Difference between revisions of "AXY:Shadow Axis Concept"
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* one axis ('''Axis''') connected to the first SERCOS ring to a Drive#1 | * one axis ('''Axis''') connected to the first SERCOS ring to a Drive#1 | ||
* second axis ('''Remote''') connected via second SERCOS ring to MC#2 | * second axis ('''Remote''') connected via second SERCOS ring to MC#2 | ||
| + | |||
| + | |||
Second MC has: | Second MC has: | ||
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| − | Virtual Connection consists | + | |
| + | Virtual Connection consists of: | ||
* Remote axis on MC#1 running on '''S3net.master''' | * Remote axis on MC#1 running on '''S3net.master''' | ||
* Shadow master on MC#2 running on '''S3net.slave''' | * Shadow master on MC#2 running on '''S3net.slave''' | ||
* Connection between S3net.master and '''S3net.slave''' swaps pcmd with pfb and drive status (ds) with drive control word (dcw) | * Connection between S3net.master and '''S3net.slave''' swaps pcmd with pfb and drive status (ds) with drive control word (dcw) | ||
| + | |||
| + | |||
| + | Shadow axis pair consist of: | ||
| + | |||
| + | * Shadow master | ||
| + | * Shadow slave | ||
| + | |||
| + | {| border="1" cellpadding="20" cellspacing="0" | ||
| + | |+ | ||
| + | |'''Shadow Master''' || direction || '''Shadow Slave''' | ||
| + | |- | ||
| + | | pfb || → || pcmd | ||
| + | |- | ||
| + | | pcmd || ← || pfb | ||
| + | |- | ||
| + | | vfb || → || vcmd | ||
| + | |- | ||
| + | | vcmd || ← || vfb | ||
| + | |- | ||
| + | | drive status || → || drive control word | ||
| + | |- | ||
| + | | drive control word || ← || | drive status | ||
| + | |||
| + | |} | ||
Revision as of 12:54, 8 January 2012
Shadow Axis Concept
This article describes shadow axes from the motion point of view.
On the picture above there are:
- three different(separated) SERCOS rings
- two MC controllers each connected to two SERCOS rings
- first SERCOS ring connects Drive#1 to MC#1
- second SERCOS ring connects MC#1 with MC#2
- third SERCOS ring connects MC#2 with Drive #2
First MC has:
- one axis (Axis) connected to the first SERCOS ring to a Drive#1
- second axis (Remote) connected via second SERCOS ring to MC#2
Second MC has:
- one axis (Shadow master) connected to the second SERCOS ring to a MC#1
- second axis (Shadow slave) connected via third SERCOS ring to Drive#2
Virtual Connection consists of:
- Remote axis on MC#1 running on S3net.master
- Shadow master on MC#2 running on S3net.slave
- Connection between S3net.master and S3net.slave swaps pcmd with pfb and drive status (ds) with drive control word (dcw)
Shadow axis pair consist of:
- Shadow master
- Shadow slave
| Shadow Master | direction | Shadow Slave |
| pfb | → | pcmd |
| pcmd | ← | pfb |
| vfb | → | vcmd |
| vcmd | ← | vfb |
| drive status | → | drive control word |
| drive control word | ← | drive status |