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.

Note

MC_GearIn should be called after the motion FB controlling the Master axis has been called. Otherwise, the Slave axis will lag behind the Master axis.

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.
Inout	`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