MC_GearIn

MC_GearIn - General Information

Overview

Type:	Function Block
Available as of:	1.0.5.0
Versions:	current version

Task

The axis is to follow the velocity of the master axis at a specified ratio.

Description

The slave is coupled to the master using a CAM. The velocity ratio is set using the gear functionality of the logical encoder.

Interface

Input	Data type	Description
Master	SystemConfigurationItf.IF_Drive	Master axis
Slave	SystemConfigurationItf.IF_Drive	Slave axis
Execute	BOOL	A rising edge couples the slave axis to the master axis.
RatioNumber	DINT	Gear ratio numerator
RatioDenominator	DINT	Gear ratio denominator
Acceleration	LREAL	Maximum acceleration when changing the factor
Deceleration	LREAL	Maximum deceleration when changing the factor
Jerk	LREAL	Maximum jerk when changing the factor

Output	Data type	Description
InGear	BOOL	TRUE: The axis is coupled to the master.
Busy	BOOL	The function block is not finished and new outputs are still pending.
CommandAborted	BOOL	The motion has been cancelled.
Error	BOOL	Signalizes a detected error within the function block
ErrorId	DWORD	Error identification
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Busy	1	The order is executed.
OK	CommandAborted	9	The action was canceled.
OK	InGear	5	The gearbox is enabled.
OK	Ok	0	Ok
DriveConditionInvalid	DriveNotReady	70	The drive is not ready for motion commands.
ExecutionAborted	MemoryFull	16	The memory is full.
ExecutionAborted	PLCopenTransition	49	PLCopen transition is not permitted.
ExecutionAborted	ProfileBlocked	12	The profile is in use.
ExecutionAborted	SercosNotInPhaseFour	43	The bus is not in phase 4.
ExecutionAborted	TableFull	15	The profile table is full
InputParameterInvalid	DriveInvalid	26	The connected drive is invalid.
InputParameterInvalid	DriveNotInitialised	27	The connected drive is not initialized.
InputParameterInvalid	EncoderInvalid	51	The Encoder is invalid.
InputParameterInvalid	EncoderInvalid	51	The Encoder is invalid.
InputParameterInvalid	MasterInvalid	45	Master is invalid.
InputParameterInvalid	SlaveInvalid	46	Slave is invalid.
UnexpectedProgramBehavior	InputInvalid	35	Input is invalid.
UnexpectedProgramBehavior	ProfileIdInvalid	11	ProfileId is invalid.
UnexpectedProgramBehavior	UnexpectedFeedback	10	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	XFactorTooSmall	14	XFactor is too small.

Busy

Enumeration name:	Busy
Enumeration value:	1
Description:	The order is executed.

The gearbox is being enabled.

CommandAborted

Enumeration name:	CommandAborted
Enumeration value:	9
Description:	The action was canceled.

The job was cancelled.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	26
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	The drive transferred at the input Master does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_RefActualValuesVelocity interface.
-	The drive transferred at the input Slave does not support all required functionalities.	The drive must support the SystemConfigurationItf.IF_ControllerStop interface.

DriveNotInitialised

Enumeration name:	DriveNotInitialised
Enumeration value:	27
Description:	The connected drive is not initialized.

Issue	Cause	Solution
-	The function FC_DriveInit was not activated for the drive at the input Master.	Before using the POU, the drive must be initialized using the function FC_DriveInit.
-	The function FC_DriveInit was not activated for the drive at the input Slave.	Before using the POU, the drive must be initialized using the function FC_DriveInit.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	70
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis at the input Slave is in an error state.	Verify the diagnostic message of the axis.

EncoderInvalid

Enumeration name:	EncoderInvalid
Enumeration value:	51
Description:	The Encoder is invalid.

Issue	Cause	Solution
-	The logical encoder of the axis at the input Master is invalid.	It must be made sure that the axis at the input Master was initialized with the POU FC_DriveInit. When calling up the POU FC_DriveInit for the axis at the input Master a logical encoder must have been indicated.
-	The logical encoder of the axis at the input Slave is invalid.	It must be made sure that the axis at the input Slave must be initialized with the POU FC_DriveInit. When calling up the POU FC_DriveInit for the axis at the input Slave a logical encoder must have been indicated.

Issue

Cause

Solution

The logical encoder of the axis at the input Master is invalid.

It must be made sure that the axis at the input Master was initialized with the POU FC_DriveInit.

When calling up the POU FC_DriveInit for the axis at the input Master a logical encoder must have been indicated.

The logical encoder of the axis at the input Slave is invalid.

It must be made sure that the axis at the input Slave must be initialized with the POU FC_DriveInit.

When calling up the POU FC_DriveInit for the axis at the input Slave a logical encoder must have been indicated.

InGear

Enumeration name:	InGear
Enumeration value:	5
Description:	The gearbox is enabled.

The Slave is coupled to the Master via the electronic gearbox.

InputInvalid

Enumeration name:	InputInvalid
Enumeration value:	35
Description:	Input is invalid.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

MasterInvalid

Enumeration name:	MasterInvalid
Enumeration value:	45
Description:	Master is invalid.

Issue	Cause	Solution
-	No drive has been applied at the input Master.	A valid drive must be transferred to the input Master.

MemoryFull

Enumeration name:	MemoryFull
Enumeration value:	16
Description:	The memory is full.

Issue	Cause	Solution
-	The memory is full. The motion profile for the gearbox cannot be loaded.	It must be made sure that there is enough memory available.

Issue

Cause

Solution

The memory is full.

The motion profile for the gearbox cannot be loaded.

It must be made sure that there is enough memory available.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The POU is waiting for jobs.

PLCopenTransition

Enumeration name:	PLCopenTransition
Enumeration value:	49
Description:	PLCopen transition is not permitted.

Issue	Cause	Solution
-	During job submission the axis is not in PLCopen state MC_Standstill or MC_SynchronizedMotion.	It must be made sure that the axis is in a valid PLCopen state when the POU is enabled.

ProfileBlocked

Enumeration name:	ProfileBlocked
Enumeration value:	12
Description:	The profile is in use.

Issue	Cause	Solution
-	The motion profile is being used by another POU.	Make sure that two POUs are not processing on the same axis.

ProfileIdInvalid

Enumeration name:	ProfileIdInvalid
Enumeration value:	11
Description:	ProfileId is invalid.

Issue	Cause	Solution
-	The motion profile in invalid.	Make sure that two POUs are not processing on the same axis.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	43
Description:	The bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

SlaveInvalid

Enumeration name:	SlaveInvalid
Enumeration value:	46
Description:	Slave is invalid.

Issue	Cause	Solution
-	No drive has been applied at the Slave input.	A valid drive must be transferred to the input Slave.

TableFull

Enumeration name:	TableFull
Enumeration value:	15
Description:	The profile table is full

Issue	Cause	Solution
-	Too many motion profiles are loaded.	Disable other POUs. Enable motion profiles that are not required.

Issue

Cause

Solution

Too many motion profiles are loaded.

Disable other POUs.

Enable motion profiles that are not required.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	10
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

XFactorTooSmall

Enumeration name:	XFactorTooSmall
Enumeration value:	14
Description:	XFactor is too small.

Issue	Cause	Solution
-	No valid motion profile could be generated.	Verify the input parameters.