ST_GearInPosCAOptions
The options can be set to specialize the synchronization profile of the slave.
TYPE ST_GearInPosCAOptions :
STRUCT
AfterSyncVelocity : MC_LREAL := MC_DEFAULT;
AfterSyncAcceleration : MC_LREAL := MC_DEFAULT;
AfterSyncDeceleration : MC_LREAL := MC_DEFAULT;
AfterSyncJerk : MC_LREAL := MC_DEFAULT;
MasterVelocityUndershootAllowed : BOOL := TRUE;
MasterVelocityOvershootAllowed : BOOL := TRUE;
MinimalSlavePosition : MC_LREAL := MC_IGNORE;
DirectionReversalAllowed : BOOL := TRUE;
OverrideSlaveDynamicRestrictions : BOOL := FALSE;
GapControlMode : MC_GAP_CONTROL_MODE := mcGapControlModeGroupDefault;
SlaveSyncPositionReferenceSystem : OTCID := 0;
DynamicsReferenceSystem : OTCID := 0;
MasterSignalCorrection : MC_MASTER_SIGNAL_CORRECTION := mcMasterSignalCorrectionAuto;
END_STRUCT
END_TYPE
Name | Type | Description |
---|---|---|
AfterSyncVelocity (From TF5400 V3.1.10.1) | MC_LREAL | Maximum velocity of the slave axis after it has synchronized for the first time. The velocity (>0) is limited by the maximum velocity of the slave axis. If there is no input value (0), the default value is set (see CA-Group parameter GearInPosAfterSyncDynamics). |
AfterSyncAcceleration (From TF5400 V3.1.10.1) | MC_LREAL | Maximum acceleration of the slave axis after it has synchronized for the first time. The acceleration (≥1) is limited by the maximum acceleration of the slave axis. If there is no input value (0), the default value is set (see CA-Group parameter GearInPosAfterSyncDynamics). |
AfterSyncDeceleration (From TF5400 V3.1.10.1) | MC_LREAL | Maximum deceleration of the slave axis after it has synchronized for the first time. The deceleration (≥1) is limited by the maximum deceleration of the slave axis. If there is no input value (0), the default value is set (see CA-Group parameter GearInPosAfterSyncDynamics). |
AfterSyncJerk (From TF5400 V3.1.10.1) | MC_LREAL | Maximum jerk of the slave axis after it has synchronized for the first time. The jerk (≥100) is not limited by other jerk values (a maximum jerk of the axis cannot be configured). If there is no input value, the default value is set (see CA-Group parameter GearInPosAfterSyncDynamics). |
MasterVelocityUndershootAllowed | BOOL | This option only affects the synchronization profile and has no effect once the slave is
MasterVelocityUndershootAllowed and MasterVelocityOvershootAllowed cannot both be set to FALSE. |
MasterVelocityOvershootAllowed | BOOL | This option only affects the synchronization profile and has no effect once the slave is
MasterVelocityUndershootAllowed and MasterVelocityOvershootAllowed cannot both be set to FALSE. |
MinimalSlavePosition | MC_LREAL | Absolute minimum position of the slave during the synchronization phase. This option only affects the synchronization profile and has no effect once the slave is |
DirectionReversalAllowed | BOOL | This option only affects the synchronization profile and has no effect once the slave is
|
OverrideSlaveDynamicRestrictions | BOOL | This option only affects the synchronization profile and has no effect once the slave is
|
GapControlMode | MC_GAP_CONTROL_MODE | See the description of the data type MC_GAP_CONTROL_MODE for further information. |
SlaveSyncPositionReferenceSystem (From TF5400 V3.1.6.03) | OTCID |
|
DynamicsReferenceSystem (From TF5400 V3.1.6.03) | OTCID |
|
MasterSignalCorrection (From TF5400 V3.2.60) | MC_MASTER_SIGNAL_CORRECTION |
|
Restricting the synchronization profile could make synchronization impossible for the slave. If synchronization is impossible, MC_GearInPosCA issues an error. |
Requirements
Development environment | Target system type | PLC libraries to be linked |
---|---|---|
TwinCAT V3.1.4018.26 TF5400 Advanced Motion Pack V3.1.1.17 | PC or CX (x86 or x64) | Tc3_McCollisionAvoidance, Tc3_McCoordinatedMotion, Tc2_MC2 |