1 00:00:00,256 --> 00:00:04,608 Hi guys another day and another topic 2 00:00:04,864 --> 00:00:08,448 And today we are going to 3 00:00:08,704 --> 00:00:09,984 Work 4 00:00:10,240 --> 00:00:16,384 One of the most important chapters of the course chapter 27 5 00:00:16,640 --> 00:00:19,968 gearing in simotion 6 00:00:22,016 --> 00:00:28,160 We will go into deeper and learn more about gearing 7 00:00:28,416 --> 00:00:33,536 And make some examples and practice with our 8 00:00:34,304 --> 00:00:35,584 Scout 9 00:00:36,352 --> 00:00:37,632 Development 10 00:00:37,888 --> 00:00:40,704 So let's start 11 00:00:43,264 --> 00:00:49,408 I am going to use program lecture notes with sitrain simotion 12 00:00:49,664 --> 00:00:50,432 gearing Chapter 13 00:00:50,944 --> 00:00:51,968 So 14 00:00:52,480 --> 00:00:56,064 What we are going to learn more details 15 00:00:57,344 --> 00:01:01,952 Is how synchronous operation is structured 16 00:01:02,464 --> 00:01:07,584 Creating axis making assignment leading axis and cams 17 00:01:08,096 --> 00:01:11,936 Settings for synchronous operation 18 00:01:12,192 --> 00:01:18,336 Enable gearing different kind of gearings with different parameter settings 19 00:01:18,592 --> 00:01:21,664 Reference point for leading axis 20 00:01:21,920 --> 00:01:23,200 Master switch 21 00:01:24,480 --> 00:01:26,784 time related synchronization 22 00:01:27,040 --> 00:01:31,904 tRailing synchronisation leading sync 23 00:01:32,160 --> 00:01:38,048 With different format acceptance so next page 24 00:01:39,584 --> 00:01:45,728 Engagement Trace recording enable and disable gearing 25 00:01:47,776 --> 00:01:49,824 Different kind of gearing 26 00:01:50,336 --> 00:01:56,480 Set offset on earing with MCC and ST 27 00:01:56,992 --> 00:02:01,600 Actual value coupling with extrapolation settings and so on 28 00:02:05,696 --> 00:02:09,280 So let's continue with our lecture notes 29 00:02:09,792 --> 00:02:15,936 You have already some information about sync operation instructions we have an 30 00:02:16,192 --> 00:02:17,728 following Aksis 31 00:02:17,984 --> 00:02:21,056 Working in IPO or servo cycle 32 00:02:21,568 --> 00:02:27,712 Synchronous operation to is interconnected with external encoders 33 00:02:27,968 --> 00:02:31,040 Or leading access to manage 34 00:02:31,296 --> 00:02:34,112 All of the operation 35 00:02:34,624 --> 00:02:40,768 in camming And there is a little bit difference the gear ratio factor is not 36 00:02:41,024 --> 00:02:47,168 Constant it depends on time its change according to our cam profile 37 00:02:52,800 --> 00:02:58,944 So I opened a last project created with project generator and 38 00:02:59,200 --> 00:03:00,224 click 39 00:03:00,480 --> 00:03:06,624 To open the Scout project so let's start to simosim 40 00:03:11,744 --> 00:03:13,280 Okay 41 00:03:13,792 --> 00:03:18,144 Here we have two for five 42 00:03:18,400 --> 00:03:19,680 Axes 43 00:03:21,472 --> 00:03:24,288 I think we should rename 44 00:03:24,544 --> 00:03:30,688 Axis is on the speed control axis here we have a position of axis 45 00:03:31,456 --> 00:03:36,832 delete all of the comments here 46 00:03:38,880 --> 00:03:42,208 delete this axis 47 00:03:43,744 --> 00:03:45,792 delete This one 48 00:03:49,120 --> 00:03:55,264 And I want to create axes with sync opereation let's say a red 49 00:03:57,824 --> 00:04:03,968 linear virtual axis 50 00:04:06,784 --> 00:04:10,880 I'm going to use another axis axis blue 51 00:04:11,136 --> 00:04:17,280 And select your sample of operation I want to be possible 52 00:04:19,071 --> 00:04:20,095 Between 53 00:04:21,887 --> 00:04:24,191 Master Slave relationship 54 00:04:24,447 --> 00:04:28,543 From Blue to Reds or vice-versa 55 00:04:30,335 --> 00:04:36,223 I'm okay let's open the interconnection settings 56 00:04:36,735 --> 00:04:42,879 These are for standard position Axis I'm going to use the ecollection on the side 57 00:04:43,135 --> 00:04:44,671 Operation 58 00:04:45,695 --> 00:04:50,815 Let's see here it's possible to make interconnection to axis red 59 00:04:51,839 --> 00:04:53,375 can be 60 00:04:53,887 --> 00:04:56,447 master at set point 61 00:04:56,703 --> 00:05:02,847 Master value and for Axis red I'm going to interconnect 62 00:05:03,871 --> 00:05:10,015 It's sync object to axis blue Axis Blue Maybe 63 00:05:10,271 --> 00:05:13,855 In the next time ask set point coupling 64 00:05:14,623 --> 00:05:16,159 The master red 65 00:05:16,927 --> 00:05:18,207 so 66 00:05:18,975 --> 00:05:23,327 So let's save and compile and check the 67 00:05:23,583 --> 00:05:26,911 If any failure exists 68 00:05:29,471 --> 00:05:35,359 So we used in our program here 69 00:05:35,615 --> 00:05:36,895 Start-up check 70 00:05:37,407 --> 00:05:38,431 exis 71 00:05:39,967 --> 00:05:43,295 Let's say now we are using 72 00:05:43,551 --> 00:05:45,087 axis blue 73 00:05:45,343 --> 00:05:50,463 and axis red 74 00:05:55,071 --> 00:06:01,215 so Another program message on link let's say here 75 00:06:01,471 --> 00:06:05,055 axis blue axis red 76 00:06:08,127 --> 00:06:09,407 Let's start again 77 00:06:15,039 --> 00:06:18,623 another errors 78 00:06:20,927 --> 00:06:23,231 in template axis fb 79 00:06:25,535 --> 00:06:27,071 axis blue 80 00:06:28,095 --> 00:06:31,935 axis red 81 00:06:34,751 --> 00:06:39,359 now it is done 82 00:06:39,871 --> 00:06:46,015 and Consistency check that are some additional failure here 83 00:06:46,271 --> 00:06:52,415 measuring input is not interconnected active input here 84 00:06:53,695 --> 00:06:59,839 Function is only available for input with timestamp 85 00:07:00,863 --> 00:07:04,191 under conveyor belt 86 00:07:09,055 --> 00:07:15,199 and let's say 87 00:07:15,455 --> 00:07:18,271 Drive related 88 00:07:26,975 --> 00:07:32,095 Let's open execution system and check 89 00:07:34,143 --> 00:07:40,287 Start up task motion tasks are empty there are some programs in background task so 90 00:07:41,311 --> 00:07:44,895 That just create an MCC units 91 00:07:45,151 --> 00:07:46,687 by ourselves 92 00:07:47,967 --> 00:07:50,271 insert MCC units 93 00:07:51,039 --> 00:07:54,623 MCC units for 94 00:07:55,391 --> 00:07:58,719 Organized 95 00:08:01,023 --> 00:08:05,119 Let's check our options and settings 96 00:08:06,655 --> 00:08:09,471 for compiler 97 00:08:15,871 --> 00:08:22,015 Let's create on some programs for 98 00:08:22,527 --> 00:08:27,135 task system MCC startup 99 00:08:33,023 --> 00:08:34,815 Okay 100 00:08:36,351 --> 00:08:41,215 Another one MCC backgrounds 101 00:08:45,055 --> 00:08:48,639 Another one 102 00:08:49,407 --> 00:08:53,503 axis red control 103 00:09:00,415 --> 00:09:06,559 Another one axis blue control 104 00:09:14,495 --> 00:09:20,639 So I'm going to assign to axis control 2 different motion task 105 00:09:20,895 --> 00:09:27,039 I have to organize with my background task first 106 00:09:27,295 --> 00:09:30,367 I need to check the Task State here 107 00:09:35,743 --> 00:09:41,887 motion task 1 State 108 00:09:42,911 --> 00:09:48,031 Let's see global and exportable 109 00:09:50,335 --> 00:09:52,639 Okay 110 00:09:52,895 --> 00:09:56,223 The same way for motion task two 111 00:09:56,479 --> 00:10:02,623 and Motion Task 2 state is exportable 112 00:10:06,975 --> 00:10:09,791 and lets use 113 00:10:10,047 --> 00:10:12,095 These variable 114 00:10:12,351 --> 00:10:18,495 check start motion tasks 115 00:10:18,751 --> 00:10:24,895 Task States equals two Task State invalid 116 00:10:25,151 --> 00:10:31,295 locked or 117 00:10:31,551 --> 00:10:33,855 Stopped 118 00:10:34,111 --> 00:10:38,719 Or task state suspended 119 00:10:39,487 --> 00:10:45,631 For instance then let's start again the task 120 00:10:45,887 --> 00:10:52,031 motion task 1 program 121 00:10:52,287 --> 00:10:56,895 copy and paste 122 00:10:59,711 --> 00:11:01,503 similar way 123 00:11:01,759 --> 00:11:07,903 Let's save and compile first after that I'll see 124 00:11:08,159 --> 00:11:11,999 Programs ready to use in execution system 125 00:11:13,023 --> 00:11:13,791 Here 126 00:11:15,839 --> 00:11:21,471 then assign and check the settings activation of the startup I don't want to use that 127 00:11:22,239 --> 00:11:26,591 Current i will assign 128 00:11:27,871 --> 00:11:29,919 axis red first 129 00:11:30,175 --> 00:11:32,735 And second axis blue 130 00:11:33,503 --> 00:11:37,855 I'm for background task lle say MCC back 131 00:11:39,903 --> 00:11:44,255 It's possible to arrange the order here on the right side 132 00:11:44,511 --> 00:11:46,559 On program used 133 00:11:47,583 --> 00:11:48,607 Define 134 00:11:49,375 --> 00:11:52,191 Okay let's say accept and close 135 00:11:53,983 --> 00:12:00,127 No I'm going to create some. 136 00:12:00,383 --> 00:12:02,943 ST source 137 00:12:05,247 --> 00:12:07,295 you will see here 138 00:12:11,391 --> 00:12:17,535 Let's say I want to use a structure with type 139 00:12:18,303 --> 00:12:24,447 Let's say it's the axis control blocks 140 00:12:26,239 --> 00:12:32,383 and bo enable bool 141 00:12:32,639 --> 00:12:36,479 bo disable 142 00:12:37,247 --> 00:12:39,807 bool 143 00:12:40,063 --> 00:12:44,159 jog Positive 144 00:12:44,415 --> 00:12:48,255 bo jog negative 145 00:12:49,023 --> 00:12:55,167 Let's gear on 146 00:12:55,423 --> 00:12:57,215 boolean 147 00:12:57,471 --> 00:13:00,031 gear off 148 00:13:00,543 --> 00:13:06,687 boolean cam on cam off 149 00:13:12,063 --> 00:13:16,415 Set home 150 00:13:17,951 --> 00:13:23,327 Another structure maybe should be ST 151 00:13:23,583 --> 00:13:27,167 axes status 152 00:13:29,471 --> 00:13:35,615 boolean enabled 153 00:13:35,871 --> 00:13:38,175 standstill 154 00:13:40,735 --> 00:13:43,807 boolean error 155 00:13:45,599 --> 00:13:46,879 and so on... 156 00:13:48,671 --> 00:13:54,815 Let's say another structure is the axis 157 00:13:59,423 --> 00:14:03,775 Maybe 158 00:14:04,287 --> 00:14:06,591 gear ratio 159 00:14:15,807 --> 00:14:17,087 Let's say 160 00:14:17,599 --> 00:14:22,719 set velocity 161 00:14:25,535 --> 00:14:26,815 Let's say 162 00:14:27,583 --> 00:14:29,887 Set position 163 00:14:32,191 --> 00:14:35,519 Let's say acceleration 164 00:14:37,311 --> 00:14:39,359 Deceleration 165 00:14:47,039 --> 00:14:53,183 On the next thing is maybe we can group together axis 166 00:14:53,439 --> 00:14:54,463 ST AXIS 167 00:15:04,447 --> 00:15:10,079 I save status is the axis 168 00:15:13,151 --> 00:15:16,735 Status 169 00:15:22,367 --> 00:15:28,511 How to control Axes Control? 