303
Normally symetrical is the optimum solution for flying shears applications 304
neter the length and leading axis position because 305
when i execute command system will be calculated at the background and track the actual value 306
or set point position value of the Master axis 307
So after my axis has reached the leading axes position 308
then Gearing off command will be started 309
So basically right now I just like the select desyn 310
And I am enter same value hundred millimeters 311
For you to go, so direction should be the same way 312
Maintain direction of the following axes 313
That's not for now 314
Let's say 315
I'm going to execute it 316
if Is the fer on red Axis 317
Let's say 318
execute and set false 319
gearing on sorry 320
Is the similar thing 321
gearing off 322
Okay let's save and compile 323
check 324
So where will I be expecting is the axis red 325
in mcc program when Double Click 326
it is not going to open 327
So let's accept and compile 328
then compile MCC organise 329
here there is some failure 330
Okay I'm going to check if my connection is 331
already done no 332
Then I have to make my connection by Manuel program unit 333
STDB 334
Let's try again 335
now it's okay 336
It's okay and I'm going to copy 337
Change a little for the blue axis 338
Because I want to start the blue axis 339
as position controlled 340
And I'm going to set 341
As master 342
Let's copy and paste 343
I have to be careful and change my symbols 344
That's why we are using axis function block 345
to control the axis 346
and Reduces engineering time 347
axis blue 348
It's easy to diagnose and monitor and compared on the MCC sides 349
bute when your program is going to be larger sometimes 350
You'll miss when you copy and paste something 351
if Done during testing you realize there's a bug in your problem and it takes time to solve it 352
axis blue 353
axis blue 354
axis 355
Axis... 356
axis blue 357
and my mastering axis red 358
Let's check 359
yes 360
gear off 361
Blue 362
Okay let's save and compile 363
axis 364
and assign variables 365
watch table right click axis gear on and off 366
It's maybe as default you were sure is 367
set velocity 10mm/s set pos 100 368
Acceleration is thousand and really low 369
for acceleration and jerk 370
Yes 371
now i will add 372
jog commands for the blue or Master here 373
so if there is variable 374
axis blue control 375
jog positive 376
and not negative 377
And 378
Axis Blue 379
Control 380
for this case 381
jogging 382
Positive and control is active 383
Let's say 384
Start axes position control 385
axis blue velocity as 386
Default 387
But it's dynamics response supposed to 388
i can assign here 389
parameter setpoint velocity 390
But I think we have to use 64-bits long real type 391
Blue 392
I can enter here positive direction and 393
here negative direction 394
And here 395
Maybe control is active 396
And 397
motionstate data 398
motion state 399
Let's check the enumeration type of 400
axis blue 401
and Motion state data 402
motion state is enumaxis motion state 403
So I'm using a branch that's why 404
It's not working properly 405
And when i use here in add some program 406
Program MT test 407
Listen to program empty test 408
var 409
Program section statements 410
and program 411
I will use here 412
usepackage cam 413
Maybe as Library 414
Use Library 415
LMC basic next time 416
axis motion state 417
and standstill 418
blue control 419
Here 420
Still missing you see 421
Then I'm going to use the stop command once maybe 422
stop without abort 423
Dynamic responses there 424
Yes let's try to compile 425
No error 426
I think that this case it's 427
real automatically converted 428
Implicit convertion by System 429
real to lon real 430
and I think you're ready to go 431
Go online 432
And download our example 433
Resetting target system download the hardware 434
tp cam powered on 435
right now download project to 436
I'm so on... 437
and finished 438
Let's set the Run 439
okay But I want to use the trace 440
Let's select 441
Symbols from browser 442
actual vel of blue 443
Actual velocity 444
Position of State actual position 445
Maybe 446
sensor data servo data 447
No servo monitoring 448
No 449
Just use motion state data and motion state 450
A listing is select the sync 451
Operation 452
state and sync state or the slave 453
slave at this case is red 454
Select the motion state data 455
Act vel for axis red 456
Motion State 457
and Current position instead of accessory and actual position 458
