MC_GearOut
The function block MC_GearOut disables a master-slave coupling.
| |
No standstill of the axis due to decoupling When a slave axis is uncoupled during the movement, it is not stopped automatically but reaches a constant velocity at which it continues to travel infinitely. You can stop the axis with the function blocks MC_Halt or MC_Stop. |
 | Setpoint generator type If the setpoint generator type of the axis is set to "7 phases (optimized)", the slave axis assumes an acceleration-free state after decoupling and continues to move with the resulting constant velocity. There is no positioning based on the master travel path calculated with the coupling factor. Instead, the behavior matches the behavior after a MC_MoveVelocity command. In TwinCAT 2.10, the setpoint generator type can be selected by the user. From TwinCAT 2.11, the setpoint generator type is set to "7 phases (optimized)". The behavior described here is the result of a project update from TwinCAT 2.10 to TwinCAT 2.11. Depending on the circumstances, an update of existing applications to version 2.11 may necessitate an adaptation of the PLC program. |
Inputs
VAR_INPUT
Execute : BOOL;
Options : ST_GearOutOptions;
END_VAR
Name | Type | Description |
|---|---|---|
Execute | BOOL | The command is executed with a rising edge. |
Options | ST_GearOutOptions | Currently not implemented |
Inputs/outputs
VAR_IN_OUT
Slave : AXIS_REF;
END_VAR
Name | Type | Description |
|---|---|---|
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
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Name | Type | Description |
|---|---|---|
Done | BOOL | TRUE if the axis has been successfully decoupled. |
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 "Done" or "Error" is set. |
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 |