"Coordinated Axis Group" Function
(Original Document)
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At a Glance
The "Coordinated Axis Group" function is performed by channels 17 to 20 of the TSX CSY 84 and TSX CSY 164 modules.
A coordinated axis group is a set of physical axes (maximum of 8) moving in coordination. One of the axes in the group is defined as the coordination master.
The position of each of the axes is defined by the motion control. The reference speed for the movement of the coordinated set is the speed of the coordination master. The acceleration and speed of other axes are calculated so that all the axes start and finish moving at the same time.
NOTE: All the axes used by a coordinated group must be referenced before the group is confirmed and before implementing coordinated motions
NOTE: When axes are configured in the slave groups, it is recommended to associate one group with a given axis.
NOTE: An axis member fault must be acknowledged at group level (CLEAR_FLT).
Reference Speed
The reference speed for a coordinated axis group motion must be calculated in relation to the most restricted axis. The algorithm reduces the speed of the most active axes.
For example, in the case of a 2 axis system
Tangential Speed
Tangential speed is calculated in relation to the projection on the X axis of the initial speed as defined by the instruction WRITE_CMD (MOVE). If there are no mechanical restraints, enter maximum speed for the other speeds.
Example in the case of a 2 axis system
The moving part moves from point A (XA, YA) to point B (XB, YB) at a tangential speed Vtg which projects on X and Y respectively as Vx and Vy.
The interpolator calculates speed Vy then Vtg using value Vx (the most restricted axis) in the WRITE_CMD (MOVE) instruction.
Accessible Services
Channels 17 to 20 enable the following services to be used (see Explicit Exchange Language Objects Associated with the Application-Specific Function):