170 00:15:28,767 --> 00:15:33,631 Parameters or is the axis parameters 171 00:15:35,167 --> 00:15:41,311 i want to create a global and 172 00:15:42,847 --> 00:15:45,919 retain variable 173 00:15:50,015 --> 00:15:53,599 Global structures 174 00:15:54,367 --> 00:15:57,439 axis red should be STAXIS 175 00:15:59,231 --> 00:16:01,535 axes 176 00:16:02,047 --> 00:16:06,655 blue 177 00:16:07,679 --> 00:16:11,519 Let's check and compile 178 00:16:13,055 --> 00:16:19,199 You just created some structural variables 179 00:16:20,991 --> 00:16:27,135 normally i should the function block for each axis but I'm going to program MCC side 180 00:16:33,791 --> 00:16:38,143 You may see here are new variables is located 181 00:16:38,655 --> 00:16:41,471 Right there 182 00:16:41,983 --> 00:16:48,127 STAXIS data type status and control and parameter 183 00:16:50,175 --> 00:16:56,319 Normally we should assign some initial values and we have to limit 184 00:16:57,343 --> 00:16:59,391 Due to operator 185 00:17:00,415 --> 00:17:01,695 errors 186 00:17:02,207 --> 00:17:03,999 high limit low limit 187 00:17:04,511 --> 00:17:07,583 You have to check the parameter limits 188 00:17:10,655 --> 00:17:15,775 Let's go to all axis red control screen 189 00:17:17,055 --> 00:17:21,663 I was at some basic command this axis 190 00:17:21,919 --> 00:17:26,015 Let's say I'm able axis axis red 191 00:17:28,319 --> 00:17:31,391 And I say 192 00:17:31,903 --> 00:17:33,439 Open control 193 00:17:34,719 --> 00:17:37,535 without any feedback if 194 00:17:39,583 --> 00:17:45,727 structure axis red control enable is set 195 00:17:46,751 --> 00:17:48,543 You set 196 00:17:50,591 --> 00:17:55,711 Then I will execute enable command then reset 197 00:18:01,087 --> 00:18:03,903 Let's use this way 198 00:18:04,159 --> 00:18:08,255 Similar for disabling 199 00:18:11,071 --> 00:18:13,119 for axis red 200 00:18:17,471 --> 00:18:21,823 axis red... 201 00:18:27,455 --> 00:18:31,807 disable 202 00:18:41,535 --> 00:18:45,375 okay 203 00:18:46,399 --> 00:18:48,447 next thing use if branch 204 00:18:48,703 --> 00:18:51,263 for homing axis 205 00:18:51,775 --> 00:18:53,055 Control 206 00:18:54,079 --> 00:18:56,383 Set home 207 00:18:59,455 --> 00:19:01,247 Okay 208 00:19:01,759 --> 00:19:07,903 And this time you're going to use reference axis command axis red 209 00:19:08,159 --> 00:19:14,303 type Set home position and default is going to be 210 00:19:17,631 --> 00:19:22,495 used 211 00:19:26,591 --> 00:19:29,663 for axis red 212 00:19:30,175 --> 00:19:32,735 Gearing on and gearing off 213 00:19:35,807 --> 00:19:39,391 Or maybe we should use a stop axis command 214 00:19:40,415 --> 00:19:46,559 for axis Red 215 00:19:48,607 --> 00:19:53,471 Stop without abort all motions dynamics response 216 00:19:57,055 --> 00:20:03,199 so I'm going to reorganize my structure in ST then 217 00:20:03,967 --> 00:20:08,575 For controlling or create stop 218 00:20:08,831 --> 00:20:11,903 bo stop 219 00:20:12,159 --> 00:20:14,719 bo estop as bool 220 00:20:14,975 --> 00:20:19,071 So if we right click and compile 221 00:20:19,327 --> 00:20:22,143 My structured here 222 00:20:22,399 --> 00:20:24,703 And it should be enough 223 00:20:25,471 --> 00:20:27,007 For MCC 224 00:20:28,799 --> 00:20:30,335 red control 225 00:20:31,871 --> 00:20:33,407 Another if case 226 00:20:33,919 --> 00:20:38,271 So I'm not going to use any of the comments just 227 00:20:38,527 --> 00:20:40,831 Triggering the function 228 00:20:42,367 --> 00:20:46,719 symbol browser axis red 229 00:20:47,231 --> 00:20:48,767 Bo stop okay 230 00:21:01,567 --> 00:21:04,383 Let's say false 231 00:21:04,639 --> 00:21:08,223 Cuts and pastes 232 00:21:09,503 --> 00:21:15,647 Enable disable said. And next one should be the gear on 233 00:21:16,672 --> 00:21:18,208 gear off 234 00:21:18,720 --> 00:21:20,000 For testing 235 00:21:22,560 --> 00:21:27,936 Yep at this screen we may arrange the parameters 236 00:21:28,960 --> 00:21:31,008 following axis 237 00:21:31,776 --> 00:21:33,824 Red 238 00:21:34,336 --> 00:21:38,176 And leading axis is blue 239 00:21:38,688 --> 00:21:42,528 gear direction from sign of your ratio 240 00:21:46,624 --> 00:21:48,416 Okay 241 00:21:48,672 --> 00:21:54,816 It is possible to select opposite direction same direction or 242 00:21:55,072 --> 00:21:56,864 axis is 243 00:21:58,144 --> 00:21:59,680 In move 244 00:22:01,472 --> 00:22:07,616 Opposite to current directions that are several parameters type of gear ratio 245 00:22:09,152 --> 00:22:15,296 Normally according to real system sometimes Dominator denominator 246 00:22:15,552 --> 00:22:16,320 is 247 00:22:17,344 --> 00:22:19,648 Best choice for 248 00:22:20,416 --> 00:22:22,976 Not losing resolution 249 00:22:25,792 --> 00:22:28,096 1o1 250 00:22:28,352 --> 00:22:30,912 gear value input 251 00:22:31,168 --> 00:22:36,800 referance value tye let's say not absolute we are going to use 252 00:22:40,640 --> 00:22:46,784 next tab or synchronization parameters synchronisation reference 253 00:22:47,040 --> 00:22:49,088 will be position-based 254 00:22:49,600 --> 00:22:52,672 And start of synchronisation 255 00:22:53,184 --> 00:22:54,720 Let's say 256 00:23:00,352 --> 00:23:01,888 immediately 257 00:23:02,144 --> 00:23:03,168 And 258 00:23:04,192 --> 00:23:10,336 You see that are some other options disabled and hidden 259 00:23:10,592 --> 00:23:12,896 So 260 00:23:13,920 --> 00:23:20,064 Let's check again if I select the leading axis position then I have to enter the reference 261 00:23:20,320 --> 00:23:22,112 of leading axes 262 00:23:23,136 --> 00:23:27,232 I'm leading axis position if I said 263 00:23:28,768 --> 00:23:34,144 following axis position then I have to enter reference point of leading axis 264 00:23:35,680 --> 00:23:41,056 The 3 options at the following position 265 00:23:42,848 --> 00:23:47,712 Let's say this time basically synchronize immediately 266 00:23:47,968 --> 00:23:54,112 I just saved enter the synchronization length for the system to calculate the 267 00:23:54,368 --> 00:23:55,648 calculate Polynomial 268 00:23:55,904 --> 00:24:01,280 Equations for set point position and velocity 269 00:24:02,816 --> 00:24:07,168 So let's say here 100 mm 270 00:24:07,424 --> 00:24:10,240 Sync look at hits 271 00:24:10,496 --> 00:24:13,824 Extended look ahead 272 00:24:14,336 --> 00:24:16,384 And the direction 273 00:24:18,944 --> 00:24:22,784 Maintain direction of the following axis 274 00:24:24,064 --> 00:24:27,136 sync Direction okay 275 00:24:31,744 --> 00:24:35,584 Let's see in expert parameters 276 00:24:36,096 --> 00:24:42,240 That is just on the command id for track s executed or 277 00:24:42,496 --> 00:24:46,592 Return variable 278 00:24:47,104 --> 00:24:53,248 Integer that are 2 variables master setpoint sync op 279 00:24:55,296 --> 00:24:58,880 I'm going to use system variables to track the command 280 00:24:59,136 --> 00:25:02,464 Let's say enough for now 281 00:25:02,720 --> 00:25:06,816 And I'm going to use similar 282 00:25:07,072 --> 00:25:09,120 for gearing off command 283 00:25:15,520 --> 00:25:21,664 following axis is red our reference is leading axis at this case is not required to 284 00:25:21,920 --> 00:25:28,064 Define a master value because we are 285 00:25:32,672 --> 00:25:36,000 I'm going to select sync reference 286 00:25:37,792 --> 00:25:41,120 leading axis 287 00:25:41,376 --> 00:25:43,936 Already 288 00:25:44,192 --> 00:25:47,264 Attached To axis 289 00:25:48,800 --> 00:25:54,688 Then I can just say desync. position should be 290 00:25:54,944 --> 00:25:55,712 This 291 00:25:56,224 --> 00:26:00,576 Or if I select time I have to 292 00:26:00,832 --> 00:26:04,416 enter dynamic parameters let's say 293 00:26:04,928 --> 00:26:08,768 leading axis so I'm using 294 00:26:09,024 --> 00:26:11,840 relative gearing 295 00:26:13,632 --> 00:26:15,680 sync position could be immediately 296 00:26:17,984 --> 00:26:24,128 Leading axis or following axis 297 00:26:25,664 --> 00:26:28,224 Depends on your choice 298 00:26:28,736 --> 00:26:31,552 When I said immediately 299 00:26:32,832 --> 00:26:35,904 After the command executed the 300 00:26:36,160 --> 00:26:40,000 Procedure gearing off started 301 00:26:40,512 --> 00:26:46,656 when i select with leading axis value than I have and to the reference point of the sync 302 00:26:46,912 --> 00:26:52,032 Symmetrical stop before or stop after the position 303 00:26:53,824 --> 00:26:59,968 Normally symetrical is the optimum solution for flying shears applications 304 00:27:00,480 --> 00:27:06,624 neter the length and leading axis position because 305 00:27:06,880 --> 00:27:13,024 when i execute command system will be calculated at the background and track the actual value 306 00:27:13,280 --> 00:27:17,376 or set point position value of the Master axis 307 00:27:19,168 --> 00:27:25,312 So after my axis has reached the leading axes position 308 00:27:25,568 --> 00:27:28,896 then Gearing off command will be started 309 00:27:29,664 --> 00:27:35,808 So basically right now I just like the select desyn 310 00:27:36,064 --> 00:27:40,928 And I am enter same value hundred millimeters 311 00:27:42,720 --> 00:27:48,864 For you to go, so direction should be the same way 312 00:27:51,424 --> 00:27:54,752 Maintain direction of the following axes 313 00:27:56,544 --> 00:27:59,360 That's not for now 314 00:28:02,176 --> 00:28:03,712 Let's say 315 00:28:03,968 --> 00:28:06,784 I'm going to execute it 316 00:28:10,624 --> 00:28:16,000 if Is the fer on red Axis 317 00:28:17,536 --> 00:28:20,096 Let's say 318 00:28:23,680 --> 00:28:27,264 execute and set false 319 00:28:35,712 --> 00:28:39,808 gearing on sorry 320 00:28:44,416 --> 00:28:45,952 Is the similar thing 321 00:28:52,864 --> 00:28:54,656 gearing off 322 00:29:04,384 --> 00:29:10,272 Okay let's save and compile 323 00:29:10,528 --> 00:29:11,808 check 324 00:29:17,440 --> 00:29:23,584 So where will I be expecting is the axis red 325 00:29:25,632 --> 00:29:31,776 in mcc program when Double Click 326 00:29:32,032 --> 00:29:34,336 it is not going to open 327 00:29:37,664 --> 00:29:40,992 So let's accept and compile 328 00:29:41,248 --> 00:29:45,088 then compile MCC organise 329 00:29:50,208 --> 00:29:54,304 here there is some failure 330 00:29:54,560 --> 00:30:00,448 Okay I'm going to check if my connection is 331 00:30:00,960 --> 00:30:02,240 already done no 332 00:30:02,496 --> 00:30:07,872 Then I have to make my connection by Manuel program unit 333 00:30:08,128 --> 00:30:10,176 STDB 334 00:30:11,200 --> 00:30:14,784 Let's try again 335 00:30:16,832 --> 00:30:18,368 now it's okay 336 00:30:21,440 --> 00:30:27,584 It's okay and I'm going to copy 337 00:30:29,376 --> 00:30:32,704 Change a little for the blue axis 338 00:30:32,960 --> 00:30:36,288 Because I want to start the blue axis 339 00:30:37,056 --> 00:30:38,848 as position controlled 340 00:30:39,104 --> 00:30:40,896 And I'm going to set 341 00:30:41,152 --> 00:30:43,200 As master 342 00:30:44,224 --> 00:30:46,784 Let's copy and paste 343 00:30:51,648 --> 00:30:57,792 I have to be careful and change my symbols 344 00:31:01,888 --> 00:31:06,496 That's why we are using axis function block 345 00:31:06,752 --> 00:31:09,056 to control the axis 346 00:31:09,312 --> 00:31:13,664 and Reduces engineering time 347 00:31:15,200 --> 00:31:18,272 axis blue 348 00:31:18,528 --> 00:31:24,160 It's easy to diagnose and monitor and compared on the MCC sides 349 00:31:24,416 --> 00:31:30,048 bute when your program is going to be larger sometimes 350 00:31:30,560 --> 00:31:35,168 You'll miss when you copy and paste something 351 00:31:35,424 --> 00:31:41,568 if Done during testing you realize there's a bug in your problem and it takes time to solve it 352 00:31:44,384 --> 00:31:46,432 axis blue 353 00:31:51,552 --> 00:31:55,136 axis blue 354 00:32:00,256 --> 00:32:04,864 axis 355 00:32:12,544 --> 00:32:14,080 Axis... 356 00:32:14,336 --> 00:32:18,176 axis blue 357 00:32:24,064 --> 00:32:26,368 and my mastering axis red 358 00:32:33,536 --> 00:32:37,120 Let's check 359 00:32:37,632 --> 00:32:42,240 yes 360 00:32:46,336 --> 00:32:49,408 gear off 361 00:32:50,688 --> 00:32:54,272 Blue 362 00:32:57,344 --> 00:33:00,928 Okay let's save and compile 363 00:33:05,792 --> 00:33:08,608 axis 364 00:33:10,144 --> 00:33:12,960 and assign variables 365 00:33:13,216 --> 00:33:19,360 watch table right click axis gear on and off 366 00:33:36,000 --> 00:33:41,120 It's maybe as default you were sure is 367 00:33:45,984 --> 00:33:52,128 set velocity 10mm/s set pos 100 368 00:33:53,408 --> 00:33:59,552 Acceleration is thousand and really low 369 00:33:59,808 --> 00:34:03,136 for acceleration and jerk 370 00:34:04,672 --> 00:34:07,232 Yes 371 00:34:11,840 --> 00:34:13,888 now i will add 372 00:34:14,400 --> 00:34:18,496 jog commands for the blue or Master here 373 00:34:25,152 --> 00:34:26,944 so if there is variable 374 00:34:28,224 --> 00:34:31,040 axis blue control 375 00:34:31,808 --> 00:34:33,600 jog positive 376 00:34:35,392 --> 00:34:38,976 and not negative 377 00:34:42,560 --> 00:34:45,376 And 378 00:34:46,656 --> 00:34:49,984 Axis Blue 379 00:34:51,264 --> 00:34:56,896 Control 380 00:34:57,408 --> 00:35:03,552 for this case 381 00:35:06,112 --> 00:35:12,256 jogging 382 00:35:13,280 --> 00:35:18,656 Positive and control is active 383 00:35:19,424 --> 00:35:20,960 Let's say 384 00:35:24,800 --> 00:35:27,872 Start axes position control 385 00:35:28,896 --> 00:35:32,224 axis blue velocity as 386 00:35:35,040 --> 00:35:36,576 Default 387 00:35:37,088 --> 00:35:41,184 But it's dynamics response supposed to 388 00:35:46,560 --> 00:35:49,632 i can assign here 389 00:35:50,144 --> 00:35:53,216 parameter setpoint velocity 390 00:35:53,472 --> 00:35:59,616 But I think we have to use 64-bits long real type 391 00:36:04,736 --> 00:36:06,272 Blue 392 00:36:11,392 --> 00:36:16,256 I can enter here positive direction and 393 00:36:16,768 --> 00:36:20,096 here negative direction 394 00:36:21,632 --> 00:36:23,936 And here 395 00:36:25,216 --> 00:36:29,056 Maybe control is active 396 00:36:38,016 --> 00:36:41,856 And 397 00:36:45,952 --> 00:36:48,768 motionstate data 398 00:36:49,024 --> 00:36:50,560 motion state 399 00:36:55,424 --> 00:36:58,496 Let's check the enumeration type of 400 00:36:59,264 --> 00:37:00,800 axis blue 401 00:37:01,568 --> 00:37:04,128 and Motion state data 402 00:37:10,272 --> 00:37:14,368 motion state is enumaxis motion state 403 00:37:29,728 --> 00:37:32,800 So I'm using a branch that's why 404 00:37:39,456 --> 00:37:44,576 It's not working properly 405 00:37:48,160 --> 00:37:53,792 And when i use here in add some program 406 00:37:55,328 --> 00:37:58,400 Program MT test 407 00:37:59,680 --> 00:38:04,800 Listen to program empty test 408 00:38:06,336 --> 00:38:09,920 var 409 00:38:10,176 --> 00:38:12,992 Program section statements 410 00:38:13,504 --> 00:38:15,040 and program 411 00:38:15,296 --> 00:38:18,624 I will use here 412 00:38:19,136 --> 00:38:21,440 usepackage cam 413 00:38:25,536 --> 00:38:30,656 Maybe as Library 414 00:38:31,424 --> 00:38:33,728 Use Library 415 00:38:35,776 --> 00:38:40,640 LMC basic next time 416 00:38:42,432 --> 00:38:48,576 axis motion state 417 00:38:50,368 --> 00:38:54,464 and standstill 418 00:38:58,560 --> 00:39:00,608 blue control 419 00:39:07,264 --> 00:39:08,544 Here 420 00:39:12,128 --> 00:39:14,944 Still missing you see 421 00:39:17,248 --> 00:39:20,576 Then I'm going to use the stop command once maybe 422 00:39:25,952 --> 00:39:28,000 stop without abort 423 00:39:28,256 --> 00:39:30,560 Dynamic responses there 424 00:39:32,608 --> 00:39:35,424 Yes let's try to compile 425 00:39:45,664 --> 00:39:47,200 No error 426 00:39:53,856 --> 00:39:57,696 I think that this case it's 427 00:39:57,952 --> 00:40:00,256 real automatically converted 428 00:40:00,512 --> 00:40:03,328 Implicit convertion by System 429 00:40:03,584 --> 00:40:05,888 real to lon real 430 00:40:07,680 --> 00:40:13,568 and I think you're ready to go 431 00:40:15,360 --> 00:40:17,152 Go online 432 00:40:20,992 --> 00:40:24,832 And download our example 433 00:40:37,632 --> 00:40:42,752 Resetting target system download the hardware 434 00:40:44,800 --> 00:40:47,104 tp cam powered on 435 00:40:47,360 --> 00:40:51,712 right now download project to 436 00:40:52,992 --> 00:40:54,528 I'm so on... 437 00:41:00,928 --> 00:41:03,488 and finished 438 00:41:05,536 --> 00:41:07,584 Let's set the Run 439 00:41:09,376 --> 00:41:12,704 okay But I want to use the trace 440 00:41:16,288 --> 00:41:18,336 Let's select 441 00:41:19,360 --> 00:41:21,664 Symbols from browser 442 00:41:23,968 --> 00:41:26,528 actual vel of blue 443 00:41:27,552 --> 00:41:29,600 Actual velocity 444 00:41:30,368 --> 00:41:34,720 Position of State actual position 445 00:41:37,024 --> 00:41:39,840 Maybe 446 00:41:42,912 --> 00:41:46,752 sensor data servo data 447 00:41:49,568 --> 00:41:52,128 No servo monitoring 448 00:41:54,175 --> 00:41:55,455 No 449 00:42:00,831 --> 00:42:05,695 Just use motion state data and motion state 450 00:42:06,975 --> 00:42:13,119 A listing is select the sync 451 00:42:13,375 --> 00:42:14,399 Operation 452 00:42:18,495 --> 00:42:22,079 state and sync state or the slave 453 00:42:23,359 --> 00:42:26,687 slave at this case is red 454 00:42:28,223 --> 00:42:32,575 Select the motion state data 455 00:42:35,135 --> 00:42:37,951 Act vel for axis red 456 00:42:40,255 --> 00:42:42,815 Motion State 457 00:42:44,351 --> 00:42:50,495 and Current position instead of accessory and actual position 458 00:42:54,335 --> 00:42:59,711 Let's say sync operation of axis red 459 00:43:00,991 --> 00:43:02,783 The state 460 00:43:04,575 --> 00:43:08,927 and sync States 461 00:43:14,303 --> 00:43:18,143 Let's create another variable for acknowledge 462 00:43:18,399 --> 00:43:20,703 The errors of axis 463 00:43:23,775 --> 00:43:25,823 Let's say 464 00:43:26,335 --> 00:43:29,663 Control ACK error 465 00:43:36,319 --> 00:43:37,599 Yep 466 00:43:38,111 --> 00:43:44,255 Let's use in MCC red control 467 00:43:44,511 --> 00:43:45,791 here 468 00:43:54,751 --> 00:44:00,895 All right now I just can see my variable because modification 469 00:44:02,175 --> 00:44:05,247 Save why what 470 00:44:06,271 --> 00:44:08,319 And after you see 471 00:44:08,575 --> 00:44:12,927 There are some changes that I have to compile 472 00:44:14,463 --> 00:44:17,279 to See my variable 473 00:44:17,535 --> 00:44:19,583 Right now it's possible 474 00:44:24,703 --> 00:44:29,567 Let's say for axis red acknowledge some 475 00:44:34,175 --> 00:44:35,455 tech errors 476 00:44:38,015 --> 00:44:40,063 of axis red and sync operation 477 00:44:42,879 --> 00:44:46,975 It's not logical to do at all alarms 478 00:44:50,559 --> 00:44:52,351 Just for axis red 479 00:44:55,679 --> 00:45:01,823 The following error occurred while 480 00:45:03,359 --> 00:45:09,503 parameterizing command TO alarm there is a path subscript out of 481 00:45:09,759 --> 00:45:15,903 range it's cause of the system itself 482 00:45:17,439 --> 00:45:19,487 It's the bug 483 00:45:20,255 --> 00:45:21,791 here you see 484 00:45:23,583 --> 00:45:26,911 Blah blah blah 485 00:45:27,679 --> 00:45:33,567 at this case i will delete this command 486 00:45:37,151 --> 00:45:39,455 I'm just select 487 00:45:39,711 --> 00:45:44,063 axis red and sync. operation and said okay 488 00:45:44,319 --> 00:45:48,159 now it's working properly 489 00:45:48,671 --> 00:45:54,815 During the commissioning your machine your writing program sometimes at the meantime 490 00:45:55,071 --> 00:46:01,215 You're adding some new technology objects so when you use this comment in your startup task 491 00:46:01,471 --> 00:46:03,775 or in your 492 00:46:04,031 --> 00:46:07,871 Program to reset all of the technology objects 493 00:46:08,127 --> 00:46:14,271 So after you created some of new technology object you have to go back to this common 494 00:46:14,527 --> 00:46:16,063 and you see 495 00:46:16,319 --> 00:46:16,831 It's 496 00:46:17,087 --> 00:46:23,231 There are some empty boxes here and you have to set it again you're new modified or edited 497 00:46:24,255 --> 00:46:29,375 Or related objects because during system compile 498 00:46:32,191 --> 00:46:36,543 Sometimes unfortunately system doesn't correct itself 499 00:46:36,799 --> 00:46:39,615 the List of the technology object here 500 00:46:40,383 --> 00:46:42,431 for deep note 501 00:46:48,575 --> 00:46:54,719 okay always online working is slower than the offline working that's why we should switch 502 00:46:54,975 --> 00:46:58,047 But sometimes during programming 503 00:47:04,447 --> 00:47:06,239 let say 504 00:47:07,007 --> 00:47:09,823 I can not copy right now 505 00:47:12,383 --> 00:47:14,687 darg and drop set to false 506 00:47:18,015 --> 00:47:23,391 Some of the menus and wizards are not user-friendly that's why 507 00:47:25,183 --> 00:47:31,327 I don't really like the MCC editor but it's just good for beginners to 508 00:47:31,583 --> 00:47:33,887 learn system 509 00:47:34,143 --> 00:47:35,679 The first time 510 00:47:37,471 --> 00:47:39,007 Or at the beginning 511 00:47:41,055 --> 00:47:44,127 So let's check the home settings of axis 512 00:47:46,687 --> 00:47:50,783 We are using you virtual axis that's why there's no Home section 513 00:47:51,039 --> 00:47:54,111 We just set the home position 514 00:47:59,231 --> 00:48:03,583 Okay I have to do same acknowledge for axis blue 515 00:48:04,863 --> 00:48:06,911 Red controller blue controller 516 00:48:16,639 --> 00:48:19,199 Blue 517 00:48:21,759 --> 00:48:24,831 axis blue 518 00:48:44,287 --> 00:48:48,383 Structure for axis 519 00:48:49,151 --> 00:48:55,295 Unit it's updated after modification 520 00:48:56,319 --> 00:49:00,415 It's fine so let's download to changes 521 00:49:12,703 --> 00:49:15,263 this time system 522 00:49:15,775 --> 00:49:20,639 did not Restarted