MC_GearInPos

This function block commands a gear ratio between the position of the slave and master axes from the synchronization point onwards.

Syntax

Definition:

FUNCTION_BLOCK MC_GearInPos
VAR_INPUT
    Master                     : Type_Master1D;
    Slave                      : Reference To  AXIS_REF;
    Execute                    : BOOL;
    RatioNumerator             : LREAL;
    RatioDenominator           : UDINT;
    MasterSyncPosition         : LREAL;
    SlaveSyncPosition          : LREAL;
    Velocity                   : LREAL;
    Acceleration               : LREAL;
    Deceleration               : LREAL;
    Jerk                       : LREAL;
    BufferMode                 : EBufferMode;
    ReactionToMasterError      : EReactionToMasterError;
    ReactionToSlaveError       : EReactionToSlaveError;
    AllowedSlaveSyncDirections : ESyncDirection;
END_VAR
VAR_OUTPUT
    InSync                     : BOOL;
    SyncState                  : EGearInPosSyncState;
    Busy                       : BOOL;
    Active                     : BOOL;
    CommandAborted             : BOOL;
    Error                      : BOOL;
    ErrorId                    : UDINT;
    MasterHasError             : BOOL;
END_VAR

Inputs

Name	Type	Default	Description
Master	Type_Master1D		Reference to the master axis
Slave	Reference To AXIS_REF		Reference to the slave axis
Execute	BOOL		Trigger the command with rising edge.
RatioNumerator	LREAL	1.0	Gear ratio numerator
RatioDenominator	UDINT	1	Gear ratio denominator
MasterSyncPosition	LREAL	#Invalid	Position of master axis where master and slave axis are synchronized.
SlaveSyncPosition	LREAL	#Invalid	Position of slave axis where master and slave axis are synchronized.
Velocity	LREAL	#Maximum	Maximum velocity during synchronization ([PosUnit]/s, positive)
Acceleration	LREAL	#Default	Maximum acceleration during synchronization ([PosUnit]/s^2, positive)
Deceleration	LREAL	#Default	Maximum deceleration during synchronization ([PosUnit]/s^2, positive)
Jerk	LREAL	#Default	Maximum jerk during synchronization ([PosUnit]/s^3, positive)
BufferMode	EBufferMode	Aborting	Chronological sequence of the command
ReactionToMasterError	EReactionToMasterError	TriggerSlaveError	Reaction if an error occurs in the master while this command is active.
ReactionToSlaveError	EReactionToSlaveError	TriggerMasterError	Reaction if an error occurs in the slave while this command is active.
AllowedSlaveSyncDirections	ESyncDirection	TowardsSlaveSyncPosition	Allowed directions for establishing initial synchronization

Outputs

Name	Type	Description
InSync	BOOL	True if SyncState == InSync (slave coupled to the master AND master has passed its master sync position).
SyncState	EGearInPosSyncState	Synchronization state. See EGearInPosSyncState for details.
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier
MasterHasError	BOOL	Master is in error state.

Additional information on ReactionToSlaveError and ReactionToMasterError

As a general rule, if there is an error on the slave axis:

Slave axis: The coupling is released, and the response depends on the error type.
Master Axis: The master axis reports an error and either follows the MC's stop ramp or continues its current motion without being affected.

If there is an error on the master axis:

Master axis: The response depends on the type of error.
Slave axis: The slave axis reports an error and follows either the MC's stop ramp or the master axis's setpoints.

Detailed information is provided in the Error behavior chapter.

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6