Bosch REXROTH IndraDrive Applications Manual page 69

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Rexroth IndraDrive Rexroth IndraMotion MLD Application Examples
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Synchronous Multi-Axis Motion With Virtual Master Axis
Fig.7-15: Declaration of Input Variables for Motion Function Blocks
In this program section, all motion function blocks which are used are called
once per task cycle with the condition specified for the corresponding Execute
input.
The significance of all inputs/outputs of all function blocks is de‐
scribed in the separate documentation "IndraMotion MLD – Library
Description".
Program section 2.1: Motion Control (case instruction)
With this program section, control of the motion program takes place.
Step 1 (initStep): Initial state
Step 1 carries out the reset or initialization of the motion program. All used
function blocks are initialized by direct call with "Execute" or "Enable =
FALSE", or by setting the corresponding activation variable (variable which is
connected to the "Execute" or "Enable" input) to FALSE. Furthermore, the vir‐
tual master axis is deactivated, its current actual velocity (P‑0‑0759) is set to
zero and the command value processing mode (P‑0‑0769) of the virtual master
axis is set to positive direction of rotation; i.e. the virtual master axis (VmAxisInt)
can only be moved in positive direction. Thereafter, switching to step 2 takes
place.
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