Let's say sync operation of axis red 459
The state 460
and sync States 461
Let's create another variable for acknowledge 462
The errors of axis 463
Let's say 464
Control ACK error 465
Yep 466
Let's use in MCC red control 467
here 468
All right now I just can see my variable because modification 469
Save why what 470
And after you see 471
There are some changes that I have to compile 472
to See my variable 473
Right now it's possible 474
Let's say for axis red acknowledge some 475
tech errors 476
of axis red and sync operation 477
It's not logical to do at all alarms 478
Just for axis red 479
The following error occurred while 480
parameterizing command TO alarm there is a path subscript out of 481
range it's cause of the system itself 482
It's the bug 483
here you see 484
Blah blah blah 485
at this case i will delete this command 486
I'm just select 487
axis red and sync. operation and said okay 488
now it's working properly 489
During the commissioning your machine your writing program sometimes at the meantime 490
You're adding some new technology objects so when you use this comment in your startup task 491
or in your 492
Program to reset all of the technology objects 493
So after you created some of new technology object you have to go back to this common 494
and you see 495
It's 496
There are some empty boxes here and you have to set it again you're new modified or edited 497
Or related objects because during system compile 498
Sometimes unfortunately system doesn't correct itself 499
the List of the technology object here 500
for deep note 501
okay always online working is slower than the offline working that's why we should switch 502
But sometimes during programming 503
let say 504
I can not copy right now 505
darg and drop set to false 506
Some of the menus and wizards are not user-friendly that's why 507
I don't really like the MCC editor but it's just good for beginners to 508
learn system 509
The first time 510
Or at the beginning 511
So let's check the home settings of axis 512
We are using you virtual axis that's why there's no Home section 513
We just set the home position 514
Okay I have to do same acknowledge for axis blue 515
Red controller blue controller 516
Blue 517
axis blue 518
Structure for axis 519
Unit it's updated after modification 520
It's fine so let's download to changes 521
this time system 522
did not Restarted because we didn't download the hardware config so 523
Just set to stop download the project and set the Run 524
now we are ready-to-use 525
Program I guess 526
Let's say 527
Enable 528
red axis 529
and let say 530
Enable our blue axis 531
Are blue axis is master so I'm going to 532
Set the jog positive of blue 533
time limited trace that's why it stopped 534
After 100 ms 535
Or I should select endless trace and download 536
Restart 537
Let's see our actual position is rising 538
On the blue axis i will change colors 539
to monitor more easy 540
fOr the blue 541
Bluish 542
for the Reds 543
i use Orange 544
and maybe yellow 545
And here there is some alarms related to axis blue 546
Program jerk limited 547
Some command aborted 548
Is using the move command as 549
Substitute 550
These are for your information 551
So when I say 552
stop here 553
you see here 554
actual vel almost harsly 555
Set the zero with a quick ramp 556
actual velocity is too low at this case 557
So let's arrange curves 558
Let's talk in positive direction again of the blue 559
So you are case 560
We are going to gear on the red access to master Access Blue 561
So let's say 562
gear on... 563
So you see here actual vel as orange curve action position as yellow and it's 564
Started to sync immediately 565
Executive the commons and just it's finished you see first 566
velocity is constant 567
We will measure the 568
Procedure here 569
with cursors 570
Before that I would go 571
to zoom 572
you will see here 573
At this point 574
Let's set up the measuring cursors 575
actual vel of axis Red or Slave axis is 0 576
Right here when we execute the comment right here let's check the status of 577
axis motion 578
It's going to be changed from Standstill to accelerating 579
here The contant move because 580
Between start and endpoint 581
Sync area and for the status on the following objects here 582
Is inactive and you see here the gearing 583
Normally it's done here and then you have to check the sync status 584
right now it's no and you see your is Gear to 585
master that's why status is yes 586
So our actual velocity on the Access Master Blue is Constant it is case 587
