MC_GearInPosCA

The function block MC_GearInPosCA couples a slave axis to a master axis. The set values always form the source for the master values. Collision Avoidance has higher priority than axis coupling. The slave axis can be decoupled by sending a motion command using the buffer mode BufferMode mcAborting.

Optimizations regarding MC_GearInPosCA as of TF5400 v3.2.27

Optimizations to MC_GearInPosCA that prevent SAF cycle offset between master and slave axis.
Optimizations to the gap controller when the axis is already in the target position and only the gap changes. If the adjacent mover is commanded, the new gap takes effect.

Inputs

VAR_INPUT
    Execute             : BOOL;
    ContinuousUpdate    : BOOL;
    RatioNumerator      : MC_LREAL := 1;
    RatioDenumerator    : UINT := 1;
    MasterSyncPosition  : MC_LREAL := MC_INVALID;
    SlaveSyncPosition   : MC_LREAL := MC_INVALID;
    SyncStrategy        : MC_SYNC_STRATEGY := mcSyncStrategyLate;
    SyncMode            : MC_SYNC_MODE;
    MasterStartDistance : MC_LREAL := MC_IGNORE;
    Velocity            : MC_LREAL := MC_INVALID;
    Acceleration        : MC_LREAL := MC_DEFAULT;
    Deceleration        : MC_LREAL := MC_DEFAULT;
    Jerk                : MC_LREAL := MC_DEFAULT;
    Gap                 : MC_LREAL := MC_DEFAULT;
    BufferMode          : MC_BUFFER_MODE := mcAborting;
    Options             : ST_GearInPosCAOptions;
END_VAR

Name	Type	Description
Execute	BOOL	The command is triggered by a rising edge at this input.
ContinuousUpdate	BOOL	In this version, continuous updating is only available for the Gap.
RatioNumerator	MC_LREAL	A gear ratio can be set by entering integer values at the `RatioNumerator` and `RatioDenumerator` inputs or by entering a decimal value for the `RatioNumerator` and leaving the `RatioDenumerator` unchanged (the default value is `1`). The gear ratio is entered as a factor, e.g. a value of `0.8` means that the slave velocity is `0.8 * master axis velocity` (or `80 %` of the master axis velocity). The value for the factor is not limited, it could be greater than `1.0` or negative.
RatioDenumerator	UINT	Denominator for the gear ratio.
MasterSyncPosition	MC_LREAL	This input is of type `LREAL`. Position of the master at which the slave is `InSync` and has the correct gear ratio.
SlaveSyncPosition	MC_LREAL	This input is of type LREAL. Position of the slave at which it is InSync with the correct gear ratio.
SyncStrategy	MC_SYNC_STRATEGY	Defines the strategy that the slave uses for synchronization (see MC_SYNC_STRATEGY). The default strategy is `mcSyncStrategyLate.`
SyncMode (available from V3.1.10.1)	MC_SYNC_MODE	Defines the direction in which the SlaveSync position is to be interpreted, see MC_SYNC_MODE.
MasterStartDistance	MC_LREAL	If a positive value is set, the slave axis will not start synchronization until the master position is greater than or equal to the master position (MasterSyncPosition – MasterStartDistance). If a negative value is set, the synchronization will not start until the master position is less than or equal to (MasterSyncPosition – MasterStartDistance). If MasterStartDistance is not set, the slave starts synchronization as soon as the function block gives the Active signal. The exact behavior of the slave axis during the synchronization phase depends on the SyncStrategy.
Velocity	MC_LREAL	Maximum velocity of the slave axis during the synchronization phase. The velocity value must be greater than 0. It is automatically limited by the axis parameter 'Maximum Velocity' of the slave axis. A velocity must always be specified. Special input values: `MC_DEFAULT` = invalid, as there is no default velocity `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Velocity' of the slave axis
Acceleration	MC_LREAL	Maximum acceleration of the slave axis during the synchronization phase. The acceleration value must be greater than or equal to 1 and is limited by the axis parameter 'Maximum Acceleration' of the slave axis. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Acceleration' of the slave axis `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Acceleration' of the slave axis
Deceleration	MC_LREAL	Maximum deceleration of the slave axis during the synchronization phase. The deceleration value must be greater than or equal to 1 and is limited by the axis parameter 'Maximum deceleration' of the slave axis. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Deceleration' of the slave axis `MC_MAXIMUM` = corresponds to the value of the axis parameter 'Maximum Deceleration' of the slave axis
Jerk	MC_LREAL	Maximum jerk of the axis during the synchronization phase. The jerk must be ≥100. The input is preset with `MC_DEFAULT`. Special input values: `MC_DEFAULT` = corresponds to the value of the axis parameter 'Default Jerk' of the slave axis `MC_MAXIMUM` = invalid
Gap	MC_LREAL	This value determines the minimum gap to the predecessor for Collision Avoidance. If no value is entered, the default value of the group is used. Notice When using geo-compensation, special attention must be paid to the gap. The mover gap for Collision Avoidance always relates positionally and dynamically to the offset path geometry. Since the gap refers to the offset path when using geo-compensation, adjacent movers in the curves can collide if it is set too low. Ensure the gap is large enough.
BufferMode	MC_BUFFER_MODE	In this version only `mcAborting` and `mcBuffered` are available (see MC_BUFFER_MODE).
Options	ST_GearInPosCAOptions	The `Options` can be used to influence the synchronization profile of the slave, in addition to the `SyncStrategy` (from V3.1.2.47) (see ST_GearInPosCAOptions).

	The axis does not reach the target velocity, acceleration or deceleration The values for velocity, acceleration or deceleration may be automatically limited to the maximum axis velocity, acceleration and deceleration. Check the parameters Maximum Dynamics and Default Dynamics of the axis. It is also possible that the values of Maximum Dynamics are smaller than the Default Dynamics.

Inputs/outputs

VAR_IN_OUT
    Master   : AXIS_REF;
    Slave    : AXIS_REF;
END_VAR

Name	Type	Description
Master	AXIS_REF	Reference to an axis (see AXIS_REF).
Slave	AXIS_REF	Reference to an axis (see AXIS_REF).

Outputs

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

Name	Type	Description
StartSync	BOOL	This output is set when the slave actively starts synchronization and reset when the slave is InSync.
InSync	BOOL	This output becomes `TRUE` when the slave is synchronized. If the dynamics of the slave axis is too low to follow the movement of the master axis, the output `InSync` could be reset to `FALSE`, after which the slave axis starts synchronizing again.
Busy	BOOL	This output becomes `TRUE` when the command is started with `Execute` and remains so as long as the function block executes the command. If `Busy` becomes `FALSE` again, the function block is ready for a new command. At the same time, one of the outputs `CommandAborted` or `Error` is set.
Active	BOOL	If `Active` is `TRUE`, the function block controls the axis.
CommandAborted	BOOL	This output becomes `TRUE` if the command was interrupted by another command.
Error	BOOL	This output becomes `TRUE` if an error has occurred during command execution.
ErrorId	UDINT	Contains the command-specific error code of the last executed command. Details of the error code can be found in the ADS error documentation or in the NC error documentation (error codes 0x4nnn and 0x8nnn).

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17	PC or CX (x64)	Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2

Development environment

Target platform

PLC libraries
to include

TwinCAT V3.1.4018.26

TF5400 Advanced Motion Pack V3.1.1.17

PC or CX (x64)

Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2