Synchronous Multi-Axis Motion With Virtual Master Axis; Task Definition - Application Description; General Information; Sequence Of Motion - Bosch REXROTH IndraDrive Applications Manual

DOK-INDRV*-MLD-APPLI**-AW02-EN-P
Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
7

Synchronous Multi-Axis Motion With Virtual Master Axis

7.1 Task Definition – Application Description
7.1.1

General Information

7.1.2

Sequence of Motion

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Synchronous Multi-Axis Motion With Virtual Master Axis
This part is based on the application example 1 "double-axis positioning control
(Pick and Place)". The following application example shows mechanisms of
how to realize synchronous multi-axis motions with IndraMotion MLD-M via the
CCD communication.
The example below illustrates master axis linking between virtual master axis
and real axes.
Fig.7-1: Simple Punching Machine With Roll Feed
Shaped pieces are to be punched out of a sheet metal strip. One drive (CCD
slave axis) carries out material feed and a second drive (CCD master axis)
moves the punching head via a crank mechanism. Material feed mustn't take
place during the actual punching operation. Only when the punching head has
left the material may the material be infed. MLD-M of the CCD master axis
controls or commands the axes.
To avoid the collision of punching head and material when the operation modes
are activated, the two axes are aligned with one another.
The sequence of motion starts with the punching drive being moved to the po‐
sition at which material feed is to start. For this purpose, the operation mode
"phase synchronization" is activated via the synchronous motion function block
"MB_GearInPos" in the punching axis (CCD master axis). Simultaneously, the
virtual master axis (the virtual master axis is the master axis which the punching
drive and the roll drive follow synchronously) is moved to the start position of
the material feed (0 degrees) via the motion function block "MC_MoveAbso‐
lute". When the start position has been reached and the punching drive has
absolutely synchronized to the master axis, the operation mode "electronic
motion profile" is activated for the roll feed axis (CCD slave axis) via the syn‐
chronous motion function block "MB_MotionProfile". When the roll feed axis has
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