Dear all,

I have a leading positioning axis moving in MC_MoveAbsolute or MC_MoveVelocity.

A synchronus axis is following with MC_GearInPos.

They are both modulo axis.

What happens when position of Leading exceeds the modulo? So leading position goes from 1500mm to 0mm, follower is 100mm ahead, then modulo for leading happens. Is the following going back to 100mm?

How about the same situation if modulo happens first for following axis?

And if I reference with MC_Home one of the two axes while InSync?

Thank you!

It seems from THIS LINK at page 198 that modulo event is not affecting GearInPos.

Now remains to get how aboout MC_HOME on leading axis.

By testing with axis simulation, while InSync with GearInPos, calling an execute on MC_Home with Mode=0 on the master (leading axis) causes a glitch on the master position which is followed with ramp by the following axis. Of course Following Error arises, but if excluded the ramp is visible.

Final conclusion: never home a master axis while synchronized. Homing is a nonlinear operation on actual position which have disrupting effects on slaves.

For sake of completeness, attached is a picture of homing while inGear (GearIn). Same result is with GearIn_POS.

Red for master position, green for slave position.Brown for slave velocity. MC_PhaseRelative can recover the distance of the slave with GearInPos, but axes dynamic is not infinite, so the non linear effects has transient disrupting effect on slave anyway.

Hello,

for compensations, please use.

MC_Phasing...

MC_Offset....

MC_LeadingValueAdditive

https://support.industry.siemens.com/cs/ww/en/view/109781851