Actual position is rising 588
as velocity 10mm/s 589
On the other hand 590
Status of motion is Constant movee as you can see and I want to measure 591
The time 592
For sync 593
Between these interval 594
It's 595
10 seconds 596
Because we set synchronization length as 597
100 mm you may see 598
actual position of axis here and here 599
so off the master 600
So what's the value? 601
You see here 602
The Delta is 100 millimeters as synchronization length is true 603
And if you divide 604
100mm 605
to 10mm/s 606
10 seconds it's our case so it's working according to our parameters 607
So 608
Let's 609
Use gearing off commands 610
gear off 611
So you see actual real estate of the axis is 612
Reduced 613
to 0 614
An actual position 615
This here 616
it is done this interval 617
At the 618
Similar way 619
You'll see it operates operational status is 620
sync 621
and no 622
Status of axis motion 623
axis red constant move 624
decelerating 625
And standstill it at this point 626
Status of master red axis action is always constant 627
Speed 10mm/s 628
If you want the measure the interval then you will see 629
delta-t 630
Time difference is 10 second that the same 631
And the positioning for the desync length should be 632
Hundreds 633
mm 634
The first and that's correct for our settings 635
So 636
You'll just get the information messages about it that's all 637
normally in our MCC program for axes blue 638
we are using 639
This velocity variable 640
and 641
for positive and negative Direction 10 seconds 642
during Synchronisation 643
So let's start 644
our Slave and set the gear on 645
At the meantime I want to change the 646
setpoint speed 647
of the Master axis 648
Let's say 649
15 650
You're going to say difference in curves at trace 651
Let's take a look and zoom into this area 652
i will change the colors again 653
Are blue axis 654
actual velocity of the red axis Orange 655
Yellow 656
So 657
This is the actual velocity of our Master axis blue 658
Your 10 and I changed here 15 659
And the actual position of the blue axis is 660
Continuously Rising 661
and you see status of motion that is just a little 662
Constant move and acceleration phase 663
small piece 664
Just you see 665
accelerating 666
So next orange color is the actual vel of our slave 667
red Axis 668
The sync start 669
our axes motion ver Standstill accelerating 670
Constant move 671
Status of following object were inactive and active here 672
As geared 673
It should be next time 674
camming 675
Have the status of sync is done and our 676
slave axis red synchronize to our blue Access Master at this point 677
You see and change the master velocity 678
You may say 679
the Actual or setpoint velocity of axis 680
Is recalculated 681
At this point and sync 682
Should be done 683
At the same length and at the same time I assume 684
So let's calculate 685
at the start point 686
Off the master axis position 687
The other cursor located nearly at the end 688
Position of 689
Actual position of axis blue or Master you see here 690
sync length isTrue 691
Even I changed a little bit of the 692
You know master velocity the system is recalculated 693
equations and adapted 694
In the meantime 695
set velocity of the slave axis is changed right here 696
so it did not effect synchronization length 697
And our synchronization time 698
or 699
No you see your different style now it's lower than 10 seconds 700
Because 701
As your parameter gear on and off function you see 702
Leading axis sync so 703
The important thing is a this case synchronization length 704
Is the same 705
On the other hand 706
Your sync time is it at used because the master and slave axes 707
Running a little bit faster 708
That means you're going to your destination at the shorter time 709
Otherwise 710
When we select with gearing on Command 711
For red Axis 712
With different parameter 713
For instance 714
Synchronization reference as time 715
Since you're going to be sure that 716
your curves and set point for position and velocity will be calculated according to 717
Requested time 718
And I think you should do 719
This example 720
Use gear on off command by yourself in your PC with simulation 721
Real system whatever and you have to check the trace 722
It's really important to examine 723
The one in your 724
trace and just 725
have an idea about what's going on it's my sytem or CPU works 726
Which parameter I have to change 727
So fulfilled my customer requirements you will gain experience 728
