MC_GearIn_BkPlcMc (from V3.0)

The function block starts and monitors a coupling between two axes. To release the coupling, an MC_GearOut_BkPlcMc function block should be used.

Inputs

VAR_INPUT
    Execute:                BOOL;
    RatioNumerator:         INT;
    RatioDenominator:       INT;
    Acceleration:           LREAL;
    Deceleration:           LREAL;
    Jerk:                   LREAL;  (ab/from V3.0.5)
    BufferMode:             MC_BufferMode_BkPlcMc:=Aborting_BkPlcMc;    (ab/from V3.0.8)
END_VAR

Name	Type	Description
Execute	BOOL	A rising edge at this input starts the coupling.
RatioNumerator	INT	[1, 1] These parameters describe the coupling factor in the form of a gear unit.
RatioDenominator	INT	[1, 1] These parameters describe the coupling factor in the form of a gear unit.
Acceleration	LREAL	[mm/s2] The acceleration permitted for the synchronization in actual value units of the axis per square second.
Deceleration	LREAL	[mm/s2] The deceleration permitted for the synchronization in actual value units of the axis per square second.
Jerk	LREAL	[mm/s3] The jerk to be applied.
BufferMode	MC_BufferMode_BkPlcMc	reserved. This input is provided in preparation for a future build. It should currently either not be assigned or assigned the constant Aborting_BkPlcMc. (from V3.0.8)

Inputs/outputs

VAR_INOUT
    Master:         Axis_Ref_BkPlcMc;
    Slave:          Axis_Ref_BkPlcMc;
END_VAR

Name	Type	Description
Master	Axis_Ref_BkPlcMc	Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.
Slave	Axis_Ref_BkPlcMc	Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.

Outputs

VAR_OUTPUT
    Busy:           BOOL;
    InGear:         BOOL;
    CommandAborted: BOOL;
    Error:          BOOL;
    ErrorID:        UDINT;
    Active:         BOOL;
END_VAR

Name	Type	Description
Busy	BOOL	Indicates that a command is being processed.
InGear	BOOL	This indicates the first successful synchronization of the axes. The signal the remains active, even if the synchronization subsequently fails temporarily or permanently.
CommandAborted	BOOL	This indicates abortion of the coupling.
Error	BOOL	The occurrence of an error is indicated here.
ErrorID	UDINT	An encoded indication of the cause of the error is provided here.
Active	BOOL	Indicates that a command is being processed.

Behavior of the function block

On a rising edge at Execute the function block checks the transferred axis interface. A number of problems can be detected and reported during this process:

Next, the system checks whether RatioDenominator is 0. In this case the system responds with Error and ErrorID:=dwTcHydErrCdIllegalGearFactor.
Currently, the coupling can only be activated if both the master and the slave are at standstill. Otherwise the system responds with Error and ErrorID:=dwTcHydErrCdNotStartable.
If the axis is already in an error state, or if it is in the process of carrying out a stop operation, it responds with Error and ErrorID:=dwTcHydErrCdNotReady.
If the motion algorithm is already indicating an error code, the system responds with Error and ErrorID:= the motion algorithm's error code.

If these checks could be performed without problem, the coupling is initiated. The axis is now in state McState_Synchronizedmotion, and the function block starts monitoring the coupling.

When the velocity required by the coupling is reached for the first time while the slave axis coupling is active, this is indicated at output InGear. Since the coupling can currently only be activated at standstill, this is the case immediately. If the slave axis is unable to follow the specifications for some reason while the coupling is active, InGear remains unchanged.

If an error code occurs in the motion generator while the coupling is active, the system responds with Error and ErrorID:=motion algorithm error code.

A falling edge at Execute clears all the pending output signals. If Execute is set to FALSE while the coupling is still active, the existing coupling remains unaffected and active.

	The output Active is currently identical to the output Busy.