MC_GearIn

MC_GearIn 1:

The function block MC_GearIn activates a linear master-slave coupling (gear coupling). The function block accepts a fixed gear ratio in numerator/denominator format.

The slave axis can be coupled to the master axis at standstill. With this function block it is not possible to synchronize to a moving master axis. The flying saw function blocks MC_GearInVelo or MC_GearInPos can be used for this purpose.

The slave axis can be decoupled with the function block MC_GearOut. If the slave is decoupled while it is moving, then it retains its velocity and can be halted using MC_Stop or MC_Halt.

Alternatively, the function block MC_GearInDyn with dynamically changeable gear ratio is available.

Inputs

VAR_INPUT
    Execute          : BOOL;
    RatioNumerator   : LREAL;
    RatioDenominator : UINT;
    Acceleration     : LREAL;
    Deceleration     : LREAL;
    Jerk             : LREAL;
    BufferMode       : MC_BufferMode; 
    Options          : ST_GearInOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
RatioNumerator	LREAL	Gear ratio numerator. Alternatively, the gear ratio can be specified in the numerator as a floating point value, if the denominator is 1.
RatioDenominator	UINT	Gear ratio denominator
Acceleration	LREAL	Acceleration (≥0). (Currently not implemented)
Deceleration	LREAL	Deceleration (≥0). (Currently not implemented)
Jerk	LREAL	Jerk (≥0). (Currently not implemented)
BufferMode	MC_BufferMode	Currently not implemented
Options	ST_GearInOptions	Currently not implemented

For a 1:4 ratio the RatioNumerator must be 1, the RatioDenominator must be 4. Alternatively, the RatioDenominator may be 1, and the gear ratio can be specified as floating point number 0.25 under RatioNumerator. The RatioNumerator may be negative.

Inputs/outputs

VAR_IN_OUT
    Master : AXIS_REF;
    Slave  : AXIS_REF;
END_VAR

Name	Type	Description
Master	AXIS_REF	Axis data structure of the master
Slave	AXIS_REF	Axis data structure of the slave

The axis data structure of type AXIS_REF addresses an axis unambiguously within the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    InGear         : BOOL;
    Busy           : BOOL; 
    Active         : BOOL; 
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
InGear	BOOL	TRUE if the coupling was successful.
Busy	BOOL	TRUE as soon as the command is started with "Execute" and as long as the command is processed. If "Busy" is FALSE, the function block is ready for a new order. At the same time, one of the outputs "InGear", "CommandAborted" or "Error" is set.
Active	BOOL	Indicates that the command is executed. (Currently Active = Busy)
CommandAborted	BOOL	TRUE if the command could not be executed completely. The axis may have become decoupled during the coupling process (simultaneous command execution).
Error	BOOL	TRUE, if an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2