MC_GearInDyn

MC_GearInDyn 1:

The function block MC_GearInDyn activates a linear master-slave coupling (gear coupling). The gear ratio can be adjusted dynamically during each PLC cycle. Hence a controlled master/slave coupling can be build up. The "Acceleration" parameter has a limiting effect in situations with large gear ratio variations.

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_GearIn with fixed gear ratio is available.

Inputs

VAR_INPUT
    Enable       : BOOL;
    GearRatio    : LREAL;
    Acceleration : LREAL;
    Deceleration : LREAL;
    Jerk         : LREAL;
    BufferMode   : MC_BufferMode; 
    Options      : ST_GearInDynOptions;
END_VAR

Name	Type	Description
Enable	BOOL	If "Enable" is TRUE, the function block establishes a coupling. If an MC_GearOut is executed while the MC_GearInDyn continues to be called with "Enable" TRUE, it is only decoupled for a short time and then immediately attempts to re-establish the coupling. As long as "Enable" is TRUE, the gear factor can be changed cyclically. If "Enable" becomes FALSE after coupling, the command is terminated. The gear factor is frozen at its last value, but the slave is not decoupled.
GearRatio	LREAL	Gear ratio as floating point value. The gear ratio can be changed cyclically as long as "Enable" is TRUE. If "Enable" is FALSE, the gear ratio remains unchanged.
Acceleration	LREAL	Acceleration (≥0). If the value is 0, the standard acceleration from the axis configuration in the System Manager is used. The parameter limits the acceleration of the slave in situations with large gear ratio variations. The maximum acceleration is only reached at the maximum master velocity. Otherwise the slave acceleration is below this value when the gear ratio changes significantly.
Deceleration	LREAL	Deceleration (≥0). (Not implemented)
Jerk	LREAL	Jerk (≥0). (Not implemented)
BufferMode	MC_BufferMode	Currently not implemented
Options	ST_GearInDynOptions	Currently not implemented

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 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