MC_GearInPos (FB)

FUNCTION_BLOCK MC_GearInPos

This function block commands a gear ratio between the position of the slave and master axes from the synchronization point onwards.

• Any previous motion is continued until master crosses “MasterSyncPosition – MasterStartDistance” in the correct direction (according to the sign of MasterStartDistance).

• At that point in time the output StartSync is set. When a “Stop” command is executed on the “Slave” axis before the synchronization has happened, it inhibits the synchronization and the function block issues “CommandAborted”.

• If the MasterStartDistance is not specified, the system itself could calculate the set point for StartSync based on the other relevant inputs

• If the value of MasterSyncPosition or SlaveSyncPosition is greater than the range of modulo, the actual effective value will be wrapped to modulo range,the final sync position needs to be calculated together with MasterStartDistance.

Example of GearInPos timing diagram

Different examples of MC_GearInPos

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	RatioNumerator	DINT	Gear ratio numerator, new value is updated only with rising edge of Execute input, not while still waiting to start
	RatioDenominator	DINT	Gear ratio denominator, new value is updated only with rising edge of Execute input, not while still waiting to start
	MasterValueSource	MC_Source	Decide to use the actual position or reference position of master axis
	MasterSyncPosition	LREAL	The position of the master in the path where the group is insync with the master. (If the ‘MasterSyncPosition’ does not exist, at the first point of the path the master and slave are synchronized)
	SlaveSyncPosition	LREAL	Slave Position at which the axes are running in sync
	SyncMode	INT	Synchronization direction is determined by the sign of MasterStartDistance SyncMode = 0 Combined with the actual slave position, the synchronization direction may be opposite to MasterStartDistance SyncMode <> 0 Sync in matching direction with MasterStartDistance, the synchronization direction consistent MasterStartDistance (with respect to actual slave position) to avoid reverse slave direction
	MasterStartDistance	LREAL	The master distance for the slave to start to synchronize to the master. Start synchronizing when the master passes MasterSyncPosition - MasterStartDistance.Range:<>0
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	StartSync	BOOL	Synchronization was started
	InSync	BOOL	Commanded gearing completed and synchronization position passed
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Master	Axis_Ref	Reference to master axis
	Slave	Axis_Ref	Reference to slave axis