Bosch REXROTH IndraDrive Applications Manual page 71

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DOK-INDRV*-MLD-APPLI**-AW02-EN-P

Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

Synchronous Multi-Axis Motion With Virtual Master Axis

virtual master axis generator is activated by writing the value "1" to the direct

variable "DV_P_0_0917". Afterwards, the operation mode "phase synchroni‐

zation" is activated for the punching drive via the function block "fbGearInPo‐

sAxis1" by setting the variable "bExeGearInPos". Simultaneously, the position‐

ing of the virtual master axis is started via the function block

"fbMoveAbsVmAxis" by setting the variable "bExeAbsVmAxis" to the initial po‐

sition of the master axis for material feed (rVmInitPos: REAL: = 0.0;). When the

function block "fbGearInPosAxis1", via the "InSync" output, signals that the

punching drive has synchronized and the function block "fbMoveAbsVmAxis"

additionally signals via the "Done" output that the initial position of the master

axis for material feed has been reached, the operation mode "electronic motion

profile" is activated for the roll drive via the function block "fbMotionProfilAx‐

is2" by setting the variable "bExeMoProfil". When this function block, too,

signals via the "InSync" output that it has synchronized, switching to step 4

takes place.

Step 4 (iContinuousMotion): Continuous operation

Fig.7-19:

Code Section 2.1.4

After both axes have been aligned with one another, the actual application op‐

eration can start. For application operation, the virtual master axis is only moved

continuously. For this purpose, the function block "fbMoveVelocityVmAxis" is

activated by setting the variable "bExeVelVmAxis".

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