because we didn't download the hardware config so 523 00:49:20,895 --> 00:49:26,271 Just set to stop download the project and set the Run 524 00:49:28,319 --> 00:49:31,647 now we are ready-to-use 525 00:49:32,415 --> 00:49:34,975 Program I guess 526 00:49:37,023 --> 00:49:39,071 Let's say 527 00:49:39,583 --> 00:49:40,607 Enable 528 00:49:42,911 --> 00:49:45,727 red axis 529 00:49:47,263 --> 00:49:50,079 and let say 530 00:49:50,335 --> 00:49:52,895 Enable our blue axis 531 00:49:53,663 --> 00:49:59,039 Are blue axis is master so I'm going to 532 00:49:59,295 --> 00:50:01,855 Set the jog positive of blue 533 00:50:05,695 --> 00:50:10,047 time limited trace that's why it stopped 534 00:50:11,327 --> 00:50:13,631 After 100 ms 535 00:50:13,887 --> 00:50:20,031 Or I should select endless trace and download 536 00:50:20,287 --> 00:50:22,591 Restart 537 00:50:24,127 --> 00:50:28,223 Let's see our actual position is rising 538 00:50:28,991 --> 00:50:35,135 On the blue axis i will change colors 539 00:50:37,439 --> 00:50:39,999 to monitor more easy 540 00:50:40,767 --> 00:50:43,071 fOr the blue 541 00:50:43,583 --> 00:50:45,375 Bluish 542 00:50:45,631 --> 00:50:48,191 for the Reds 543 00:50:49,215 --> 00:50:50,751 i use Orange 544 00:50:55,359 --> 00:50:56,895 and maybe yellow 545 00:51:01,759 --> 00:51:06,111 And here there is some alarms related to axis blue 546 00:51:06,367 --> 00:51:08,927 Program jerk limited 547 00:51:09,183 --> 00:51:12,255 Some command aborted 548 00:51:13,023 --> 00:51:15,839 Is using the move command as 549 00:51:16,351 --> 00:51:18,143 Substitute 550 00:51:19,167 --> 00:51:23,263 These are for your information 551 00:51:25,055 --> 00:51:28,127 So when I say 552 00:51:32,223 --> 00:51:34,015 stop here 553 00:51:34,527 --> 00:51:37,343 you see here 554 00:51:37,599 --> 00:51:39,391 actual vel almost harsly 555 00:51:39,647 --> 00:51:44,511 Set the zero with a quick ramp 556 00:51:44,767 --> 00:51:48,351 actual velocity is too low at this case 557 00:51:49,375 --> 00:51:51,935 So let's arrange curves 558 00:51:56,031 --> 00:52:00,639 Let's talk in positive direction again of the blue 559 00:52:01,919 --> 00:52:04,735 So you are case 560 00:52:04,991 --> 00:52:10,623 We are going to gear on the red access to master Access Blue 561 00:52:14,463 --> 00:52:16,511 So let's say 562 00:52:26,751 --> 00:52:28,031 gear on... 563 00:52:33,919 --> 00:52:40,063 So you see here actual vel as orange curve action position as yellow and it's 564 00:52:40,319 --> 00:52:44,159 Started to sync immediately 565 00:52:44,927 --> 00:52:51,071 Executive the commons and just it's finished you see first 566 00:52:51,327 --> 00:52:52,607 velocity is constant 567 00:52:52,863 --> 00:52:56,447 We will measure the 568 00:52:56,703 --> 00:52:58,239 Procedure here 569 00:52:59,775 --> 00:53:01,055 with cursors 570 00:53:01,311 --> 00:53:03,871 Before that I would go 571 00:53:04,127 --> 00:53:05,151 to zoom 572 00:53:15,647 --> 00:53:17,439 you will see here 573 00:53:19,743 --> 00:53:21,023 At this point 574 00:53:27,167 --> 00:53:29,983 Let's set up the measuring cursors 575 00:53:32,031 --> 00:53:38,175 actual vel of axis Red or Slave axis is 0 576 00:53:38,431 --> 00:53:44,575 Right here when we execute the comment right here let's check the status of 577 00:53:44,831 --> 00:53:45,855 axis motion 578 00:53:46,879 --> 00:53:53,023 It's going to be changed from Standstill to accelerating 579 00:53:53,535 --> 00:53:56,095 here The contant move because 580 00:53:56,863 --> 00:53:59,679 Between start and endpoint 581 00:54:00,447 --> 00:54:06,591 Sync area and for the status on the following objects here 582 00:54:07,103 --> 00:54:11,711 Is inactive and you see here the gearing 583 00:54:15,295 --> 00:54:21,439 Normally it's done here and then you have to check the sync status 584 00:54:22,975 --> 00:54:29,119 right now it's no and you see your is Gear to 585 00:54:29,375 --> 00:54:34,239 master that's why status is yes 586 00:54:35,775 --> 00:54:41,919 So our actual velocity on the Access Master Blue is Constant it is case 587 00:54:43,199 --> 00:54:46,015 Actual position is rising 588 00:54:46,783 --> 00:54:49,599 as velocity 10mm/s 589 00:54:51,903 --> 00:54:53,439 On the other hand 590 00:54:53,695 --> 00:54:59,839 Status of motion is Constant movee as you can see and I want to measure 591 00:55:00,095 --> 00:55:01,119 The time 592 00:55:01,375 --> 00:55:03,423 For sync 593 00:55:03,679 --> 00:55:06,239 Between these interval 594 00:55:07,519 --> 00:55:09,823 It's 595 00:55:11,103 --> 00:55:13,407 10 seconds 596 00:55:14,431 --> 00:55:20,575 Because we set synchronization length as 597 00:55:23,135 --> 00:55:24,671 100 mm you may see 598 00:55:25,439 --> 00:55:28,511 actual position of axis here and here 599 00:55:40,287 --> 00:55:42,335 so off the master 600 00:55:47,199 --> 00:55:48,991 So what's the value? 601 00:55:55,647 --> 00:55:57,183 You see here 602 00:55:57,439 --> 00:56:03,583 The Delta is 100 millimeters as synchronization length is true 603 00:56:03,839 --> 00:56:05,631 And if you divide 604 00:56:06,911 --> 00:56:08,703 100mm 605 00:56:08,959 --> 00:56:12,799 to 10mm/s 606 00:56:13,567 --> 00:56:19,711 10 seconds it's our case so it's working according to our parameters 607 00:56:21,503 --> 00:56:23,295 So 608 00:56:24,063 --> 00:56:25,087 Let's 609 00:56:26,623 --> 00:56:29,183 Use gearing off commands 610 00:56:31,487 --> 00:56:33,279 gear off 611 00:56:39,423 --> 00:56:44,543 So you see actual real estate of the axis is 612 00:56:45,055 --> 00:56:46,079 Reduced 613 00:56:46,335 --> 00:56:48,383 to 0 614 00:56:49,151 --> 00:56:50,943 An actual position 615 00:56:51,455 --> 00:56:52,735 This here 616 00:56:55,551 --> 00:56:59,391 it is done this interval 617 00:57:01,695 --> 00:57:03,487 At the 618 00:57:03,743 --> 00:57:05,279 Similar way 619 00:57:06,303 --> 00:57:11,679 You'll see it operates operational status is 620 00:57:11,935 --> 00:57:13,215 sync 621 00:57:13,727 --> 00:57:16,031 and no 622 00:57:16,543 --> 00:57:18,847 Status of axis motion 623 00:57:19,103 --> 00:57:21,919 axis red constant move 624 00:57:22,687 --> 00:57:25,503 decelerating 625 00:57:25,759 --> 00:57:28,831 And standstill it at this point 626 00:57:29,599 --> 00:57:35,231 Status of master red axis action is always constant 627 00:57:36,255 --> 00:57:39,071 Speed 10mm/s 628 00:57:39,327 --> 00:57:43,423 If you want the measure the interval then you will see 629 00:57:44,191 --> 00:57:46,239 delta-t 630 00:57:46,751 --> 00:57:50,079 Time difference is 10 second that the same 631 00:57:51,871 --> 00:57:58,015 And the positioning for the desync length should be 632 00:57:58,271 --> 00:57:59,807 Hundreds 633 00:58:00,831 --> 00:58:02,111 mm 634 00:58:02,367 --> 00:58:05,951 The first and that's correct for our settings 635 00:58:07,231 --> 00:58:08,255 So 636 00:58:09,279 --> 00:58:13,887 You'll just get the information messages about it that's all 637 00:58:21,055 --> 00:58:27,199 normally in our MCC program for axes blue 638 00:58:28,735 --> 00:58:30,783 we are using 639 00:58:31,295 --> 00:58:34,111 This velocity variable 640 00:58:34,623 --> 00:58:35,647 and 641 00:58:36,415 --> 00:58:38,975 for positive and negative Direction 10 seconds 642 00:58:40,255 --> 00:58:43,583 during Synchronisation 643 00:58:54,335 --> 00:58:57,407 So let's start 644 00:58:58,687 --> 00:59:03,039 our Slave and set the gear on 645 00:59:04,831 --> 00:59:07,903 At the meantime I want to change the 646 00:59:08,159 --> 00:59:08,927 setpoint speed 647 00:59:09,439 --> 00:59:12,255 of the Master axis 648 00:59:12,767 --> 00:59:15,839 Let's say 649 00:59:16,351 --> 00:59:17,887 15 650 00:59:26,591 --> 00:59:32,223 You're going to say difference in curves at trace 651 00:59:46,047 --> 00:59:51,679 Let's take a look and zoom into this area 652 01:00:01,919 --> 01:00:06,271 i will change the colors again 653 01:00:06,783 --> 01:00:09,599 Are blue axis 654 01:00:18,047 --> 01:00:23,167 actual velocity of the red axis Orange 655 01:00:23,679 --> 01:00:27,775 Yellow 656 01:00:30,335 --> 01:00:32,639 So 657 01:00:34,687 --> 01:00:39,039 This is the actual velocity of our Master axis blue 658 01:00:39,295 --> 01:00:43,903 Your 10 and I changed here 15 659 01:00:44,159 --> 01:00:49,279 And the actual position of the blue axis is 660 01:00:49,791 --> 01:00:52,607 Continuously Rising 661 01:00:53,631 --> 01:00:58,495 and you see status of motion that is just a little 662 01:01:00,799 --> 01:01:03,871 Constant move and acceleration phase 663 01:01:04,895 --> 01:01:06,431 small piece 664 01:01:08,735 --> 01:01:10,015 Just you see 665 01:01:10,527 --> 01:01:12,319 accelerating 666 01:01:14,623 --> 01:01:20,255 So next orange color is the actual vel of our slave 667 01:01:20,511 --> 01:01:21,535 red Axis 668 01:01:21,791 --> 01:01:26,143 The sync start 669 01:01:26,399 --> 01:01:32,543 our axes motion ver Standstill accelerating 670 01:01:32,799 --> 01:01:34,079 Constant move 671 01:01:35,871 --> 01:01:41,759 Status of following object were inactive and active here 672 01:01:42,015 --> 01:01:43,295 As geared 673 01:01:45,343 --> 01:01:47,135 It should be next time 674 01:01:47,391 --> 01:01:48,415 camming 675 01:01:49,439 --> 01:01:55,583 Have the status of sync is done and our 676 01:01:55,839 --> 01:02:01,983 slave axis red synchronize to our blue Access Master at this point 677 01:02:03,007 --> 01:02:09,151 You see and change the master velocity 678 01:02:16,575 --> 01:02:18,623 You may say 679 01:02:20,415 --> 01:02:23,999 the Actual or setpoint velocity of axis 680 01:02:24,511 --> 01:02:26,559 Is recalculated 681 01:02:26,815 --> 01:02:31,167 At this point and sync 682 01:02:31,935 --> 01:02:33,471 Should be done 683 01:02:34,751 --> 01:02:39,871 At the same length and at the same time I assume 684 01:02:40,895 --> 01:02:42,687 So let's calculate 685 01:02:43,199 --> 01:02:45,503 at the start point 686 01:02:45,759 --> 01:02:49,087 Off the master axis position 687 01:02:51,135 --> 01:02:56,511 The other cursor located nearly at the end 688 01:02:57,279 --> 01:02:58,815 Position of 689 01:02:59,583 --> 01:03:05,727 Actual position of axis blue or Master you see here 690 01:03:07,263 --> 01:03:08,287 sync length isTrue 691 01:03:08,799 --> 01:03:11,871 Even I changed a little bit of the 692 01:03:12,639 --> 01:03:18,015 You know master velocity the system is recalculated 693 01:03:19,551 --> 01:03:22,367 equations and adapted 694 01:03:22,879 --> 01:03:24,927 In the meantime 695 01:03:25,183 --> 01:03:30,559 set velocity of the slave axis is changed right here 696 01:03:33,119 --> 01:03:37,215 so it did not effect synchronization length 697 01:03:39,007 --> 01:03:41,311 And our synchronization time 698 01:03:46,175 --> 01:03:47,711 or 