"Estimation of Remaining Time Before Activation of Sequence" Function

Objective

To estimate the remaining time before activation of a slave axis sequence in a slave group.

Operation

This function can be used for a slave group. The slave axis is taken to be stopped. The master axis is in motion. A sequence activation request is in progress on the slave axis. This function returns an estimation of the remaining time before effective activation of the slave sequencing, "bit AXIS_IS_LINKED =1". i.e. the time the master axis needs to reach the position threshold the slave is waiting for, and the time the slave axis needs to reach its setpoint speed (master speed * sequencing ratio). This function supposes the master speed will remain constant between the instant this function is launched and the instant the slave sequencing is activated.

"GetTimeToLink" Function

Both rotation directions are authorized,
the master axis can be real or imaginary,
the master axis can be configured in modulo,
the slave axis can be configured in modulo.

The command is given by a WRITE_CMD sent to the slave group channel:

Object	Type	Symbol	Explanation	Comment
%MWr.m.c.19	Word	ERROR_CMD		Command rejected *
%MDr.m.c.20	Double word	RETURN_CMD_1
%MFr.m.c.22	Floating point	RETURN_CMD_2		Estimation of time remaining before sequence activation of the slave
%MFr.m.c.24	Floating point	RETURN_CMD_3
%MWr.m.c.26	Word	ACTION_CMD	575	GetTimeToLink
%MDr.m.c.27	Double word	PARAM_CMD_1	SlaveNumber	SERCOS address of the slave
%MDr.m.c.29	Double word	PARAM_CMD_2
%MFr.m.c.31	Floating point	PARAM_CMD_3
%MFr.m.c.33	Floating point	PARAM_CMD_4

* Command refused:

master not configured: 37
master is remote axis: 37
slave not configured: 37
slave already linked: 69
slave in motion: 70
master stopped: 72
slave acceleration zero: 1
master in wrong rotation direction: 71

Notes:

The speed of the master must remain constant between the time this command is used and the sequence activation ("bit AXIS_IS_LINKED = 1").