LXM_GearPosS

Function Description

Similar to LXM_GEARPOS, the function LXM_GEARPOSS is also used to synchronize the position of a slave axis with a master axis, according to a coefficient (ratio). It allows you to use and obtain negative values for the coefficient ratio.

NOTE: A physical connection to the auxiliary encoder command interface connector (X5) between the two servodrives must be present.

Representation in FBD

Representation

Representation in LD

Representation

Representation in IL

Representation:

LD Slave

CAL LXM_GEARPOSS_Instance(AXIS:=AXIS, EXECUTE:=EXEC, RATIONUMERATOR=RN, RATIONDENOMINATOR:=RD, ERROR=>ERR, INSYNCH=>IS, BUSY=>B, ERRORID=>ERRID)

Representation in ST

Representation:

LXM_GEARPOSS_Instance(AXIS:=AXIS, EXECUTE:=EXEC, RATIONUMERATOR=RN, RATIONDENOMINATOR:=RD, ERROR=>ERR, INSYNCH=>IS, BUSY=>B, ERRORID=>ERRID);

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
AXIS	AXIS_REF	Axis_Ref type object, which defines the slave device.
RATIONUMERATOR	INT	Motion synchronization ratio numerator.
RATIONDENOMINATOR	INT	Motion synchronization ratio denominator.

Allowed values	Lexium 15MP/HP	Lexium 05/32	Lexium 15LP
Range for RATIONUMERATOR	-32768,32767	-32768,32767.	1,32767.
Range for RATIONDENOMINATOR	1,32767	1,32767.	-32768,32767.

For Lexium 15LP/MP

The value 0 means that ”the value does not change” and so the parameter inside the drive is not updated
When one of inputs values is out of range, the block goes on error with the already existing error code value 8: AXIS_COMMAND_REFUSED

Calcul of slave position for Lexium15MP

Calcul of slave position for Lexium15LP

Description of the Output Parameters

The following table describes the output parameter that is in addition to the basic parameters:

Parameter	Type	Comment
INSYNCH	BOOL	INSYNCH is TRUE when the synchronization position, in relation to the Master, is reached. It remains TRUE as long as EXECUTE is TRUE even if the axis has stopped (not significant for Lexium 05/32).

Description Parameter for the Lexium 05 and Lexium 32

The following table describes the additional parameter for the Lexium 05 and Lexium 32:

Parameter	Type	Comment
SYNCMODE	BOOL	SYNCMODE is an additional parameter for the Lexium 05/32.The access to this parameter by MC_READPARAMETER or MC_WRITEPARAMETER before calling MFB_Gear, is possible by using: Index =0, subindex=200 as object number for SYNCMODE. FALSE: immediate synchronization: the positioning controller follows reference pulses from the time at which the gear processing is activated. TRUE: synchronization with compensation movement. With activation of the gear processing, the motor endeavors to retrieve the reference pulses accumulated.