699 01:03:50,271 --> 01:03:56,415 No you see your different style now it's lower than 10 seconds 700 01:03:56,671 --> 01:03:58,463 Because 701 01:03:59,487 --> 01:04:04,607 As your parameter gear on and off function you see 702 01:04:06,143 --> 01:04:09,727 Leading axis sync so 703 01:04:09,983 --> 01:04:14,591 The important thing is a this case synchronization length 704 01:04:15,615 --> 01:04:16,895 Is the same 705 01:04:18,431 --> 01:04:19,711 On the other hand 706 01:04:20,223 --> 01:04:26,367 Your sync time is it at used because the master and slave axes 707 01:04:26,623 --> 01:04:28,671 Running a little bit faster 708 01:04:30,463 --> 01:04:35,839 That means you're going to your destination at the shorter time 709 01:04:38,143 --> 01:04:39,423 Otherwise 710 01:04:41,983 --> 01:04:45,055 When we select with gearing on Command 711 01:04:46,591 --> 01:04:48,895 For red Axis 712 01:04:51,199 --> 01:04:53,759 With different parameter 713 01:04:54,271 --> 01:04:55,551 For instance 714 01:04:57,855 --> 01:05:01,951 Synchronization reference as time 715 01:05:02,463 --> 01:05:06,047 Since you're going to be sure that 716 01:05:07,071 --> 01:05:13,215 your curves and set point for position and velocity will be calculated according to 717 01:05:13,471 --> 01:05:15,007 Requested time 718 01:05:17,567 --> 01:05:21,151 And I think you should do 719 01:05:21,407 --> 01:05:23,455 This example 720 01:05:23,711 --> 01:05:29,855 Use gear on off command by yourself in your PC with simulation 721 01:05:30,111 --> 01:05:33,439 Real system whatever and you have to check the trace 722 01:05:34,975 --> 01:05:37,535 It's really important to examine 723 01:05:37,791 --> 01:05:41,631 The one in your 724 01:05:44,703 --> 01:05:45,471 trace and just 725 01:05:46,495 --> 01:05:52,639 have an idea about what's going on it's my sytem or CPU works 726 01:05:52,895 --> 01:05:56,735 Which parameter I have to change 727 01:05:58,527 --> 01:06:04,671 So fulfilled my customer requirements you will gain experience 728 01:06:05,439 --> 01:06:10,559 time to time By doing more exercises in my point of view 729 01:06:11,071 --> 01:06:14,143 So it takes time of course and 730 01:06:15,167 --> 01:06:21,311 Sometimes it's a little bit complicated but the development environment is powerful 731 01:06:21,567 --> 01:06:27,711 for Debug and Trace and so on 732 01:06:30,015 --> 01:06:31,295 nowadays we have simluation in our PC It's a good thing 733 01:06:32,063 --> 01:06:34,111 And I recommend you 734 01:06:34,623 --> 01:06:38,463 to Test your program with different parameters Maybe 735 01:06:38,719 --> 01:06:41,023 In the future you're going to need 736 01:06:43,327 --> 01:06:46,911 You will face with some special cases as you sow 737 01:06:47,423 --> 01:06:53,567 You have to use some other parameters if you have information already 738 01:06:53,823 --> 01:06:57,151 with of the parameters in your mind 739 01:06:57,407 --> 01:07:00,991 I think you're going to solve your problem so quickly 740 01:07:02,783 --> 01:07:05,599 with This approach 741 01:07:07,647 --> 01:07:09,183 so Let's say 742 01:07:10,207 --> 01:07:12,255 So far so good 743 01:07:13,023 --> 01:07:17,119 Just stopped the simulation and set the offline mode 744 01:07:17,631 --> 01:07:23,775 To reduce the utilization of my PC CPU because the 745 01:07:24,799 --> 01:07:28,895 fan is running crazy and it's so loud 746 01:07:29,407 --> 01:07:32,735 Where is affect the microphone that's why 747 01:07:32,991 --> 01:07:35,039 I want to reduce 748 01:07:35,807 --> 01:07:37,855 the System usage a little bit 749 01:07:38,879 --> 01:07:41,695 so Let's go to 750 01:07:41,951 --> 01:07:47,327 Simulation and continue with our lecture notes 751 01:07:48,607 --> 01:07:50,655 So 752 01:07:52,703 --> 01:07:54,495 Let's say you created 753 01:07:55,007 --> 01:07:59,359 following Axis and 754 01:07:59,615 --> 01:08:02,943 made Interconnection and assignment 755 01:08:03,199 --> 01:08:06,015 Between two axes 756 01:08:06,527 --> 01:08:10,623 We just use the default settings for synchronous operation 757 01:08:19,071 --> 01:08:24,447 we used gearing of off commands 758 01:08:25,215 --> 01:08:28,543 At this case we used relative gearing 759 01:08:29,567 --> 01:08:35,711 Maybe you should try and see with the absolute getting all the system 760 01:08:45,183 --> 01:08:50,815 At this picture you will see here the leading axis sync. 761 01:08:51,839 --> 01:08:54,911 It already talked a little bit 762 01:08:55,423 --> 01:08:57,727 leading axis vel constant 763 01:08:59,263 --> 01:09:01,055 set you 764 01:09:01,823 --> 01:09:04,383 The lengths 765 01:09:05,151 --> 01:09:07,711 Position of following axes 766 01:09:09,247 --> 01:09:15,391 constant there is an 767 01:09:16,159 --> 01:09:19,231 no vel after command executed calculated 768 01:09:19,487 --> 01:09:22,047 You see there's an overshoot 769 01:09:22,303 --> 01:09:27,167 That means maybe our sync length is 770 01:09:27,423 --> 01:09:28,447 Too short 771 01:09:32,031 --> 01:09:34,079 so for catch up axis 772 01:09:35,359 --> 01:09:36,895 maybe slave 773 01:09:37,919 --> 01:09:40,735 Should be go faster than our master 774 01:09:44,063 --> 01:09:49,951 Reference points symmetrical to be the optimal choice 775 01:09:50,207 --> 01:09:52,255 Then you're going to 776 01:09:54,047 --> 01:09:56,351 shouldn't See 777 01:09:56,607 --> 01:09:58,911 overshoot on velocity 778 01:10:03,007 --> 01:10:06,079 With direction specification 779 01:10:07,103 --> 01:10:09,663 there are several option 780 01:10:11,199 --> 01:10:16,319 All leading axis is rotating clockwise 781 01:10:17,599 --> 01:10:23,487 retain system Behavior means of access sync same way 782 01:10:24,767 --> 01:10:28,607 And the shortest path 783 01:10:29,375 --> 01:10:31,935 our foloowing access May 784 01:10:32,703 --> 01:10:33,727 Return 785 01:10:34,495 --> 01:10:39,615 Opposite direction specially for rotation axis 786 01:10:41,151 --> 01:10:43,199 Positive direction is 787 01:10:43,455 --> 01:10:45,503 Defined by positive 788 01:10:46,271 --> 01:10:48,575 Your be sure 789 01:10:58,815 --> 01:11:01,375 enabling gearing in ST Almost the same as MCC 790 01:11:03,167 --> 01:11:05,983 For Optimum synchronisation profile 791 01:11:09,311 --> 01:11:13,919 You must enter your length properly to your system 792 01:11:18,783 --> 01:11:21,599 Here is the acceleration deceleration 793 01:11:21,855 --> 01:11:25,183 equals leading axis vel 794 01:11:25,439 --> 01:11:30,047 Multiply 2 / sync length 795 01:11:32,607 --> 01:11:33,375 Yep 796 01:11:35,423 --> 01:11:40,031 You should select the reference leading access position as symmetrical 797 01:11:42,847 --> 01:11:44,895 there are 798 01:11:46,943 --> 01:11:50,271 If you'll be useful system variables you see 799 01:11:50,783 --> 01:11:56,159 we already used in trace sync State at monitoring and so on 800 01:12:00,767 --> 01:12:06,911 and next page leading access synchronization absolute sync operation 801 01:12:11,007 --> 01:12:17,151 Next page leading access synchronization 802 01:12:17,407 --> 01:12:23,551 relative Operation you see your the difference maybe you should read more 803 01:12:23,807 --> 01:12:25,343 Later on yourself 804 01:12:27,391 --> 01:12:31,487 time related synchronization okay let's try 805 01:12:31,743 --> 01:12:34,303 It's time related synchronisation 806 01:12:35,839 --> 01:12:41,983 For gearing on access red I'm going to change my parameters 807 01:12:42,239 --> 01:12:44,799 Maybe I should say 808 01:12:45,567 --> 01:12:47,871 relative gearing 809 01:12:48,639 --> 01:12:50,431 Pos based 810 01:12:51,711 --> 01:12:57,343 Let's right click and hide copy and paste 811 01:13:00,415 --> 01:13:02,463 Here 812 01:13:02,975 --> 01:13:04,767 relative time based 813 01:13:07,327 --> 01:13:09,119 axis Blue 814 01:13:09,375 --> 01:13:13,215 and immediately should be effective 815 01:13:14,239 --> 01:13:15,519 Let's select a time 816 01:13:18,079 --> 01:13:24,223 there is no sync length in time profile because I'm going to Define 817 01:13:26,015 --> 01:13:27,551 velocity 818 01:13:28,575 --> 01:13:31,903 and Dynamic pentameter 819 01:13:37,023 --> 01:13:38,815 for axis red 820 01:13:40,351 --> 01:13:45,471 Let's select parameter from set velocity 821 01:13:47,775 --> 01:13:49,823 and acceleration 822 01:13:50,591 --> 01:13:52,127 Right here 823 01:13:52,383 --> 01:13:54,943 Deceleration 824 01:13:56,223 --> 01:14:01,599 Right here and smooth velocity profile 825 01:14:01,855 --> 01:14:03,135 jerk 826 01:14:05,951 --> 01:14:10,047 Right here 827 01:14:11,583 --> 01:14:13,631 Okay 828 01:14:14,655 --> 01:14:20,799 The synchronization length is depends on my settings 829 01:14:21,055 --> 01:14:22,335 Right here 830 01:14:23,615 --> 01:14:25,663 If this case 831 01:14:25,919 --> 01:14:27,711 I will be never sure 832 01:14:28,735 --> 01:14:33,087 About synchronization length it depends also the 833 01:14:33,599 --> 01:14:38,463 master velocity and the slave velocity settings here 834 01:15:01,247 --> 01:15:04,831 so lets define all colors in configuration 835 01:15:05,855 --> 01:15:08,159 Blue light Blue 836 01:15:14,047 --> 01:15:15,583 Dark blue 837 01:15:17,887 --> 01:15:20,447 And orange 838 01:15:21,727 --> 01:15:23,007 Yellow 839 01:15:24,287 --> 01:15:25,823 And so on 840 01:15:26,079 --> 01:15:28,639 let's start simulation 841 01:15:38,367 --> 01:15:39,903 Go online 842 01:15:46,303 --> 01:15:50,143 And download your project 843 01:16:01,919 --> 01:16:06,783 We will try this time time-related synchronisation and see 844 01:16:25,215 --> 01:16:28,031 Let's set to RUN mode 845 01:16:29,055 --> 01:16:30,335 Start 846 01:16:32,383 --> 01:16:35,455 First enable 847 01:16:36,223 --> 01:16:39,039 master axis blue 848 01:16:42,623 --> 01:16:45,951 Enable and stopped jogging positive 849 01:16:48,255 --> 01:16:51,583 Let's enable or red Axis and gear on 850 01:16:56,191 --> 01:17:00,287 There's a system fault is because of the alarms 851 01:17:01,311 --> 01:17:06,175 It says Dynamic limitations are being violated 852 01:17:17,695 --> 01:17:21,535 so lets check 853 01:17:24,863 --> 01:17:28,959 I'm going to hide first status of axis motion 854 01:17:32,031 --> 01:17:33,823 Other status 855 01:17:35,615 --> 01:17:41,759 now you see actual vel of axis Blue Master is constant 856 01:17:45,343 --> 01:17:51,487 you see actual position is rising right here and 857 01:17:51,743 --> 01:17:53,791 gear on command executed 858 01:17:54,047 --> 01:17:56,863 Right here 859 01:17:59,935 --> 01:18:03,775 and oafter that actual velocity 860 01:18:04,799 --> 01:18:08,383 Is like an s curve with smooth profile 861 01:18:09,663 --> 01:18:13,503 Let's check the synchronization time 862 01:18:18,111 --> 01:18:21,951 So it's nearly 863 01:18:24,255 --> 