MC_GearIn (FB)¶

FUNCTION_BLOCK MC_GearIn

The function block couples the slave axis to the master axis, and applies a certain velocity ratio between master and slave.

When MC_GearIn is started, the slave axis is ramped up to the given ratio of the master velocity. Coupling takes place once this is achieved. The distance travelled during the coupling is not compensated for.

While MC_GearIn is in operation, the velocity ratio can be changed by sequential MC_GearIn commands. To do this, no preceding call of MC_GearOut is necessary.

InGear is set as soon as the desired velocity ratio is reached. Once InGear is set, the type of coupling depends on the current control mode. In the standard case, i.e. in the position control mode, the coupling is performed with the position values. For example, with a ratio of 1:2, the slave is moved by exactly half the distance of the master. If velocity control mode is used, then the coupling is performed with the velocity values. For example, with a ratio of 1:2, the slave will move with half the master velocity in each cycle.

Ratio Reached: Velocity ratio has been reached.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Master	AXIS_REF_SM3		Reference to master axis. Master needs not to be stationary.
	Slave	AXIS_REF_SM3		Reference to slave axis
Input	Execute	BOOL		Rising edge: Starts the execution of the function block.
	RatioNumerator	DINT	1	Numerator of the quotient for the desired velocity ratio
	RatioDenominator	UDINT	1	Denominator of the quotient for the desired velocity ratio
	Acceleration	LREAL		Maximum acceleration for ramping up in [u/s²]
	Deceleration	LREAL		Maximum deceleration for ramping up in [u/s²]
	Jerk	LREAL		Maximum jerk for ramping up in [u/s³]
	BufferMode	MC_BUFFER_MODE		Defines the chronological sequence of the FB relative to the previous block. Only the BufferModes Aborting, Buffered and BlendingPrevious are supported. BlendingPrevious means that the configured velocity (including the direction) of the previous movement is used as the blending velocity, even if this movement has the opposite direction. If the function block is Busy, then only BufferMode=Aborting is allowed.
Output	InGear	BOOL		TRUE: Coupling has taken place. The slave moves with the given velocity ratio of the master.
	Busy	BOOL		TRUE: Function block is in operation.
	Active	BOOL		Indicates that the FB has control on the axis
	CommandAborted	BOOL	FALSE	TRUE: Execution has been interrupted by another function block instance operating on the axis.
	Error	BOOL		TRUE: Error has occurred.
	ErrorID	SMC_ERROR		Error identification