MC_GearIn

The MC_GearIn commands gear coupling with a gear ratio. The gear ratio defines the speed ratio between the master and slave axes. The synchronization to the velocity is jerk-limited. "Jerk" is set in the NC command.

The slave axis can be coupled either to master setpoints or to actual master values. The selection is made in the "Mode" parameter.

NC command: 

<axis_name>[ MC_GearInMaster=<expr> RatioNumerator=<expr> RatioDenominator=<expr>
Acceleration=<expr> Deceleration=<expr> Jerk=<expr> Mode=<expr>]

Block diagram in PLCopen:

Input pin

Unit

MC_GearIn 1:

Master

Logical axis number of the master axis

RatioNumerator

Gear ratio numerator

RatioDenominator

Gear ratio denominator

Acceleration

[1mm/s2 or 1°/s2]

Deceleration

[1mm/s2 or 1°/s2]

Jerk

[1m/s3 or 1000°/s3]

Mode

0

Type of coupling between master axis and slave:

Coupling based on command values.

Automatic phase compensation: off.

128

Type of coupling between master axis and slave:

Coupling based on actual values.

256

Automatic phase compensation: on.

Only for testing purposes!

Programming example

S[MC_GearIn Master=11  RatioNumerator=2 RatioDenominator=3
  Acceleration=500  Deceleration=600  Jerk=200  Mode=11]