01:18:26,047 200 milliseconds 864 01:18:27,071 --> 01:18:30,399 According to our parameters given 865 01:18:30,911 --> 01:18:34,239 Lets check the status of synchronous objects 866 01:18:36,543 --> 01:18:42,431 axis standstill accelerating constant move 867 01:18:45,247 --> 01:18:51,391 status of following object inactive active gearing 868 01:18:51,647 --> 01:18:53,695 axis is 869 01:18:54,207 --> 01:18:59,071 snyc so what's the alarm for 870 01:18:59,583 --> 01:19:02,143 You can just double click and 871 01:19:02,399 --> 01:19:08,543 Go to your help system in my computer I think it's take 872 01:19:09,055 --> 01:19:11,871 Couple of minutes unfortunately 873 01:19:19,039 --> 01:19:21,599 So normally 874 01:19:22,623 --> 01:19:27,743 This is the error message related with sync object of red 875 01:19:29,279 --> 01:19:33,119 Your system is working 876 01:19:34,399 --> 01:19:38,751 So are reaction of this 877 01:19:39,007 --> 01:19:40,287 Number 878 01:19:40,543 --> 01:19:42,847 40012 879 01:19:43,103 --> 01:19:44,383 Maybe it's 880 01:19:45,407 --> 01:19:51,551 Do nothing for instance so that's why both of our axes red axes blue 881 01:19:51,807 --> 01:19:53,343 axis Red 882 01:19:53,855 --> 01:19:57,439 Is running according to our criteria 883 01:19:58,719 --> 01:19:59,999 And Command 884 01:20:00,255 --> 01:20:01,791 ger on function 885 01:20:08,447 --> 01:20:12,031 you see Parmenter asType 4 886 01:20:12,287 --> 01:20:17,408 This is a detailed information for you about alarm message 887 01:20:18,688 --> 01:20:24,064 First if you don't have an idea related message 888 01:20:24,576 --> 01:20:27,136 You should check your 889 01:20:27,392 --> 01:20:29,440 help system and see 890 01:20:31,488 --> 01:20:36,864 On the other hands that are some useful menus for commissioning to simotion 891 01:20:37,120 --> 01:20:42,496 Or technology object manuals you can go and treat more detail about 892 01:20:42,752 --> 01:20:45,056 alarm Messages + 893 01:20:46,080 --> 01:20:48,896 For the remedy how do you solve them 894 01:20:49,920 --> 01:20:51,200 Later on 895 01:20:53,504 --> 01:20:56,832 So it basically 896 01:20:57,088 --> 01:21:00,416 it Depends on your settings 897 01:21:01,696 --> 01:21:03,488 All your axes 898 01:21:03,744 --> 01:21:05,536 by limitations 899 01:21:06,560 --> 01:21:08,864 Because we have used 900 01:21:09,376 --> 01:21:14,752 The commons for gearing on and entered just some parameters for 901 01:21:15,008 --> 01:21:16,288 Dynamic values 902 01:21:16,544 --> 01:21:20,640 Like acceleration-deceleration 903 01:21:20,896 --> 01:21:27,040 And that means maybe it's limited by technology 904 01:21:27,296 --> 01:21:28,320 object 905 01:21:29,600 --> 01:21:33,952 Hardware and software Dynamic limitations insight 906 01:21:34,464 --> 01:21:38,816 Your access technology object on the left side of Treeview 907 01:21:39,840 --> 01:21:41,888 That maybe you should just 908 01:21:42,144 --> 01:21:46,752 Adjust your maximum values for dynamic limitations 909 01:22:02,112 --> 01:22:06,976 you will see here system is 910 01:22:07,744 --> 01:22:11,840 SF Lights on because of the error message 911 01:22:13,376 --> 01:22:16,192 for Diagnostic information 912 01:22:19,520 --> 01:22:25,664 If you're connected with Scout real CPU you can acknowledge all 913 01:22:25,920 --> 01:22:31,552 The button in your sreen or you can just set it 914 01:22:31,808 --> 01:22:34,112 Messages on your screen 915 01:22:34,368 --> 01:22:36,416 Located at Alarms window 916 01:22:37,184 --> 01:22:39,488 Acknowledgement of your message 917 01:22:40,512 --> 01:22:43,584 Normally in running machine 918 01:22:43,840 --> 01:22:49,984 You should place at reset button in your HMI or hardwired in your 919 01:22:50,240 --> 01:22:56,384 electrical Cabinets and use the acknowledge function to reset your 920 01:22:56,640 --> 01:22:57,920 Alarms 921 01:22:58,944 --> 01:23:02,784 It's one way 922 01:23:03,552 --> 01:23:05,600 we have Already in our program 923 01:23:07,392 --> 01:23:13,024 we can use BOACK error bit in our structure 924 01:23:13,792 --> 01:23:15,072 at this case 925 01:23:16,608 --> 01:23:17,888 Then 926 01:23:18,656 --> 01:23:20,704 all of your alarm messages 927 01:23:20,960 --> 01:23:25,312 Related axis vlue or axis red will be 928 01:23:25,568 --> 01:23:26,848 Acknowledged 929 01:23:29,920 --> 01:23:32,480 We are using more comments 930 01:23:32,736 --> 01:23:38,880 Substitute setting so that's why after we acknowledge our error 931 01:23:41,440 --> 01:23:42,464 30002 932 01:23:42,976 --> 01:23:46,560 command aborted 933 01:23:46,816 --> 01:23:52,960 Appear again is for information that means loss, your move 934 01:23:53,216 --> 01:23:58,080 Substitute with new commands has more comments 935 01:23:58,592 --> 01:24:00,640 It's a information message 936 01:24:02,944 --> 01:24:08,832 And also programmed jerk for axis discount is limited with 937 01:24:09,088 --> 01:24:11,136 0 type parameter setting 938 01:24:11,648 --> 01:24:13,184 Yo by the way 939 01:24:18,048 --> 01:24:20,864 finally my help system is opened 940 01:24:22,912 --> 01:24:25,984 So you may see your following object type 941 01:24:26,240 --> 01:24:28,800 Alarm type means 942 01:24:29,312 --> 01:24:34,432 Program dynamic response value or acceleration is adapted 943 01:24:34,688 --> 01:24:40,832 Dynamic values from operation Behavior 944 01:24:41,088 --> 01:24:44,672 Activated Dynamic response adaption 945 01:24:44,928 --> 01:24:51,072 Dynamic response during synchronisation and operation 946 01:24:51,328 --> 01:24:53,376 Offset to low 947 01:24:53,888 --> 01:24:56,448 and must be increased 948 01:24:56,704 --> 01:24:59,008 to System 949 01:24:59,264 --> 01:25:05,408 Resulting from Master value that means 950 01:25:05,664 --> 01:25:07,200 too low values 951 01:25:07,712 --> 01:25:10,272 For acceleration deceleration 952 01:25:10,528 --> 01:25:16,672 That's why according to my settings activate Dynamic response adaptation 953 01:25:19,744 --> 01:25:22,304 maybe it's located there 954 01:25:25,632 --> 01:25:31,776 Adjustment of dynamic response velocity during sync is Select 955 01:25:33,056 --> 01:25:35,872 Limitation of Dynamic values 956 01:25:36,128 --> 01:25:40,224 This why I'm getting this 957 01:25:40,736 --> 01:25:41,760 Message 958 01:25:47,904 --> 01:25:52,512 You should see 959 01:25:57,120 --> 01:25:59,168 sync motion 960 01:25:59,936 --> 01:26:01,472 sync adaption 961 01:26:05,312 --> 01:26:09,408 and type of axis 962 01:26:13,504 --> 01:26:16,320 sync motion no hit 963 01:26:26,560 --> 01:26:28,864 So I couldn't see anything 964 01:26:29,120 --> 01:26:31,680 Stop working proper 965 01:26:36,544 --> 01:26:38,080 where is the config? 966 01:26:38,848 --> 01:26:40,384 progression... 967 01:26:54,208 --> 01:26:55,744 system variable 968 01:27:03,680 --> 01:27:09,824 It should be in configuration data sync motion sync adaption here 969 01:27:18,528 --> 01:27:20,064 set to yes no 970 01:27:25,952 --> 01:27:28,768 Are configuration data? 971 01:27:53,600 --> 01:27:55,136 I couldn't find 972 01:28:07,424 --> 01:28:12,288 sync operation configuration data 973 01:28:16,128 --> 01:28:19,200 Maybe I can just 974 01:28:21,760 --> 01:28:23,552 Modify from here 975 01:28:26,368 --> 01:28:27,648 Set an alarm 976 01:28:32,256 --> 01:28:34,048 Status really is no 977 01:28:34,304 --> 01:28:38,400 and Effectiveness you see here is in everything okay 978 01:28:41,984 --> 01:28:48,128 Let's reset acknowledge our messages ack error for red 979 01:28:49,152 --> 01:28:51,456 you see clear 980 01:28:52,480 --> 01:28:54,272 Let's gear off 981 01:28:55,040 --> 01:28:59,136 during trace running 982 01:29:01,440 --> 01:29:03,744 Let's say gear off 983 01:29:17,312 --> 01:29:18,336 and now it is done 984 01:29:21,408 --> 01:29:24,736 Let's try again with this new setting 985 01:29:26,784 --> 01:29:28,832 Let's say gear on 986 01:29:31,904 --> 01:29:38,048 So at this time you didn't get the dynamic limitation message 987 01:29:39,328 --> 01:29:43,680 but there is on the hand something strange 988 01:29:54,944 --> 01:29:58,016 Orange curve in track 989 01:29:59,552 --> 01:30:01,088 Yeah right here 990 01:30:02,624 --> 01:30:08,768 Our actual velocity of the axis is 15 mm/s 991 01:30:11,072 --> 01:30:14,656 actual velocity of slave axis 992 01:30:16,704 --> 01:30:22,848 After you see here 15 minutes after that it's 993 01:30:23,104 --> 01:30:24,896 10 mm/s 994 01:30:32,576 --> 01:30:34,624 why This is happened? 995 01:30:35,648 --> 01:30:38,720 Let's check our gear on function 996 01:30:42,048 --> 01:30:44,352 axis red control 997 01:30:48,192 --> 01:30:49,984 It's 998 01:30:50,240 --> 01:30:51,520 gear on 999 01:30:51,776 --> 01:30:54,336 Dynamic response 1000 01:30:54,848 --> 01:31:00,736 So we attached velocity here and it's 10mm/s 1001 01:31:01,504 --> 01:31:03,808 and master vel 15 mm/s 1002 01:31:07,648 --> 01:31:09,952 That's fine 1003 01:31:10,208 --> 01:31:14,560 In a strange way 1004 01:31:21,216 --> 01:31:27,360 after sync completed standstill acc constan move 1005 01:31:28,640 --> 01:31:30,432 On the other hand 1006 01:31:32,224 --> 01:31:35,040 gearing is active but 1007 01:31:35,808 --> 01:31:37,856 For the synchronization status 1008 01:31:38,112 --> 01:31:41,184 The gearing is never been done 1009 01:31:45,280 --> 01:31:49,376 so That's why you see here a jump 1010 01:31:49,888 --> 01:31:55,520 On the slave axis vel that's not acceptable you have to correct it 1011 01:31:55,776 --> 01:31:59,360 Because it's not logical to use this way 1012 01:32:06,528 --> 01:32:08,832 Let's enter here 1013 01:32:09,344 --> 01:32:11,648 Normally we should set 1014 01:32:12,160 --> 01:32:18,304 For slave higher vel value to catch up axis otherwise 1015 01:32:18,560 --> 01:32:20,864 It should be never be sync 1016 01:32:22,656 --> 01:32:23,936 For sure 1017 01:32:24,192 --> 01:32:27,264 So I will give 1018 01:32:31,360 --> 01:32:33,152 25 mm/s 1019 01:32:33,408 --> 01:32:36,992 different value for my slave axis 1020 01:32:38,016 --> 01:32:40,064 So 1021 01:32:40,320 --> 01:32:41,856 lets gear off again 1022 01:32:55,168 --> 01:33:00,544 You'll see here as trapezoidal profile on the velocity 1023 01:33:01,824 --> 01:33:02,848 Now 1024 01:33:07,968 --> 01:33:10,272 Let's Check 1025 01:33:10,784 --> 01:33:11,808 standstill 1026 01:33:12,064 --> 01:33:14,624 inactive and no 1027 01:33:14,880 --> 01:33:16,672 Okay 1028 01:33:17,952 --> 01:33:19,488 Let's try again 1029 01:33:21,536 --> 01:33:25,120 Set GEARON to true 1030 01:33:28,192 --> 01:33:29,472 Okay 1031 01:33:33,312 --> 01:33:36,640 at This case there is no alarm 1032 01:33:39,200 --> 01:33:40,736 It's completed 1033 01:33:44,832 --> 01:33:50,464 Actual vel constant 15 of master blue position Rising constant move 1034 