MC_GearOut
The function block MC_GearOut deactivates a master-slave coupling.
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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. |
Notice | |
If the setpoint generator type of the axis is set to "7 phases (optimized)", the slave axis assumes an acceleration-free state after uncoupling 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
Execute | The command is executed with a rising edge at input Execute. |
Options | Currently not implemented |
Outputs
VAR_OUTPUT
Done : BOOL;
Busy : BOOL;
Error : BOOL;
ErrorID : UDINT;
END_VAR
Done | Becomes TRUE, if the axis was successfully uncoupled. |
Busy | The Busy output becomes TRUE when the command is started with Execute 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, Done or Error, is set. |
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
Slave : AXIS_REF;
END_VAR
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.