MC_GearInPos

This FB serves to establish a position synchronism between master and slave axis.

  • For clutching to the master axis, the slave axis carries out a compensating movement.
  • Various modes are available for the clutch-in process.
  • A shift of the synchronous positions of the master and slave serves to apply an offset.
  • A gearbox factor can be defined between master and slave axis.
  • Only the slave axis is moved with this FB, not the master axis.

 

 

 

MC_GearInPos

 

 

 

AXIS_REF

-

master

StartSync

-

BOOL

AXIS_REF

-

Slave

InSync

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

INT

-

RatioNumerator

Active

-

BOOL

UINT

-

RatioDenominator

CommandAborted

-

BOOL

MC_SOURCE

-

MasterValueSource

Error

-

BOOL

LREAL

-

MasterSyncPosition

ErrorID

-

L_IE1P_Error

LREAL

-

SlaveSyncPosition

MC_SYNC_MODE

-

SyncMode

LREAL

-

MasterStartDistance

MC_BUFFER_MODE

-

BufferMode

 

 

 

 

 

 

 

 
Inputs

RatioDenominator

UINT

MasterValueSource

MC_SOURCE

Source of relevant data for the master axis:

  • mcSetValue: Setpoints are used
  • mcActualValue: Current values of the feedback system are used

MasterSyncPosition

LREAL

Position of the master axis where the clutch-in process ends and the master and slave axis are synchronised.

SlaveSyncPosition

LREAL

Position of the slave axis where the clutch-in process ends and the master and slave axis are synchronised.

SyncMode

MC_SYNC_MODE

Mode for the clutch-in process:

  • mcShortest: On the shortest way
  • mcCatchUp: With increased velocity ( red line )
  • mcSlowDown: With reduced velocity ( green line )

Initial velocity of the slave axis is higher than the velocity of the master axis.

Initial velocity of the slave axis is lower than the velocity of the master axis.

In the mcSlowDown setting the clutch-in distance is calculated internally in the FB:

MasterStartDistanceIntern:= 2.0 * ABS(SlaveSyncPosition - ActSlavePosition)

The selection via the input MasterStartDistance is not evaluated. That way, the clutch-in speed of the slave will not be greater than the master speed.

MasterStartDistance

LREAL

Distance to MasterSyncPosition for the start of synchronisation

  • A motion previously instructed will be continued until the master axis has passed through the MasterSyncPosition position minus the MasterStartDistance in the correct direction (correctly signed).
  • If this input is not assigned , the FB calculates the starting time for the synchronisation based on the other input variables.

Note:

In the SyncMode = mcSlowDown setting the input MasterStartDistance is not read in.

BufferMode

MC_BUFFER_MODE

Mode for processing successive motion commands

BufferMode

Note: Only the mcBuffered and mcAborting buffer modes are supported.

Outputs

Name

Data type

Value/meaning

StartSync

BOOL

TRUE

Synchronisation starts.

The master axis has passed through the MasterSyncPosition position minus the MasterStartDistance in the correct direction.

InSync

BOOL

TRUE

The slave axis is coupled to the master axis with the set gearbox ratio, both axes are now running synchronously in terms of position.

Busy

BOOL

TRUE

Processing is running.

Active

BOOL

TRUE

The command of the FB is currently executed.

  • The Active output matters if a motion control is carried out by several FBs (BufferMode).

CommandAborted

BOOL

TRUE

The command was aborted by another FB.

  • The motion control of the slave has been taken over by another FB.

Error

BOOL

TRUE

An error has occurred. For details see ErrorID .

  • The motion control of the slave must be taken over by another FB.

ErrorID

L_IE1P_Error

If Error = TRUE: Error number for the error that has occurred.

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