FUNCTION_BLOCK MC_GearIn
The function block couples the slave axis to the master axis specifying a certain velocity transmission ratio and applies a certain velocity ratio between master and slave velocity.
Time behavior of the coupling The slave axis is ramped up to master velocity. Coupling takes place once this is achieved. The distance lost during the synchronization is not made up.
While MC_GearIn is in operation, the transmission ratio can be changed by sequential MC_GearIn commands. To do this, no preceding call of MC_GearOut is necessary.
InGear is set as soon as the desired transmission ratio is achieved for the first time. After achieving synchronization, the type of synchronization depends on the current control mode. In the standard case, i.e. in the position control mode, coupling takes place with position values. For example, with a ratio of 1:2 the slaves are moved by exactly half the distance of the master.
As soon as InGear is TRUE, a position lock or only a velocity lock is system-specific.
Ratio Reached: Transmission ratio achieved.
See also
InOut:
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Scope |
Name |
Type |
Initial |
Comment |
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Inout |
Master |
Reference to master axis. Master needs not to be stationary. |
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Slave |
Reference to slave axis |
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Input |
Execute |
BOOL |
Rising edge: Starts the execution of the function block. |
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RatioNumerator |
DINT |
1 |
Numerator of the quotient for the desired transmission ratio |
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RatioDenominator |
UDINT |
1 |
Numerator of the quotient for the desired transmission ratio |
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Acceleration |
LREAL |
Target acceleration when coupling |
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Deceleration |
LREAL |
Target deceleration when coupling |
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Jerk |
LREAL |
Jerk in [u/s³] |
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Output |
InGear |
BOOL |
TRUE: Coupling has taken place. |
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Busy |
BOOL |
TRUE: Function block is in operation. |
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CommandAborted |
BOOL |
TRUE: Execution has been interrupted by another function block instance operating on the axis. |
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Error |
BOOL |
TRUE: Error has occurred. |
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ErrorID |
SMC_ERROR |
Error identification |