01:33:57,632 --> 01:34:01,984 You see a actual velocity of slave axis 1035 01:34:02,752 --> 01:34:07,872 was 0 after we executed gear on command 1036 01:34:08,640 --> 01:34:11,456 right here 1037 01:34:11,968 --> 01:34:14,528 You start to go up 1038 01:34:20,416 --> 01:34:23,744 at this point 15 mm/s 1039 01:34:27,840 --> 01:34:29,888 not 25 1040 01:34:30,656 --> 01:34:32,704 Just like the same as the 1041 01:34:33,216 --> 01:34:38,336 Master axis so actual position is rising 1042 01:34:38,592 --> 01:34:42,688 status of motion standstill 1043 01:34:43,456 --> 01:34:46,272 Constant function 1044 01:34:46,528 --> 01:34:49,344 gear was inactive 1045 01:34:49,600 --> 01:34:54,464 status sync yes right here 1046 01:34:54,976 --> 01:34:58,304 At the time difference is 1047 01:35:01,376 --> 01:35:04,192 250 miliseconds 1048 01:35:04,704 --> 01:35:05,984 Nearly 1049 01:35:07,264 --> 01:35:13,408 So what will happen for instance when I have change the 1050 01:35:15,200 --> 01:35:16,736 set velocity Of the master 1051 01:35:17,504 --> 01:35:18,784 Blue 1052 01:35:19,808 --> 01:35:23,904 I will enter here 30 for instance 1053 01:35:25,952 --> 01:35:29,024 Or check first 20 1054 01:35:29,280 --> 01:35:30,560 to Control 1055 01:35:34,144 --> 01:35:39,008 so normally at this point my slave access is synchronized 1056 01:35:45,152 --> 01:35:49,504 And there is a small jump 1057 01:35:55,904 --> 01:35:58,208 At the actual velocity 1058 01:35:58,976 --> 01:36:00,512 This is the 1059 01:36:01,024 --> 01:36:02,304 Master 1060 01:36:02,560 --> 01:36:05,120 This is the slave 1061 01:36:13,312 --> 01:36:16,384 And we are going to measure 1062 01:36:18,944 --> 01:36:22,784 you see here 15..18...20... 1063 01:36:26,112 --> 01:36:30,464 At the same interval with Master axis 1064 01:36:33,536 --> 01:36:36,864 What is happen when I enter 1065 01:36:38,144 --> 01:36:42,240 15 for example? 1066 01:36:43,008 --> 01:36:44,288 let's try 1067 01:36:49,152 --> 01:36:51,200 okay let's check 1068 01:36:54,528 --> 01:36:56,832 after state set to gearing 1069 01:36:57,088 --> 01:36:59,136 and synchronized 1070 01:36:59,904 --> 01:37:01,184 The two axes 1071 01:37:01,696 --> 01:37:04,000 Is rotating 1072 01:37:04,256 --> 01:37:10,400 sync together no matter what what you have to choose your parameters wisely 1073 01:37:10,656 --> 01:37:16,800 In your program when you are using gear on and off commands 1074 01:37:19,360 --> 01:37:21,408 Let's continue 1075 01:37:22,944 --> 01:37:26,528 You see here the idea 1076 01:37:28,320 --> 01:37:33,184 And what about Trailing sync 1077 01:37:35,232 --> 01:37:40,352 so we have entered the dynamic response parameters 1078 01:37:44,960 --> 01:37:46,496 There are some notes 1079 01:37:47,008 --> 01:37:53,152 if vel of leading axiss change during sync procedure profile is recalculated 1080 01:37:53,408 --> 01:37:59,552 end of point 1081 01:37:59,808 --> 01:38:00,576 of sync forward 1082 01:38:02,880 --> 01:38:06,464 in case of when you select 1083 01:38:06,720 --> 01:38:08,512 time based Synchronization 1084 01:38:09,280 --> 01:38:14,144 Write a profile is record created by default only 1085 01:38:14,656 --> 01:38:20,800 Instant positional estimated axes taken into account to include access 1086 01:38:21,056 --> 01:38:25,152 axes for calculation 1087 01:38:25,408 --> 01:38:28,224 you can use Extended Look ahead 1088 01:38:29,248 --> 01:38:33,088 De-syncronization profile recalculated 1089 01:38:33,344 --> 01:38:35,904 if the leading axis reverses 1090 01:38:36,160 --> 01:38:38,976 during syn direction for sure 1091 01:38:40,768 --> 01:38:42,816 There's a configuration item 1092 01:38:45,376 --> 01:38:47,680 maximum of Master change 1093 01:38:48,704 --> 01:38:53,056 no relevance time base or trailing 1094 01:38:54,336 --> 01:38:59,456 Is recalculated velocity of leading axis change 1095 01:39:00,480 --> 01:39:06,112 By default trapezoidal profile supported in time related 1096 01:39:07,136 --> 01:39:08,672 on dynamic response 1097 01:39:08,928 --> 01:39:10,720 for constant velocity 1098 01:39:12,000 --> 01:39:18,144 You have to allow absolute synchronisation with considering of jerk 1099 01:39:19,168 --> 01:39:22,496 it is default selected in our configuration 1100 01:39:22,752 --> 01:39:24,288 You see here 1101 01:39:25,056 --> 01:39:28,640 So that's why you see an s-curve 1102 01:39:29,152 --> 01:39:35,296 It's depends on your arrange overshoot factor 1103 01:39:43,488 --> 01:39:46,304 so Another trace you will see 1104 01:39:46,816 --> 01:39:49,888 Overshoot maybe on the velocity 1105 01:40:10,624 --> 01:40:15,232 so is there is a reversing situation of leading access 1106 01:40:16,512 --> 01:40:17,792 Right here 1107 01:40:19,072 --> 01:40:22,400 The orange color is slave vel 1108 01:40:22,912 --> 01:40:26,496 The Blue curve is master vel 1109 01:40:27,264 --> 01:40:30,080 You see here the master 1110 01:40:30,592 --> 01:40:32,896 Is changing the direction 1111 01:40:33,408 --> 01:40:34,688 reversing 1112 01:40:36,224 --> 01:40:42,368 That's why the master position is rised here then stopped 1113 01:40:42,624 --> 01:40:48,768 Right here and after this point curve is going 1114 01:40:50,048 --> 01:40:53,888 Download action so that means 1115 01:40:54,912 --> 01:40:57,216 Negative and decreasing 1116 01:41:00,032 --> 01:41:05,664 At this point you have executed or started synchronizing 1117 01:41:08,480 --> 01:41:14,624 According to trailing centralization the slave velocity is rising with smooth profile 1118 01:41:16,416 --> 01:41:22,048 Reached the maximum speed here maybe 200% 1119 01:41:22,816 --> 01:41:25,632 And at this point 1120 01:41:28,192 --> 01:41:30,496 The master velocity set to 0 1121 01:41:32,032 --> 01:41:34,592 slave Is trying to catch 1122 01:41:36,128 --> 01:41:40,736 At this point the slave vel is 0 1123 01:41:42,528 --> 01:41:45,088 You should see the slave position 1124 01:41:45,600 --> 01:41:47,392 Slave position is 1125 01:41:48,416 --> 01:41:51,232 constant here and 1126 01:41:51,744 --> 01:41:52,768 Going 1127 01:41:53,024 --> 01:41:54,560 down 1128 01:41:55,072 --> 01:42:01,216 Together with master so you see here velocity profile 1129 01:42:01,472 --> 01:42:02,496 recalculated 1130 01:42:04,544 --> 01:42:07,872 at this point sync is finished 1131 01:42:10,176 --> 01:42:13,760 It's maybe happened depends on your application 1132 01:42:14,272 --> 01:42:16,576 at this case The system 1133 01:42:17,088 --> 01:42:22,976 Recalculated the velocity profile and if you select look aHead 1134 01:42:23,488 --> 01:42:26,560 How is acceleration calculated 1135 01:42:27,840 --> 01:42:31,936 So at the end synchronization established 1136 01:42:42,688 --> 01:42:46,784 Another case leading sync 1137 01:42:52,672 --> 01:42:55,488 you can examine later on 1138 01:42:55,744 --> 01:42:56,768 Here is the 1139 01:42:57,024 --> 01:43:03,168 trace output master position is linear rising 1140 01:43:03,680 --> 01:43:06,240 So here are 1141 01:43:06,496 --> 01:43:08,032 Procedure started 1142 01:43:08,800 --> 01:43:11,104 slave velocity 1143 01:43:12,384 --> 01:43:16,736 as Smoooth profile you see the slave position 1144 01:43:18,784 --> 01:43:20,320 There's an overshoot 1145 01:43:21,088 --> 01:43:26,464 And it's points master velocity hundred mm/s 1146 01:43:26,720 --> 01:43:28,768 I assume 1147 01:43:29,024 --> 01:43:32,096 The slave velocity scaled 1148 01:43:33,632 --> 01:43:36,192 According to master vel 1149 01:43:36,704 --> 01:43:38,496 and 1150 01:43:38,752 --> 01:43:40,032 At this point 1151 01:43:41,056 --> 01:43:47,200 Synchronization finished so 1152 01:43:47,456 --> 01:43:53,600 sync is started at the optimum time before position at the system 1153 01:43:53,856 --> 01:43:56,416 following axis Accelerated to reduced velocity 1154 01:43:57,440 --> 01:44:01,536 a long to reduce acceleration ramp master 1155 01:44:03,584 --> 01:44:04,864 of change 20% 1156 01:44:05,376 --> 01:44:11,520 brake applied following axis decelerating to the leading axis 1157 01:44:11,776 --> 01:44:17,920 Reduced ramp 1158 01:44:18,944 --> 01:44:20,992 about the position 1159 01:44:21,248 --> 01:44:23,808 You can calculate from there maybe 1160 01:44:24,832 --> 01:44:27,136 Is the setting 1161 01:44:29,952 --> 01:44:32,000 So 1162 01:44:33,280 --> 01:44:39,424 Another case the Leading synchronization what will happen 1163 01:44:39,680 --> 01:44:44,032 If the leading axis velocity changed 1164 01:44:45,312 --> 01:44:49,408 You'll see here the dynamic response of slave 1165 01:44:51,456 --> 01:44:53,248 There's a little bit 1166 01:44:54,272 --> 01:44:57,088 higher Adjustment on the slave vecloity 1167 01:45:00,160 --> 01:45:06,304 So after leading axis vel increased from 100mm/sec 1168 01:45:06,560 --> 01:45:08,352 10 1169 01:45:08,608 --> 01:45:10,144 if 1170 01:45:11,936 --> 01:45:16,800 it is under 20% desacralization profile 1171 01:45:17,824 --> 01:45:18,592 Is 1172 01:45:18,848 --> 01:45:24,736 not calculated. There is a percentage increase in velocity 1173 01:45:26,016 --> 01:45:28,832 Just velocity 1174 01:45:29,344 --> 01:45:30,368 Increased 1175 01:45:30,880 --> 01:45:31,904 Profile will not be calculated 1176 01:45:34,976 --> 01:45:41,120 Because it's under there setting 1177 01:45:41,376 --> 01:45:43,936 So next page 1178 01:45:45,472 --> 01:45:49,312 leading sync changing leading axis vel 1179 01:45:50,080 --> 01:45:56,224 at This case it's i guess is on the too much because 1180 01:45:56,480 --> 01:46:00,576 Motion face leading access increased from 1181 01:46:00,832 --> 01:46:06,720 over 20% 1182 01:46:08,256 --> 01:46:09,792 Percent 1183 01:46:11,328 --> 01:46:14,400 Is your default setting 1184 01:46:14,912 --> 01:46:21,056 So is the sync profile 1185 01:46:21,312 --> 01:46:23,616 A percentage increase 1186 01:46:24,128 --> 01:46:29,504 50% in velocity and the following alarm is output 1187 01:46:30,528 --> 01:46:35,648 Changing the dynamic response of master leads dynamic violation 1188 01:46:36,160 --> 01:46:42,304 If the following axis is able to follow dynamics response sync point 1189 01:46:42,560 --> 01:46:45,632 Pretend this is important case 1190 01:46:45,888 --> 01:46:49,728 You use leading sync 1191 01:46:49,984 --> 01:46:56,128 and fixed parameter sync length. it depends on the settings and dynamic 1192 01:46:56,384 --> 01:47:02,528 Acceptance and maybe you're using actual position 1193 01:47:02,784 --> 01:47:04,832 not the Set point 1194 01:47:05,344 --> 01:47:11,488 Sometimes in the real systems if there is a overcurrent of the motor of master axis 1195 01:47:11,744 --> 01:47:14,816 there is a 1196 01:47:15,328 --> 01:47:21,472 difference on the speed and actual speeds 1197 01:47:23,776 --> 01:47:28,384 so It's will affect your slave during sync 1198 01:47:28,640 --> 01:47:30,944 Maybe you are able to do 1199 01:47:31,456 --> 01:47:33,504 It's sync in defined length 1200 01:47:34,016 --> 01:47:40,160 sometimes it's not possible in some cases you get an error message 1201 01:47:41,184 --> 01:47:43,744 In the real world 1202 01:47:46,048 --> 01:47:50,400 How do we do without the Overshot? 