time to time By doing more exercises in my point of view 729
So it takes time of course and 730
Sometimes it's a little bit complicated but the development environment is powerful 731
for Debug and Trace and so on 732
nowadays we have simluation in our PC It's a good thing 733
And I recommend you 734
to Test your program with different parameters Maybe 735
In the future you're going to need 736
You will face with some special cases as you sow 737
You have to use some other parameters if you have information already 738
with of the parameters in your mind 739
I think you're going to solve your problem so quickly 740
with This approach 741
so Let's say 742
So far so good 743
Just stopped the simulation and set the offline mode 744
To reduce the utilization of my PC CPU because the 745
fan is running crazy and it's so loud 746
Where is affect the microphone that's why 747
I want to reduce 748
the System usage a little bit 749
so Let's go to 750
Simulation and continue with our lecture notes 751
So 752
Let's say you created 753
following Axis and 754
made Interconnection and assignment 755
Between two axes 756
We just use the default settings for synchronous operation 757
we used gearing of off commands 758
At this case we used relative gearing 759
Maybe you should try and see with the absolute getting all the system 760
At this picture you will see here the leading axis sync. 761
It already talked a little bit 762
leading axis vel constant 763
set you 764
The lengths 765
Position of following axes 766
constant there is an 767
no vel after command executed calculated 768
You see there's an overshoot 769
That means maybe our sync length is 770
Too short 771
so for catch up axis 772
maybe slave 773
Should be go faster than our master 774
Reference points symmetrical to be the optimal choice 775
Then you're going to 776
shouldn't See 777
overshoot on velocity 778
With direction specification 779
there are several option 780
All leading axis is rotating clockwise 781
retain system Behavior means of access sync same way 782
And the shortest path 783
our foloowing access May 784
Return 785
Opposite direction specially for rotation axis 786
Positive direction is 787
Defined by positive 788
Your be sure 789
enabling gearing in ST Almost the same as MCC 790
For Optimum synchronisation profile 791
You must enter your length properly to your system 792
Here is the acceleration deceleration 793
equals leading axis vel 794
Multiply 2 / sync length 795
Yep 796
You should select the reference leading access position as symmetrical 797
there are 798
If you'll be useful system variables you see 799
we already used in trace sync State at monitoring and so on 800
and next page leading access synchronization absolute sync operation 801
Next page leading access synchronization 802
relative Operation you see your the difference maybe you should read more 803
Later on yourself 804
time related synchronization okay let's try 805
It's time related synchronisation 806
For gearing on access red I'm going to change my parameters 807
Maybe I should say 808
relative gearing 809
Pos based 810
Let's right click and hide copy and paste 811
Here 812
relative time based 813
axis Blue 814
and immediately should be effective 815
Let's select a time 816
there is no sync length in time profile because I'm going to Define 817
velocity 818
and Dynamic pentameter 819
for axis red 820
Let's select parameter from set velocity 821
and acceleration 822
Right here 823
Deceleration 824
Right here and smooth velocity profile 825
jerk 826
Right here 827
Okay 828
The synchronization length is depends on my settings 829
Right here 830
If this case 831
I will be never sure 832
About synchronization length it depends also the 833
master velocity and the slave velocity settings here 834
so lets define all colors in configuration 835
Blue light Blue 836
Dark blue 837
And orange 838
Yellow 839
And so on 840
let's start simulation 841
Go online 842
And download your project 843
We will try this time time-related synchronisation and see 844
Let's set to RUN mode 845
Start 846
First enable 847
master axis blue 848
Enable and stopped jogging positive 849
Let's enable or red Axis and gear on 850
There's a system fault is because of the alarms 851
It says Dynamic limitations are being violated 852
so lets check 853
I'm going to hide first status of axis motion 854
Other status 855
now you see actual vel of axis Blue Master is constant 856
you see actual position is rising right here and 857
gear on command executed 858
