AXY:Shadow Axis Concept
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 |