TSX CSY 85 Module Functions
The TSX CSY 85 module can be used to perform the following functions:
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8 real axes connected to a servodrive (channels 1 – 8),
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4 imaginary axes (channels 9 - 12),
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4 axes with remote input (channels 13 – 16),
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4 groups of coordinated axes (channels 17 – 20). Each group may be used for linear interpolation of between 2 and 8 axes,
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4 groups of slave axes (channels 21 – 24). Each group may contain a maximum of 7 axes: 1 master axis and 6 slave axes.
NOTE: The functions in bold type are the only ones required to set up the interpolated trajectory function specific to the TSX CSY 85 module.
NOTE: The TSX CSY 85 module also provides 7 cam profiles (channels 25 to 31).
A real axis is a physical axis, which controls a servodrive via the SERCOS® ring bus.
An imaginary axis is not a physical axis. It can, however, be used to coordinate the movements of several physical axes. For example, an imaginary axis may be the master axis in a slave group.
An imaginary axis can also be used in the adjustment or debugging phase to simulate a real master axis independently of the process.
A remote axis can be used to upload an item of remote position data to the module. Typically, the TSX CSY 85 module must take up a sequential position from an encoder controlled by an external mechanism and connected to the output of the auxiliary position of the servodrive.
Group of Co-ordinated Axes
A group of coordinated axes consists of axes, which move in coordination with one another. One of the axes in the set, defined as the coordination master, acts as a speed reference for the movement of the set.
The acceleration and speed of other coordinated axes will be calculated so that all the axes move at the same time.
A group of slave axes consists of a master axis and slave axes, which follow the movement of the master axis. There are 2 ways of following the master axis:
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In Ratio mode: Each slave axis follows the master axis according to a relationship that has been defined in configuration, known as the Slave relation. For example, the position of the slave equates to that of the master multiplied by a ratio x,
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In Cam mode: The slave axes follow the master axes according to a cam profile.
A cam profile can be used to implement an electronic cam in order to simplify the task of programming complex movements. A points table is used to define the position of the slave according to the master's position.