Right here 859
and oafter that actual velocity 860
Is like an s curve with smooth profile 861
Let's check the synchronization time 862
So it's nearly 863
200 milliseconds 864
According to our parameters given 865
Lets check the status of synchronous objects 866
axis standstill accelerating constant move 867
status of following object inactive active gearing 868
axis is 869
snyc so what's the alarm for 870
You can just double click and 871
Go to your help system in my computer I think it's take 872
Couple of minutes unfortunately 873
So normally 874
This is the error message related with sync object of red 875
Your system is working 876
So are reaction of this 877
Number 878
40012 879
Maybe it's 880
Do nothing for instance so that's why both of our axes red axes blue 881
axis Red 882
Is running according to our criteria 883
And Command 884
ger on function 885
you see Parmenter asType 4 886
This is a detailed information for you about alarm message 887
First if you don't have an idea related message 888
You should check your 889
help system and see 890
On the other hands that are some useful menus for commissioning to simotion 891
Or technology object manuals you can go and treat more detail about 892
alarm Messages + 893
For the remedy how do you solve them 894
Later on 895
So it basically 896
it Depends on your settings 897
All your axes 898
by limitations 899
Because we have used 900
The commons for gearing on and entered just some parameters for 901
Dynamic values 902
Like acceleration-deceleration 903
And that means maybe it's limited by technology 904
object 905
Hardware and software Dynamic limitations insight 906
Your access technology object on the left side of Treeview 907
That maybe you should just 908
Adjust your maximum values for dynamic limitations 909
you will see here system is 910
SF Lights on because of the error message 911
for Diagnostic information 912
If you're connected with Scout real CPU you can acknowledge all 913
The button in your sreen or you can just set it 914
Messages on your screen 915
Located at Alarms window 916
Acknowledgement of your message 917
Normally in running machine 918
You should place at reset button in your HMI or hardwired in your 919
electrical Cabinets and use the acknowledge function to reset your 920
Alarms 921
It's one way 922
we have Already in our program 923
we can use BOACK error bit in our structure 924
at this case 925
Then 926
all of your alarm messages 927
Related axis vlue or axis red will be 928
Acknowledged 929
We are using more comments 930
Substitute setting so that's why after we acknowledge our error 931
30002 932
command aborted 933
Appear again is for information that means loss, your move 934
Substitute with new commands has more comments 935
It's a information message 936
And also programmed jerk for axis discount is limited with 937
0 type parameter setting 938
Yo by the way 939
finally my help system is opened 940
So you may see your following object type 941
Alarm type means 942
Program dynamic response value or acceleration is adapted 943
Dynamic values from operation Behavior 944
Activated Dynamic response adaption 945
Dynamic response during synchronisation and operation 946
Offset to low 947
and must be increased 948
to System 949
Resulting from Master value that means 950
too low values 951
For acceleration deceleration 952
That's why according to my settings activate Dynamic response adaptation 953
maybe it's located there 954
Adjustment of dynamic response velocity during sync is Select 955
Limitation of Dynamic values 956
This why I'm getting this 957
Message 958
You should see 959
sync motion 960
sync adaption 961
and type of axis 962
sync motion no hit 963
So I couldn't see anything 964
Stop working proper 965
where is the config? 966
progression... 967
system variable 968
It should be in configuration data sync motion sync adaption here 969
set to yes no 970
Are configuration data? 971
I couldn't find 972
sync operation configuration data 973
Maybe I can just 974
Modify from here 975
Set an alarm 976
Status really is no 977
and Effectiveness you see here is in everything okay 978
Let's reset acknowledge our messages ack error for red 979
you see clear 980
Let's gear off 981
during trace running 982
Let's say gear off 983
and now it is done 984
Let's try again with this new setting 985
Let's say gear on 986
So at this time you didn't get the dynamic limitation message 987
but there is on the hand something strange 988
Orange curve in track 989
Yeah right here 990
