MC_GearInDyn

MC_GearInDyn 1:

The function block MC_GearIn 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 uncoupled 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 block MC_GearIn with dynamically variable 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

MC_BufferMode

Enable	Coupling is activated with a rising edge at input Enable. The gear ratio can be changed cyclically as long as Enable is TRUE. The command is terminated if Enable becomes FALSE after coupling. The gear ratio is frozen at its last value, but the slave is not decoupled.
GearRatio	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	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	Deceleration (≥0). (Not implemented)
Jerk	Jerk (≥0). (Not implemented)
BufferMode	Currently not implemented
Options	Currently not implemented

Outputs


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

InGear	Becomes TRUE, if the coupling was successful.
Busy	The Busy output becomes TRUE when the command is started with Enable and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs InGear, CommandAborted or Error is set.
Active	Active indicates that the command is executed (currently Active=Busy, see BufferMode)
CommandAborted	Becomes TRUE, if the command could not be fully executed. The axis may have become decoupled during the coupling process (simultaneous command execution).
Error	Becomes TRUE if an error occurs.
ErrorID	If the error output is set, this parameter supplies the error number.

Inputs/outputs


VAR_IN_OUT
    Master : AXIS_REF;
    Slave : AXIS_REF;
END_VAR

AXIS_REF AXIS_REF

Master	Master axis data structure.
Slave	Axis data structure of the Slave.

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