"Slave Axis Group" Function

At a Glance

The "slave axis group" function is performed by channels 21 to 24 of the TSX CSY 84/164 module.

A group of slave axes consists of a master axis and slave axes (max. 6), which follow the movement of the master axis.

There are 2 ways of following a master axis:

In Ratio mode: the slave axes follow the master axis according to a relationship that has been defined in configuration and known as the Slave relationship ( the position of the slave is the same as the master: setpoint or actual, multiplied by the ratio),
In Cam mode: the slave axes follow the master axis according to a cam profile (a points table that gives the position of the slave as a function of the master's position: setpoint or current value).

The master axis may be a real or imaginary axis or an external setpoint. The slave axes are real or imaginary axes.

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 the level of the group (CLEAR_FLT).

CAUTION

UNEXPECTED APPLICATION BEHAVIOR

When using master-slave configuration, ensure that the slaves capabilities are compatible with master speed and acceleration law characteristics.

Failure to follow these instructions can result in injury or equipment damage.

Ratio Mode

The ratio is defined by entering a numerator and a denominator. The ratio mode (gears) is able to manage switches (current value, setpoint), offsets (Bias), start conditions and follower stop

Following in Stop and Bias

These functionalities are able to add a movement or an automatic offset to the slave setpoint. This enables a movement with a subsequent activation to be anticipated or to continue with a movement after the subsequent deactivation of following.

Accessible Services

Channels 21 to 24 enable the following services to be used (see Explicit Exchange Language Objects Associated with the Application-Specific Function):

READ_PARAM,
WRITE_PARAM,
WRITE_CMD (except Move),
SAVE_PARAM,
RESTORE_PARAM,
READ_STS.
MOD_PARAM, only with the TSX CSY 164 module. This function is not available with the TSX CSY 84 module.