Our actual velocity of the axis is 15 mm/s 991
actual velocity of slave axis 992
After you see here 15 minutes after that it's 993
10 mm/s 994
why This is happened? 995
Let's check our gear on function 996
axis red control 997
It's 998
gear on 999
Dynamic response 1000
So we attached velocity here and it's 10mm/s 1001
and master vel 15 mm/s 1002
That's fine 1003
In a strange way 1004
after sync completed standstill acc constan move 1005
On the other hand 1006
gearing is active but 1007
For the synchronization status 1008
The gearing is never been done 1009
so That's why you see here a jump 1010
On the slave axis vel that's not acceptable you have to correct it 1011
Because it's not logical to use this way 1012
Let's enter here 1013
Normally we should set 1014
For slave higher vel value to catch up axis otherwise 1015
It should be never be sync 1016
For sure 1017
So I will give 1018
25 mm/s 1019
different value for my slave axis 1020
So 1021
lets gear off again 1022
You'll see here as trapezoidal profile on the velocity 1023
Now 1024
Let's Check 1025
standstill 1026
inactive and no 1027
Okay 1028
Let's try again 1029
Set GEARON to true 1030
Okay 1031
at This case there is no alarm 1032
It's completed 1033
Actual vel constant 15 of master blue position Rising constant move 1034
You see a actual velocity of slave axis 1035
was 0 after we executed gear on command 1036
right here 1037
You start to go up 1038
at this point 15 mm/s 1039
not 25 1040
Just like the same as the 1041
Master axis so actual position is rising 1042
status of motion standstill 1043
Constant function 1044
gear was inactive 1045
status sync yes right here 1046
At the time difference is 1047
250 miliseconds 1048
Nearly 1049
So what will happen for instance when I have change the 1050
set velocity Of the master 1051
Blue 1052
I will enter here 30 for instance 1053
Or check first 20 1054
to Control 1055
so normally at this point my slave access is synchronized 1056
And there is a small jump 1057
At the actual velocity 1058
This is the 1059
Master 1060
This is the slave 1061
And we are going to measure 1062
you see here 15..18...20... 1063
At the same interval with Master axis 1064
What is happen when I enter 1065
15 for example? 1066
let's try 1067
okay let's check 1068
after state set to gearing 1069
and synchronized 1070
The two axes 1071
Is rotating 1072
sync together no matter what what you have to choose your parameters wisely 1073
In your program when you are using gear on and off commands 1074
Let's continue 1075
You see here the idea 1076
And what about Trailing sync 1077
so we have entered the dynamic response parameters 1078
There are some notes 1079
if vel of leading axiss change during sync procedure profile is recalculated 1080
end of point 1081
of sync forward 1082
in case of when you select 1083
time based Synchronization 1084
Write a profile is record created by default only 1085
Instant positional estimated axes taken into account to include access 1086
axes for calculation 1087
you can use Extended Look ahead 1088
De-syncronization profile recalculated 1089
if the leading axis reverses 1090
during syn direction for sure 1091
There's a configuration item 1092
maximum of Master change 1093
no relevance time base or trailing 1094
Is recalculated velocity of leading axis change 1095
By default trapezoidal profile supported in time related 1096
on dynamic response 1097
for constant velocity 1098
You have to allow absolute synchronisation with considering of jerk 1099
it is default selected in our configuration 1100
You see here 1101
So that's why you see an s-curve 1102
It's depends on your arrange overshoot factor 1103
so Another trace you will see 1104
Overshoot maybe on the velocity 1105
so is there is a reversing situation of leading access 1106
Right here 1107
The orange color is slave vel 1108
The Blue curve is master vel 1109
You see here the master 1110
Is changing the direction 1111
reversing 1112
That's why the master position is rised here then stopped 1113
Right here and after this point curve is going 1114
Download action so that means 1115
Negative and decreasing 1116
At this point you have executed or started synchronizing 1117
According to trailing centralization the slave velocity is rising with smooth profile 1118
Reached the maximum speed here maybe 200% 1119
And at this point 1120
The master velocity set to 0 1121
slave Is trying to catch 1122
At this point the slave vel is 0 1123
You should see the slave position 1124
Slave position is 1125
