Hello,

I have a TO_ExternalEncoder (modulo 360°) and a TO_SynchronousAxis (S210) in a 1511T cpu (fw 3.1)

I'm executing a MC_CamIn job with SyncProfileReference = 2 

The cam is composed as following:

0-90° : slave is standstill
90-270 : slave is traversing 100mm (polynomial profile)
270-360° : slave is standstill

The master is always moving, so I'm launching MC_CamIn during the 0-90° phase so the slave is standstill and direct synchronous operation can be achieved without problems and dynamic jumps

By doing this, I've noticed that I have a resulting MasterOffset that is not zero in the  <TO>.StatusSynchronizedMotion.MasterOffset tag.

I have to launch an MC_PhasingAbsolute with a PhaseShift = MasterOffset to compensate.

I can see this behaviour also by tracing the actual position of ExternalEncoder and the speed of the following axis.

I have also noticed that if I try to execute a subsequent CamIn job with SyncProfileReference = 5 (at the end of the cam), the problem is still present.

Do you have any idea of what is happening? 

 Hello,

I've read that document. But I still don't understand why this is happening. I'm executing the CamIn job shile the slave is at standstill and the master is in the first part of the cam (0-90°) where the slave should be standstill.

Why am I getting this offset, and how I get rid of that? 

As for now the only method that i found is to use method "SyncProfileReference" = 3 , specifying SlaveOffset = Actual position of the Slave, and MasterDistance = arbitrary 90° ...

Basically I don't want a synchronization phase, because the slave is at standstill, only the master is moving.

Do you have any suggestion?

Technology Team

Hello,

How does a slave axis of camming behave during "Direct synchronous setting" (SyncProfileReference = 2)?

https://support.industry.siemens.com/cs/ww/en/view/109758886

 What do you mean? With SyncProfileReference = 2 , SlaveOffset parameter is not relevant.

My slave is not 0 when is standstill, but if I specify its position in SlaveOffset, with SyncProfileReference=2, nothing changes.

Technology Team

Hello,

the slave position in the cam = 0.0.

The position during standstill  >0.0

 Do you think SyncProfileReference = 1 suits my requirements? 

If I use SlaveOffset parameter, there should be no difference between SyncProfileReference = 1 and 3 right?

Technology Team

Hello,

for your usecase different solutions are possible.

In the previous answer, I did a proposal with SyncProfileReference = 1;

You can do wht ever you want.

 Hello, I've tried this method, but with ApplicationMode=2 as i need cyclical execution. 

Still I'm having <TO>.StatusSynchronizedMotion.MasterOffset not zero. 

I'm doing the cam in job in PostServo OB. Maybe I should change this? 

Position and velocity from the encoder is being smoothed (from the TO extrapolation settings) and filtered so i have a stable position signal for the cam. 

Has it something to do with position/speed controller of the slave axis? 

Technology Team

Hello,

the slave position in the cam = 0.0.

The position during standstill  >0.0