1203 01:47:54,240 --> 01:48:00,384 Leading time related synchronisation is only one to offer is solution 1204 01:48:00,640 --> 01:48:04,480 following axis moving front of the leading axis 1205 01:48:04,736 --> 01:48:07,040 feedback without overshoot on velocity 1206 01:48:08,064 --> 01:48:11,392 You have to do following settings 1207 01:48:11,904 --> 01:48:18,048 Adaption should be yes and you should answer the overdrive Factor here 100 1208 01:48:18,304 --> 01:48:21,632 .001 1209 01:48:23,168 --> 01:48:29,056 Yeah this is some kind of TIP and TRICK 1210 01:48:30,336 --> 01:48:36,480 following axis always synchronize with the leading passage correctly even if 1211 01:48:36,736 --> 01:48:42,880 vel change during synchronization error message are only displayed in Dynamic values sync operation 1212 01:48:43,136 --> 01:48:43,904 violated or Changed 1213 01:48:44,416 --> 01:48:50,048 It's the leading axis velocity increased when sync overdrive factor must be set 1214 01:48:50,816 --> 01:48:56,960 For example otherwise interrogative synchronisation to aborted 1215 01:48:57,216 --> 01:48:58,752 that's why we enter here 1216 01:48:59,008 --> 01:49:05,152 Dynamic values are specified for your axis it's not possible to provide a solution 1217 01:49:06,688 --> 01:49:12,832 Access symbolization problem for every geometrical or dynamic configuration of the leading 1218 01:49:13,088 --> 01:49:15,648 And or following axis 1219 01:49:16,672 --> 01:49:22,816 If solution cannot be provided synchronization is not started and there is no additional error message 1220 01:49:25,120 --> 01:49:27,424 So 1221 01:49:30,752 --> 01:49:34,080 Specify speed and acceleration 1222 01:49:35,104 --> 01:49:41,248 Here in and next page to trace out of 1223 01:49:41,504 --> 01:49:43,040 Engagement 1224 01:49:45,088 --> 01:49:51,232 gear ratio 1:1 absolute zero 1225 01:49:53,280 --> 01:49:56,096 What is the volume at 2% 1226 01:49:58,144 --> 01:50:04,288 maximum master of change 20% a different case 1227 01:50:07,872 --> 01:50:10,176 Yep 1228 01:50:10,432 --> 01:50:13,504 You see here there is no overshots 1229 01:50:15,040 --> 01:50:16,832 At the Defined time 1230 01:50:17,088 --> 01:50:19,392 You are sync as to your master 1231 01:50:19,648 --> 01:50:23,488 Master vel is 100% 1232 01:50:24,512 --> 01:50:27,072 enter here 1233 01:50:30,144 --> 01:50:32,448 So that's the case 1234 01:50:36,032 --> 01:50:42,176 and Example picture of enable gearing 1235 01:50:42,944 --> 01:50:47,552 Another tab and expert up about data 1236 01:50:48,064 --> 01:50:52,672 For disabled gearing that are similar parameters used 1237 01:50:52,928 --> 01:50:57,536 It's look like this instruction text 1238 01:51:00,864 --> 01:51:02,400 So 1239 01:51:03,168 --> 01:51:04,448 Another comments 1240 01:51:08,032 --> 01:51:14,176 enableing velocity gearing 1241 01:51:14,432 --> 01:51:16,736 position of an axis 1242 01:51:19,808 --> 01:51:25,952 but it is velocity constant gear ratio on following axis 1243 01:51:26,208 --> 01:51:28,000 So 1244 01:51:28,256 --> 01:51:32,864 velocity gear none position controllers 1245 01:51:33,632 --> 01:51:35,936 I mean speed controlled access 1246 01:51:37,472 --> 01:51:41,312 after Leading axis is activated 1247 01:51:42,592 --> 01:51:45,408 master value can be 1248 01:51:45,664 --> 01:51:50,272 velocity of leading axis of velocity of an encoder 1249 01:51:54,112 --> 01:51:55,392 You view 1250 01:51:55,904 --> 01:52:00,768 Enable velocity Gear in Command to enable and disable 1251 01:52:04,096 --> 01:52:06,400 It's looks like 1252 01:52:06,656 --> 01:52:12,800 this window in your ST editor 1253 01:52:13,056 --> 01:52:17,408 and next page Another comment set master point 1254 01:52:20,224 --> 01:52:26,368 this command switch the master set point for an existing sync op 1255 01:52:26,624 --> 01:52:28,160 Relationship 1256 01:52:28,672 --> 01:52:34,816 master and slave can be set when sync corporation is active 1257 01:52:39,168 --> 01:52:41,728 What about transition process 1258 01:52:42,496 --> 01:52:47,616 Relative or absolute coupling influences the transition process 1259 01:52:49,408 --> 01:52:55,296 with relateve coupling and additional slave value discripency occurs 1260 01:52:55,552 --> 01:52:59,648 Only if Dynamic Master what is a difference 1261 01:53:00,672 --> 01:53:06,816 with absolute coupling in non-continuous master value transition can occur 1262 01:53:09,120 --> 01:53:13,728 There will be carefull there might be some jump on your position or velocity 1263 01:53:14,496 --> 01:53:20,640 Slave vvalue monitoring at the following axis discontinued 1264 01:53:20,896 --> 01:53:26,016 In the slva value to the maximum axes Dynamic parameters 1265 01:53:27,040 --> 01:53:31,648 It's like changing your master on the Fly 1266 01:53:31,904 --> 01:53:32,928 while 1267 01:53:33,696 --> 01:53:36,768 Slave master is running 1268 01:53:38,560 --> 01:53:43,936 you see here set in synchronous motion 1269 01:53:44,192 --> 01:53:47,264 at this case your axis 1270 01:53:47,776 --> 01:53:49,312 Start 1271 01:53:49,568 --> 01:53:54,944 Synchronization at this point normally 1272 01:53:55,200 --> 01:53:58,016 It is sync to your master 1273 01:53:59,040 --> 01:54:04,928 Right here you execute the set master comment that you see here and jump 1274 01:54:07,488 --> 01:54:09,792 On your slave velocity 1275 01:54:11,328 --> 01:54:12,864 at This case 1276 01:54:15,168 --> 01:54:17,728 So need to be careful 1277 01:54:19,008 --> 01:54:23,616 next command set offsets on the gearing 1278 01:54:24,384 --> 01:54:26,176 You select your 1279 01:54:28,480 --> 01:54:29,760 Axis 1280 01:54:30,016 --> 01:54:31,040 range 1281 01:54:31,296 --> 01:54:32,832 enter your offset 1282 01:54:33,600 --> 01:54:36,928 And Select Mode absolute or relative 1283 01:54:39,744 --> 01:54:44,096 and function used for activating offsets 1284 01:54:44,864 --> 01:54:47,936 In the master or in the slave 1285 01:54:49,472 --> 01:54:53,312 That master range offset moves a straight line 1286 01:54:53,568 --> 01:54:57,408 Has not moved forward direction X 1287 01:54:57,664 --> 01:55:03,040 Slave range offset moves straight forward in the y direction 1288 01:55:03,296 --> 01:55:08,160 The dynamic valeus of transition can be specified 1289 01:55:08,928 --> 01:55:13,280 current and permanent offset in the effect 1290 01:55:13,536 --> 01:55:18,144 can be read In the system available later on gearing adjustments 1291 01:55:18,656 --> 01:55:24,800 For example in the real world in food and beverage in real world 1292 01:55:25,056 --> 01:55:28,128 for packaging machines 1293 01:55:30,688 --> 01:55:34,016 At the running machine ice cream Packaging 1294 01:55:34,272 --> 01:55:39,648 You'll get the foil from decoiler or 1295 01:55:39,904 --> 01:55:46,048 unwinder and you get two real material for another conveyor 1296 01:55:47,328 --> 01:55:48,608 Sometimes 1297 01:55:48,864 --> 01:55:53,984 Your material is flexible so without 1298 01:55:54,496 --> 01:56:00,640 deCentralizing or using gear off comamnds you have to adjust 1299 01:56:01,664 --> 01:56:07,808 Your synchronization doing all of the axes running so at this case you use 1300 01:56:08,064 --> 01:56:12,928 gearing offset or scaling on the gearing 1301 01:56:14,464 --> 01:56:18,048 As relative or absolute 1302 01:56:19,072 --> 01:56:24,960 If you can secure the effect should be on active command only 1303 01:56:25,216 --> 01:56:28,544 Or on the next following comments 1304 01:56:28,800 --> 01:56:32,896 That's mean after gearing on of after gearing off 1305 01:56:35,456 --> 01:56:39,040 It's possible to select different choice 1306 01:56:40,064 --> 01:56:41,600 It looks like 1307 01:56:41,856 --> 01:56:44,160 Instructive text 1308 01:56:44,672 --> 01:56:50,816 Commands of reading out the master and slave values at the meantime 1309 01:56:52,096 --> 01:56:58,240 getslave value following object Master position and get master value 1310 01:56:58,496 --> 01:57:02,336 following Object and slave position is possible 1311 01:57:04,896 --> 01:57:07,456 You can use 1312 01:57:07,712 --> 01:57:09,248 These comments 1313 01:57:09,504 --> 01:57:11,296 In your IPO task 1314 01:57:12,576 --> 01:57:14,368 To get more accurate 1315 01:57:17,184 --> 01:57:20,256 actual value coupling with extrapolation 1316 01:57:21,280 --> 01:57:22,816 This is the other case 1317 01:57:23,072 --> 01:57:25,120 Right here 1318 01:57:25,888 --> 01:57:31,264 There's a PT1 filter and extrapolation for actual position and velocity 1319 01:57:34,592 --> 01:57:37,920 as firmware version 4.2 1320 01:57:39,712 --> 01:57:43,808 You can read the signal flow 1321 01:57:47,648 --> 01:57:53,792 And there are some settings here when you want to use the actual value synchronisation 1322 01:57:57,376 --> 01:58:03,520 and there is here the structure of superimposed sync operation 1323 01:58:05,056 --> 01:58:11,200 it is possible to use 2 sync Operation together with axes object as 1324 01:58:11,456 --> 01:58:13,248 superimposed 1325 01:58:15,808 --> 01:58:19,392 This is the example for the use case 1326 01:58:22,208 --> 01:58:27,328 and we will insert here by right click axis to 1327 01:58:27,840 --> 01:58:29,376 Under the expert 1328 01:58:29,888 --> 01:58:31,936 Context you will see okay 1329 01:58:35,520 --> 01:58:41,664 and structured distributed synchronous operation will be used 1330 01:58:41,920 --> 01:58:48,064 specially over 100 axes running in printing industry Enterprise 1331 01:58:48,320 --> 01:58:52,416 For example that's it 1332 01:58:53,696 --> 01:58:55,232 So far so good 1333 01:58:56,768 --> 01:59:01,376 I think this chapter is more practical for you 1334 01:59:01,632 --> 01:59:04,960 Before that we learned about theoreticle 1335 01:59:05,472 --> 01:59:07,520 topics and 1336 01:59:08,032 --> 01:59:14,176 You should do some exercises you can use your lecture notes that are several of 1337 01:59:14,432 --> 01:59:16,224 Different exercise 1338 01:59:16,480 --> 01:59:22,112 It would be useful for you to understand the topic I guess 1339 01:59:23,136 --> 01:59:27,488 Before you go on the next chapter I suggest you to complete gearing 1340 01:59:29,024 --> 01:59:35,168 Because the camming is more advance 1341 01:59:35,424 --> 01:59:37,472 one Step or two steps further 1342 01:59:38,240 --> 01:59:44,384 First we are going to create cam disks and we will use camming commands ! 1343 01:59:44,640 --> 01:59:45,920 so See your next chapter