constant here and 1126
Going 1127
down 1128
Together with master so you see here velocity profile 1129
recalculated 1130
at this point sync is finished 1131
It's maybe happened depends on your application 1132
at this case The system 1133
Recalculated the velocity profile and if you select look aHead 1134
How is acceleration calculated 1135
So at the end synchronization established 1136
Another case leading sync 1137
you can examine later on 1138
Here is the 1139
trace output master position is linear rising 1140
So here are 1141
Procedure started 1142
slave velocity 1143
as Smoooth profile you see the slave position 1144
There's an overshoot 1145
And it's points master velocity hundred mm/s 1146
I assume 1147
The slave velocity scaled 1148
According to master vel 1149
and 1150
At this point 1151
Synchronization finished so 1152
sync is started at the optimum time before position at the system 1153
following axis Accelerated to reduced velocity 1154
a long to reduce acceleration ramp master 1155
of change 20% 1156
brake applied following axis decelerating to the leading axis 1157
Reduced ramp 1158
about the position 1159
You can calculate from there maybe 1160
Is the setting 1161
So 1162
Another case the Leading synchronization what will happen 1163
If the leading axis velocity changed 1164
You'll see here the dynamic response of slave 1165
There's a little bit 1166
higher Adjustment on the slave vecloity 1167
So after leading axis vel increased from 100mm/sec 1168
10 1169
if 1170
it is under 20% desacralization profile 1171
Is 1172
not calculated. There is a percentage increase in velocity 1173
Just velocity 1174
Increased 1175
Profile will not be calculated 1176
Because it's under there setting 1177
So next page 1178
leading sync changing leading axis vel 1179
at This case it's i guess is on the too much because 1180
Motion face leading access increased from 1181
over 20% 1182
Percent 1183
Is your default setting 1184
So is the sync profile 1185
A percentage increase 1186
50% in velocity and the following alarm is output 1187
Changing the dynamic response of master leads dynamic violation 1188
If the following axis is able to follow dynamics response sync point 1189
Pretend this is important case 1190
You use leading sync 1191
and fixed parameter sync length. it depends on the settings and dynamic 1192
Acceptance and maybe you're using actual position 1193
not the Set point 1194
Sometimes in the real systems if there is a overcurrent of the motor of master axis 1195
there is a 1196
difference on the speed and actual speeds 1197
so It's will affect your slave during sync 1198
Maybe you are able to do 1199
It's sync in defined length 1200
sometimes it's not possible in some cases you get an error message 1201
In the real world 1202
How do we do without the Overshot? 1203
Leading time related synchronisation is only one to offer is solution 1204
following axis moving front of the leading axis 1205
feedback without overshoot on velocity 1206
You have to do following settings 1207
Adaption should be yes and you should answer the overdrive Factor here 100 1208
.001 1209
Yeah this is some kind of TIP and TRICK 1210
following axis always synchronize with the leading passage correctly even if 1211
vel change during synchronization error message are only displayed in Dynamic values sync operation 1212
violated or Changed 1213
It's the leading axis velocity increased when sync overdrive factor must be set 1214
For example otherwise interrogative synchronisation to aborted 1215
that's why we enter here 1216
Dynamic values are specified for your axis it's not possible to provide a solution 1217
Access symbolization problem for every geometrical or dynamic configuration of the leading 1218
And or following axis 1219
If solution cannot be provided synchronization is not started and there is no additional error message 1220
So 1221
Specify speed and acceleration 1222
Here in and next page to trace out of 1223
Engagement 1224
gear ratio 1:1 absolute zero 1225
What is the volume at 2% 1226
maximum master of change 20% a different case 1227
Yep 1228
You see here there is no overshots 1229
At the Defined time 1230
You are sync as to your master 1231
Master vel is 100% 1232
enter here 1233
So that's the case 1234
and Example picture of enable gearing 1235
Another tab and expert up about data 1236
For disabled gearing that are similar parameters used 1237
It's look like this instruction text 1238
So 1239
Another comments 1240
enableing velocity gearing 1241
