Dear all, this seems pretty pro...

I have two axes : 1 is Master and the other is Slave.

They are rotatory axes with modulo 0-360.

In my machine, when Master is stopped, the Slave must run continuously at a fixed speed, so it is ungeared respect the Master.

But when Master starts, the Slave must kill the running movement it was doing and synchronize with Master with 1:1 Ratio of gearing.

The question (problem) is this : I cannot stop the slave (or make it rotate in negative direction) and when the master starts, I need to "merge" ( or blend, it's a better term) the previous movement with the gearing movement without having speed overshoots or (even worse) negative speeds.

The goal is to absolutely have a phase difference between the master and the slave of (let's say) 135°.

So  I repeat quickly:

1) Master is Stopped, Slave is running at a costant speed of 200 deg/s.

2) Master starts to move at 450 deg/s. The starting of the master is "random": it can happen at any moment.

3) Immediately when Master starts to move, Slave starts synchronization in 1:1 with the master. Slave cannot be stopped or rotate in negative direction.

4) Slave is following the master and their phase difference is 135° .

Is it possible with some tricks of Enable_Gear command or it is mandatory to find some dirty workarounds ?

Danke in advance

Thanks,

but I am using a Simotion with Scout TIA here...

Also I am using the built in gearing function and not the MC libraries

Hello,

my gearing is relative, so I cannot switch it to absolute.

I tried many and many options of gearing command (relative) but none lead me to the rephasing process. I think I need to make it manually, after having launched the gearing command

Davinator

4) Slave is following the master and their phase difference is 135° .

So you do care of absolute position relation of a master and a slave.

Davinator

my gearing is relative, 

And at the same time you do not care. 

Mate, you must decide what you want.

jacek d

Davinator

4) Slave is following the master and their phase difference is 135° .

So you do care of absolute position relation of a master and a slave.

Davinator

my gearing is relative, 

And at the same time you do not care. 

Mate, you must decide what you want.

 

 Mate,

you can launch a relative gearing even if you do care about phase relationship. Example: if slave is stopped (and this is not my case) you can launch the gearing at a pre calculated master position in order to be sincronized at a certain position of master, so the phase difference is controlled.

Stupid example with relative gearing:

1) Your slave is stopped @ 150 degrees

2) Your master is running and you want a phase difference of 50 degs

3) You precalculate the difference of 150 - 50 degrees and you get 100 degrees

4) You launch the relative gearing with a master "lock" position of 100 degs with synching distance of 360 (master) degrees.

5) Voilà. You have your axes displaced of 50 degrees.

So you can actually care about relative phases even if you have a relative gearing.

@Tech:

yes, I can launch the gearing (relative) command "immediately", so initially I do not care about slave-master positions, then after I use a superimposed motion to the slave in order to rephase it, accordingly to the master position (and this can be done since master is running at fixed speed , so the relative positions (gearing is 1:1) are always maintained)