MC_GearInPos

This FB can be used to synchronise the position of the master and slave axes.

The slave axis performs a compensating movement for coupling to the master axis.

Various modes are available for the coupling process.

An offset can be applied by shifting the master and slave synchronisation positions.

A gear factor can be defined between the master and slave axes.

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

Name Data type	Info/adjustment options
Master AXIS_REF	Transfer of the axis data structure of the master axis
Master AXIS_REF	Transfer of the axis data structure of the slave axis
Execute BOOL	FALSE Ã¤ TRUE	Start coupling the slave axis to the master axis.
RatioNumerator INT	Gear factor (numerator/denominator) between slave and master axis
RatioDenominator UINT
MasterValueSource MC_SOURCE	Source of the relevant data for the master axis: mcSetValue: Set values are used mcActualValue: Current values of the feedback system are used
MasterSyncPosition LREAL	Position of the master axis at which the coupling process ends and the master and slave axes are synchronised.
SlaveSyncPosition LREAL	Position of the slave axis at which the coupling process ends and the master and slave axes are synchronised.
SyncMode MC_SYNC_MODE	Mode for the coupling process: mcShortest: The shortest route mcCatchUp: With increased speed ( red line ) mcSlowDown: With slower speed ( green line ) Initial speed of the slave axis is higher than the speed of the master axis. Initial speed of the slave axis is lower than the speed of the master axis. In the mcSlowDown setting, the engagement distance is calculated internally in the FB: MasterStartDistanceIntern:= 2.0 * ABS(SlaveSyncPosition - ActSlavePosition) The specification via the MasterStartDistance input is not evaluated. The coupling speed of the slave is therefore not greater than the master speed.
MasterStartDistance LREAL	Distance to the MasterSyncPosition for the start of synchronisation A previously ordered movement is continued until the master axis has travelled through the MasterSyncPosition minus the MasterStartDistance position in the correct direction (with the correct sign). If this input is not assigned , the FB calculates the start time for synchronisation based on the other input variables. Note: With the setting SyncMode = mcSlowDown , the MasterStartDistance input is not read in
BufferMode MC_BUFFER_MODE	Mode for processing successive movement commands BufferMode Note: Only the buffer modes mcBuffered and mcAborting are supported.

Name

Data type

Info/adjustment options

Master

AXIS_REF

Transfer of the axis data structure of the master axis

Master

AXIS_REF

Transfer of the axis data structure of the slave axis

Execute

BOOL

FALSE Ã¤ TRUE

Start coupling the slave axis to the master axis.

RatioNumerator

INT

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

RatioDenominator

UINT

MasterValueSource

MC_SOURCE

Source of the relevant data for the master axis:

mcSetValue: Set values are used
mcActualValue: Current values of the feedback system are used

MasterSyncPosition

LREAL

Position of the master axis at which the coupling process ends and the master and slave axes are synchronised.

SlaveSyncPosition

LREAL

Position of the slave axis at which the coupling process ends and the master and slave axes are synchronised.

SyncMode

MC_SYNC_MODE

Mode for the coupling process:

mcShortest: The shortest route
mcCatchUp: With increased speed ( red line )
mcSlowDown: With slower speed ( green line )

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

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

In the mcSlowDown setting, the engagement distance is calculated internally in the FB:

MasterStartDistanceIntern:= 2.0 * ABS(SlaveSyncPosition - ActSlavePosition)

The specification via the MasterStartDistance input is not evaluated. The coupling speed of the slave is therefore not greater than the master speed.

MasterStartDistance

LREAL

Distance to the MasterSyncPosition for the start of synchronisation

A previously ordered movement is continued until the master axis has travelled through the MasterSyncPosition minus the MasterStartDistance position in the correct direction (with the correct sign).
If this input is not assigned , the FB calculates the start time for synchronisation based on the other input variables.

Note:

With the setting SyncMode = mcSlowDown , the MasterStartDistance input is not read in

BufferMode

MC_BUFFER_MODE

Mode for processing successive movement commands

BufferMode

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

Outputs

Name Data type	Value/meaning
StartSync BOOL	TRUE	Synchronisation begins. The master axis has travelled through the MasterSyncPosition minus the MasterStartDistance in the correct direction.
InSync BOOL	TRUE	The slave axis is coupled to the master axis with the set gear ratio, both axes now run synchronised in position.
Busy BOOL	TRUE	Processing in progress.
Active BOOL	TRUE	The command of the FB is currently being executed. The Active output is important if movement is controlled by several FBs (BufferMode).
CommandAborted BOOL	TRUE	The command was cancelled by another FB. The motion control of the slave was 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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