MC_GearInPos_BkPlcMc (from V3.0.33)

The function block starts and monitors an on-the-fly 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;
     MasterSyncPosition:    LREAL;
     SlaveSyncPosition:     LREAL;
     SyncMode:              INT;
     MasterStartDistance:   LREAL;
     Acceleration:          LREAL;
     Deceleration:          LREAL;
     Jerk:                  LREAL;   (ab/from V3.0.5)
     BufferMode:            MC_BufferMode_BkPlcMc:=Aborting_BkPlcMc;
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.
MasterSyncPosition	LREAL	[mm] The coupling is fully active from this master position.
SlaveSyncPosition	LREAL	[mm] The coupling is fully active from this slave position.
SyncMode	INT	Currently not supported.
MasterStartDistance	LREAL	[mm] This is the master distance over which the coupling is established.
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
     StartSync:        BOOL;
     InSync:           BOOL;
     Busy:             BOOL;
     Active:           BOOL;
     CommandAborted:   BOOL;
     Error:            BOOL;
     ErrorID:          UDINT;
END_VAR

Name	Type	Description
StartSync	BOOL	Indicates the transition phase between idle state and fully active coupling.
InSync	BOOL	This indicates the first successful synchronization of the axes. The signal the remains active, even if the synchronization subsequently fails temporarily or permanently.
Busy	BOOL	Indicates that a command is being processed.
Active	BOOL	Indicates that a command is being processed.
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.

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.
If RatioDenominator is less than 0, the system responds with Error and ErrorID:=dwTcHydErrCdNotSupport.
The coupling can only be activated if the slave is at standstill. Otherwise the system responds with Error and ErrorID:=dwTcHydErrCdNotStartable.
If the absolute value of the MasterStartDistance is too small, the system responds with Error and ErrorID:=dwTcHydErrCdCannotSynchronize.
If the actual position of the master is not between MasterSyncPosition and the end of the synchronization distance specified by MasterStartDistance, the system responds with Error and ErrorID:=dwTcHydErrCdCannotSynchronize.

If these checks could be performed without problem, the coupling is initiated. The slave axis initially continues to be in state McState_Standstill. Only when the master axis reaches the start of the synchronization distance for the first time does the slave axis report McState_Synchronizedmotion and indicate StartSync, and the function block starts monitoring the coupling. As soon as the axis reaches the end the synchronization distance for the first time, the slave axis indicates InSync. Should the master axis later pass the start of the synchronization distance backwards, the coupling is not released.

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.

An example is available under #103.

	The function block does not support the functionality of TwinCAT NC.

	The output Active is currently identical to the output Busy.