MC_GearInPos

Synchronizes the slave onto the master's velocity and acceleration scaled by a constant gear ratio, anchoring at slave position = SlaveSyncPosition + (RatioNumerator / RatioDenominator) * (master position - MasterSyncPosition). Synchronizes as fast as the function block's inputs Velocity, Acceleration, Deceleration and Jerk allow. Once the slave has reached the scaled velocity and acceleration as well as the position described above, the slave is coupled to the master. From then on any dynamic restrictions (commanded dynamics as well as axis parameters) are ignored. If it is not necessary to configure the position relationship in advance, use MC_GearIn instead. Synchronicity is reached as early as possible and is thus independent of whether commanded synchronous positions have been reached by either master or slave. The outputs InSync and SyncState provide detailed information on the progress of synchronization. The direction in which the slave may move while synchronizing can be restricted via the input AllowedSlaveSyncDirections. The command may be ended by sending another command. Using input BufferMode := Aborting for the next command makes it take over immediately while input BufferMode := Buffered for the next command queues it. It will then take over as soon as output SyncState reaches InSync.

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	The numerator of the gear ratio. Once synchronous the slave's velocity, acceleration and position changes are (RatioNumerator / RatioDenominator) times the master's. A negative value moves the slave opposite to the master.
RatioDenominator	UDINT	1	The denominator of the gear ratio
MasterSyncPosition	LREAL	#Invalid	Together with input SlaveSyncPosition it defines the position anchor, i.e. the position relation required for synchronicity: slave position = SlaveSyncPosition + (RatioNumerator / RatioDenominator) * (master position - MasterSyncPosition).
SlaveSyncPosition	LREAL	#Invalid	Together with input MasterSyncPosition it defines the position anchor, i.e. the position relation required for synchronicity: slave position = SlaveSyncPosition + (RatioNumerator / RatioDenominator) * (master position - MasterSyncPosition).
Velocity	LREAL	#Maximum	The input Velocity used for planning the synchronizing motion ([PosUnit]/s, positive). Not a strict maximum: it might be exceeded due to initial conditions. It has no effect once the slave is synchronous. When starting synchronization while the slave is in motion, input Velocity must equal the axis' maximum value.
Acceleration	LREAL	#Default	The input Acceleration used for planning the synchronization ([PosUnit]/s^2, positive). Not a strict maximum: it might be exceeded due to initial conditions. It has no effect once the slave is synchronous. Must currently be equal to input Deceleration. When starting synchronization while the slave is in motion, input Acceleration must equal the axis' maximum value.
Deceleration	LREAL	#Default	The input Deceleration used for planning the synchronization ([PosUnit]/s^2, positive). Not a strict maximum, see input Acceleration. Must currently be equal to input Acceleration. When starting synchronization while the slave is in motion, input Deceleration must equal the axis' maximum value.
Jerk	LREAL	#Default	The input Jerk used to ramp up or down acceleration during planning the synchronization ([PosUnit]/s^3, positive). It has no effect once the slave is synchronous. When starting synchronization while the slave is in motion, Jerk must equal the axis' maximum value.
BufferMode	EBufferMode	Aborting	Whether the command shall take effect immediately (Aborting) or be queued (Buffered).
ReactionToMasterError	EReactionToMasterError	TriggerSlaveError	This input affects how the slave axis reacts to an error on the master axis.
ReactionToSlaveError	EReactionToSlaveError	TriggerMasterError	This input affects how an error on the slave axis is propagated to the master axis.
AllowedSlaveSyncDirections	ESyncDirection	TowardsSlaveSyncPosition	Restricts the direction in which the slave may move while synchronizing. The value TowardsSlaveSyncPosition resolves at command start to the direction from the slave's position towards input SlaveSyncPosition. While the master moves such that synchronizing would require the slave to move in a forbidden direction, the slave waits (SyncState = Waiting). The axis' feed enable restricts the directions further.

Outputs

Name	Type	Description
InSync	BOOL	TRUE once the output SyncState reaches value InSync: the slave is coupled to the master and the master position has passed value of input MasterSyncPosition.
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.

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x813c	33084	Parameter	BufferMode is invalid. The BufferMode passed to the function block is unknown or not supported by the command (some commands accept only Aborting, others only Buffered).
0x8143	33091	Communication	Function block or respective command is not supported by target. The addressed target (e.g., axis, group or encoder axis) does not support the requested command, for example because an optional feature is not implemented or the target is of the wrong type.
0x8146	33094	Function Block	Invalid velocity value. The velocity was not set or the entered value is invalid.
0x8151	33105	State	Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted.
0x8169	33129	Function Block	Master axis does not exist or cannot be used. The axis passed as master does not exist or has no cyclic mapping and therefore cannot be used as master (e.g., for camming or gearing).
0x816f	33135	State	Coupling would cause a cyclic dependency of axis (e.g., via MC_GearInPos). The requested master-slave coupling would create a cycle in the coupling hierarchy (an axis would be its own master directly or transitively).
0x818e	33166	Function Block	Master/Slave sync position incompatible with sync direction. The given sync positions require the slave moving in a direction which is not allowed while in synchronization phase.
0x81a9	33193	Parameter	Invalid acceleration value. The supplied acceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81aa	33194	Parameter	Invalid deceleration value. The supplied deceleration value is invalid (e.g. not a finite number, negative or outside the permitted range).
0x81ab	33195	Parameter	Invalid jerk value. The jerk value used for the motion is invalid (e.g., negative, zero, or outside the permitted range of the mover or axis).
0x81b6	33206	Function Block	The specified error reaction is invalid. The error reaction specified on the motion function block is invalid (e.g., unknown value in ErrorReactionToMaster or ErrorReactionToSlave on synchronization function blocks).
0x81c0	33216	Function Block	Slave sync direction and slave axis software enable state are incompatible. Traveling in slave sync direction specified in the function block has not been enabled.
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x813f	33087	Function Block	Slave cannot synchronize. The slave cannot reach the SlaveSyncPosition with the given dynamics.

An overview of all NC error codes can be found here:

Other errors

Version information

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