MC_GearIn

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

For clutching to the master axis, the slave axis carries out a compensating movement.

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_GearIn
AXIS_REF	-	Master	InGear	-	BOOL
AXIS_REF	-	Slave	Busy	-	BOOL
BOOL	-	Execute	Active	-	BOOL
BOOL	-	ContinuousUpdate	CommandAborted	-	BOOL
INT	-	RatioNumerator	Error	-	BOOL
UINT	-	RatioDenominator	ErrorID	-	L_IE1P_Error
MC_SOURCE	-	MasterValueSource
LREAL	-	Acceleration
LREAL	-	Deceleration
LREAL	-	Jerk
MC_BUFFER_MODE	-	BufferMode

Inputs

Name Data type	Information/possible settings
master AXIS_REF	Transfer of the axis data structure of the master axis Motion axes (AXIS_REF)
Slave AXIS_REF	Transfer of the axis data structure of the slave axis Motion axes (AXIS_REF)
Execute BOOL	FALSEäTRUE	Start coupling of the slave axis to the master axis.
ContinuousUpdate BOOL	Continuous acceptance of the parameters Control input ContinuousUpdate
FALSE	The pending parameters are accepted with a rising edge at Execute.
TRUE	The pending parameters are accepted continuously, i.e. during the execution the parameters may change.
RatioNumerator INT	Gearbox factor (numerator/denominator) between slave axis and master axis
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
Acceleration LREAL	Maximum acceleration in [unit/s²]
Deceleration LREAL	Maximum deceleration in [unit/s²]
Jerk LREAL	Maximum jerk in [unit/s³]
BufferMode MC_BUFFER_MODE	Mode for processing successive motion commands BufferMode Note: Only the mcBuffered and mcAborting buffer modes are supported.

Name

Data type

Information/possible settings

master

AXIS_REF

Transfer of the axis data structure of the master axis

Motion axes (AXIS_REF)

Slave

AXIS_REF

Transfer of the axis data structure of the slave axis

Motion axes (AXIS_REF)

Execute

BOOL

FALSEäTRUE

Start coupling of the slave axis to the master axis.

ContinuousUpdate

BOOL

Continuous acceptance of the parameters

Control input ContinuousUpdate

FALSE

The pending parameters are accepted with a rising edge at Execute.

TRUE

The pending parameters are accepted continuously, i.e. during the execution the parameters may change.

RatioNumerator

INT

Gearbox factor (numerator/denominator) between slave axis and master axis

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

Acceleration

LREAL

Maximum acceleration in [unit/s²]

Deceleration

LREAL

Maximum deceleration in [unit/s²]

Jerk

LREAL

Maximum jerk in [unit/s³]

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
InGear 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 velocity.
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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