position of an axis 1242
but it is velocity constant gear ratio on following axis 1243
So 1244
velocity gear none position controllers 1245
I mean speed controlled access 1246
after Leading axis is activated 1247
master value can be 1248
velocity of leading axis of velocity of an encoder 1249
You view 1250
Enable velocity Gear in Command to enable and disable 1251
It's looks like 1252
this window in your ST editor 1253
and next page Another comment set master point 1254
this command switch the master set point for an existing sync op 1255
Relationship 1256
master and slave can be set when sync corporation is active 1257
What about transition process 1258
Relative or absolute coupling influences the transition process 1259
with relateve coupling and additional slave value discripency occurs 1260
Only if Dynamic Master what is a difference 1261
with absolute coupling in non-continuous master value transition can occur 1262
There will be carefull there might be some jump on your position or velocity 1263
Slave vvalue monitoring at the following axis discontinued 1264
In the slva value to the maximum axes Dynamic parameters 1265
It's like changing your master on the Fly 1266
while 1267
Slave master is running 1268
you see here set in synchronous motion 1269
at this case your axis 1270
Start 1271
Synchronization at this point normally 1272
It is sync to your master 1273
Right here you execute the set master comment that you see here and jump 1274
On your slave velocity 1275
at This case 1276
So need to be careful 1277
next command set offsets on the gearing 1278
You select your 1279
Axis 1280
range 1281
enter your offset 1282
And Select Mode absolute or relative 1283
and function used for activating offsets 1284
In the master or in the slave 1285
That master range offset moves a straight line 1286
Has not moved forward direction X 1287
Slave range offset moves straight forward in the y direction 1288
The dynamic valeus of transition can be specified 1289
current and permanent offset in the effect 1290
can be read In the system available later on gearing adjustments 1291
For example in the real world in food and beverage in real world 1292
for packaging machines 1293
At the running machine ice cream Packaging 1294
You'll get the foil from decoiler or 1295
unwinder and you get two real material for another conveyor 1296
Sometimes 1297
Your material is flexible so without 1298
deCentralizing or using gear off comamnds you have to adjust 1299
Your synchronization doing all of the axes running so at this case you use 1300
gearing offset or scaling on the gearing 1301
As relative or absolute 1302
If you can secure the effect should be on active command only 1303
Or on the next following comments 1304
That's mean after gearing on of after gearing off 1305
It's possible to select different choice 1306
It looks like 1307
Instructive text 1308
Commands of reading out the master and slave values at the meantime 1309
getslave value following object Master position and get master value 1310
following Object and slave position is possible 1311
You can use 1312
These comments 1313
In your IPO task 1314
To get more accurate 1315
actual value coupling with extrapolation 1316
This is the other case 1317
Right here 1318
There's a PT1 filter and extrapolation for actual position and velocity 1319
as firmware version 4.2 1320
You can read the signal flow 1321
And there are some settings here when you want to use the actual value synchronisation 1322
and there is here the structure of superimposed sync operation 1323
it is possible to use 2 sync Operation together with axes object as 1324
superimposed 1325
This is the example for the use case 1326
and we will insert here by right click axis to 1327
Under the expert 1328
Context you will see okay 1329
and structured distributed synchronous operation will be used 1330
specially over 100 axes running in printing industry Enterprise 1331
For example that's it 1332
So far so good 1333
I think this chapter is more practical for you 1334
Before that we learned about theoreticle 1335
topics and 1336
You should do some exercises you can use your lecture notes that are several of 1337
Different exercise 1338
It would be useful for you to understand the topic I guess 1339
Before you go on the next chapter I suggest you to complete gearing 1340
Because the camming is more advance 1341
one Step or two steps further 1342
First we are going to create cam disks and we will use camming commands ! 1343
so See your next chapter