MC_GearInPos

MC_GearInPos 1:

The function block MC_GearInPos synchronizes a slave axis precisely with a master axis (flying saw). The synchronous velocity is achieved exactly at the synchronous point of the master and slave.

The master axis must already be moving, otherwise synchronization is not possible.

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.

Inputs

VAR_INPUT
    Execute             : BOOL;
    RatioNumerator      : LREAL;
    RatioDenominator    : UINT;
    MasterSyncPosition  : LREAL;
    SlaveSyncPosition   : LREAL;
    SyncMode            : ST_SyncMode;
    MasterStartDistance : LREAL;
    Velocity            : LREAL;
    Acceleration        : LREAL;
    Deceleration        : LREAL;
    Jerk                : LREAL;
    BufferMode          : MC_BufferMode; 
    Options             : ST_GearInPosOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at Execute input.
RatioNumerator	LREAL	Gear ratio numerator. Alternatively, the gear ratio can be specified in the enumerator as a floating point value, if the denominator is 1.
RatioDenominator	UINT	Gear ratio denominator
MasterSyncPosition	LREAL	The master's synchronous position
SlaveSyncPosition	LREAL	The slave's synchronous position
SyncMode	ST_SyncMode	In the data structure SyncMode boundary conditions for the synchronization process are specified via individual flags.
MasterStartDistance	LREAL	Currently not implemented.
Velocity	LREAL	Maximum slave velocity in the synchronization phase. If no velocity is specified, the default velocity of the axis from the System Manager data is used. Info: the velocity specified here is only checked if this check is activated through the SyncMode variable.
Acceleration	LREAL	Maximum slave acceleration in the synchronization phase. If no acceleration is specified, the default acceleration of the axis from the System Manager data is used. Info: the acceleration specified here is only checked if this check is activated through the SyncMode variable.
Deceleration	LREAL	Maximum slave deceleration in the synchronization phase. If no deceleration is specified, the default deceleration of the axis from the System Manager data is used. Info: the deceleration specified here is only checked if this check is activated through the SyncMode variable.
Jerk	LREAL	Maximum slave jerk in the synchronization phase. If no jerk is specified, the default jerk of the axis from the System Manager data is used. Info: the jerk specified here is only checked if this check is activated through the SyncMode variable.
BufferMode	MC_BufferMode	Currently not implemented
Options	ST_GearInPosOptions	The ST_GearInPosOptions contains two position values as limits. The check for these position limits can be activated. To do this, two flags (`GearInSync_CheckMask_OptionalMinPos, GearInSync_CheckMask_OptionalMaxPos`) have to be set in the SyncMode structure.

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

Inputs/outputs

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.

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

Outputs

VAR_OUTPUT
    StartSync      : BOOL;
    InSync         : BOOL;
    Busy           : BOOL; 
    Active         : BOOL; 
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
StartSync	BOOL	Becomes TRUE when the synchronization with the master axis was started.
InSync	BOOL	Becomes TRUE, if the coupling was successfully completed and the slave axis is synchronized with the master axis.
Busy	BOOL	The Busy output becomes TRUE when the command is started with Execute and remains TRUE for as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new order. At the same time one of the outputs, InSync, CommandAborted or Error, is set.
Active	BOOL	Active indicates that the command is executed. (currently Active=Busy, see BufferMode)
CommandAborted	BOOL	Becomes TRUE, if the command could not be fully executed. The axis may have become decoupled during the coupling process (simultaneous command execution).
Error	BOOL	Becomes TRUE as soon as an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.