MC_GearIn

Function block MC_GearIn
Commands a ratio between the velocity of the slave and master axis.
VAR_IN_OUT
B MasterIn AXIS_REF Reference to the master axis.
B SlaveIn AXIS_REF Reference to the slave axis. The number of slaves is up to 32.
VAR_INPUT
B Execute BOOL Starts gearing at the rising edge.
E ContinuousUpdate BOOL

If TRUE, when the function block (FB) is running and the values of the parameters are updated, the FB will use the new value. If FALSE, the FB won't use the new value.

NOTE:  RatioNumerator and RatioDenominator cannot be updated, but Acceleration, Deceleration, and Jerk can be.
V Permanent BOOL

Determines whether the gear state is preserved after the motor is disabled.

TRUE: The gear state is preserved even if the motor is disabled. For example, if the master axis is enabled, the slave axis will be enabled. If an error has occurred on the master, it occurred on the slave too.

FALSE: The gear state won't be preserved after the motor is disabled.
B RatioNumerator INT Gear ratio numerator.
B RatioDenominator UINT Gear ratio denominator.
E MasterValueSource MC_Source

Defines the source for synchronization:

  • mcSetValue – synchronization on master set value. We suggest you use these settings.
  • mcActualValue – synchronization on master actual value. This setting may not be stable.
  • mcSecondEncoderValue – actual value of the secondary encoder of the axis. The result is the same as mcSetValue.

    • NOTE:  mcSecondEncoderValue is not supported yet.
E Acceleration LREAL Acceleration for gearing in.
E Deceleration LREAL Deceleration for gearing in.
E Jerk LREAL Jerk of gearing.
E BufferMode MC_BufferMode Defines how to blend the velocity of two function blocks.
VAR_OUTPUT
B InGear BOOL The synchronization state of the axes. TRUE: The synchronization is completed. FALSE: The slave axis is synchronizing with the master axis.
E Busy BOOL The function block is not finished and new output values are to be expected.
E Active BOOL The function block is controlling the axis.
E CommandAborted BOOL The command is aborted by another command.
B Error BOOL Signals that an error has occurred within the function block.
E ErrorID MC_Error Error identification.
  • The slave ramps up to the ratio of the master velocity and locks in when this is reached. Any lost distance during synchronization is not caught up.
  • The gearing ratio can be changed while MC_GearIn is running, using a consecutive MC_GearIn command without the necessity to MC_GearOut first.
  • After being "InGear," a position locking or just a velocity locking is system specific.

 

  MC_GearIn  
AXIS_REF   MasterIn   Master   AXIS_REF
AXIS_REF   SlaveIn   Slave   AXIS_REF
BOOL   Execute   InGear   BOOL
BOOL   ContiunousUpdate   Busy   BOOL
BOOL   Permanent   Active   BOOL
INT   RatioNumerator   CommandAborted   BOOL
UINT   RatioDenominator   Error   BOOL
MC_Source   MasterValueSource   ErrorID   MC_Error
LREAL   Acceleration        
LREAL   Deceleration        
LREAL   Jerk        
MC_BufferMode   BufferMode        
             

 

Gear timing diagram