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This keyword allows a variable of type STRU_SYNCHRO (STRUCT_P) to be defined.

It is used by the mv_synchro() motion function.

It consists of the following information:

Field

Type

Description

qMaster

REAL

Master position. Must be updated before each function call

velMaster

REAL

Speed of the master. Must be updated before each function call

qSyncMaster

REAL

Master axis synchronism quota

qSlave

REAL

Position of the slave. Must be updated before each function call

velSlave

REAL

Slave speed. Must be updated before each function call

qSyncSlave

REAL

Synchronism quota of the slave axis

velSyncSlave

REAL

Speed that the slave must have at the synchronism quota qSyncSlave

velMaxSlave

REAL

This is the upper speed limit allowed for slave axis movement. In case the correction formula required to rise above the maximum speed, the value returned by the function would be equal to velMaxSlave

accMaxSlave

REAL

This is the maximum acceleration value accepted for the slave axis. The amount of correctable error is automatically reduced so that the set acceleration value is not exceeded

si

REAL

Sampling time si

kappa

REAL

Allows the trajectory of the slave to be warped: the higher the value, the more the slave movement is anticipated, i.e., more space is attempted during the first half of the mission. Reasonable values range from 1.0 (no advance) up to 3.0 (maximum advance)

Example declaration:

; definition of variable m1 of type STRU_SYNCHRO

STRU_SYNCHRO m1

Example

; use of structure for a movement

; definition of variable m1 of type STRU_SYNCHRO

STRU_SYNCHRO m1

; definition of accessory variables

I32 result

I32 step

REAL rrPassoMaster

REAL rrPassoSlave

REAL rrAccSlave

; data entry into the structure

; first execution

if(first_time())

 m1.velMaxSlave = rr(1003) ; maximum slave speed [units/sec]

 m1.accMaxSlave = rr(1004) ; maximum slave acceleration [units/sec^2]

 m1.si = si ; sampling time

 m1.kappa = rr(1006) ; trajectory deformation parameter [1--3]

 phase = 0

endif

; I perform operations based on the variable "phase"

select (phase)

 case 0 ;initial phase (0)

 ; I set master docking quota.

 ; When the master will reach m1.qsyncMaster also.

 ; the slave will have reached m1.qsyncSlave and at that

 ; point it will have the speed m1.velsyncslave

 m1.qsyncMaster = ip(1) + rrPassoMaster

 ; set slave docking quota

 m1.qsyncSlave = ip(2) + rrPassoSlave

 step = 1

 break

 case 1 ;phase 1

 ; I update master parameters

 m1.qMaster = ip(1)

 m1.velMaster = iv(1)

 ; I update slave parameters

 m1.qSlave = ip(2)

 m1.velSlave = iv(2)

 ; I set the slave speed on the docking point

 m1.velsyncslave = iv(1)

 ; I move the axis

  ip(2) = mv_synchro(result, m1)

 ; If I have achieved synchronization I move to step 2

 if(result = M_REACHED)

 phase = 2

 endif

 break

 case 2 ;phase 2

 ; I continue tree to the master for 100 units

 ; then I move on to phase 3

 iv(2) = iv(1)

 _if ((ip(2) - m1.qsyncSlave) > 100)

 phase = 3

 break

 case 3 ;phase 3

 ; stop the slave axis

  iv(2) = ramp(iv(2) , 0 , rrAccSlave)

 ; then I switch to phase 4

 if ((iv(2) < K_EPSILON))

 phase = 4

 time = TFB

 endif

 break

 case 4 ;phase 4

 ; I wait for 1 second

 _if ((tfb - time) > 1)

 ; Then I go back to phase 0

 phase = 0

 break

end_select

 
  

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