MC_SyncSlaves

Description

This function block allows the application to specify what slave axes are to be synchronized and which master they follow. After this function block is executed successfully, all the slave axes specified at the SlaveList input start their slave moves (i.e. MC_GearIn, MC_CamIn, etc.) on the same servo interrupt for a synchronized slave start. When a slave move is commanded for one of the slave axes listed, the slave move is queued but the motion is held off until all of the listed slaves have queued their slave moves.

Figure 7-147: MC_SyncSlaves

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• This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	A positive transition of this input causes the function block to execute
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Master	Description	Master axis identifier
	Data type	AXIS_REF
	Range	1 - 256
	Unit	N/A
	Default	—
SlaveCount	Description	The number of slave axes listed in the SlaveList array input that are to be synchronized. This number must not be greater than the declared size of the SlaveList array. If this number is 0, the list of synchronized slaves for the specified Master axis is cleared.
	Data type	AXIS_REF
	Range	1-256 The AXIS_NUM element of the AXIS_REF structure must be in the range [1-256]
	Unit	N/A
	Default	—
SlaveList	Description	The list of slave axes that are to be synchronized. Each element of this array contains a unique axis number. The axis number must not be the same as the Master axis number.
	Data type	UINT
	Range	1-32
	Unit	N/A
	Default	—

Output

Done	Description	Indicates the synchronized slave assignments were completed without error
	Data type	BOOL
Error	Description	Indicates an invalid input was specified
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE See table in PLCopen Function Block ErrorID Output
	Data type	INT

Usage

Call MC_SyncSlaves to specify the slave axes to synchronize.

Call each slave move (e.g. MC_GearIn) for each slave axis. The motion is held off until all the slave moves have been queued.

After all the slave moves have been queued, the interpolation for all the slave axes begin on the same servo interrupt, providing a synchronized start.

The master axis can be in motion prior to this sequence, or the master can be commanded after all the slave moves are queued.

Related Functions

MC_GearIn

MC_GearInPos

MC_CamIn

Example

Structured Text

(* MC_SyncSlaves ST example *) // Inst_MC_SyncSlaves is an instance of MC_SyncSlaves function block Inst_MC_SyncSlaves( SyncSlaves, Axis1, SlaveCount, SlaveList );

Ladder Diagram

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