MC_GearIn

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
Master Input/Output Select the master axis for the gearing operation. This must be a UINT variable with a value of the master axis number.
Slave Input/Output Select the slave axis for the gearing operation. This must be a UINT variable with a value of the slave axis number.
ContinuousUpdate Input Specify the update setting of the input value. This is explained in section 6.1.5 of the XMC user manual.
RatioNumerator Input Specify the numerator of the gear ratio (-32768 ~ 32767).
RatioDenominator Input Specify the denominator of the gear ratio (0 ~ 65535).
MasterValueSource Input

Select the source of the main axis for gearing operation.

  • 0: Synchronizes to the command position of the main axis.

  • 1: Synchronizes to the current position of the main axis.

Acceleration Input Specify the acceleration at the beginning of the gearing operation.
Deceleration Input Specify the deceleration at the beginning of the gearing operation.
Jerk Input Specify the change rate of acceleration/deceleration.
BufferMode Input Specify the sequential operation setting. See BufferMode table below.
InGear Output Indicates the gearing operation is running.
Busy Output Indicates the function block is currently being executed.
Active Output Indicates the function block is controlling the slave axis.
CommandAborted Output Indicates the function block was aborted.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.

 

Sections 6.1.4 and 8.2.10 of the XMC user manual provide more information about buffer modes.

Value Buffer Mode Description
0 Aborting Abort previous command and execute the command immediately.
1 Buffered Execute the command after previous command is completed.
2 BlendingLow The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3 BlendingPrevious The new command is blended into a previous command using the velocity of the previous command.
4 BlendingNext The new command is blended into a previous command using the velocity from the new command.
5 BlendingHigh The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

 

 

Before executing MC_GearIn

After executing MC_GearIn with Axis 1 as slave

After executing MC_MoveVelocity on Axis 2 as master

//Check that all axes are ready

IF (_AX01_RDY) AND (_AX02_RDY) THEN

All_Axes_Ready := TRUE;

ELSE

All_Axes_Ready := FALSE;

END_IF;

 

//Check that all axes are powered on

IF (_AX01_SV_ON) AND (_AX02_SV_ON) THEN

All_Axes_Pwr_On := TRUE;

ELSE

All_Axes_Pwr_On := FALSE;

END_IF;

 

//Set MasterAxis and SlaveAxis variables

Master_Axis := 2;

Slave_Axis := 1;

 

IF (All_Axes_Pwr_On) AND (All_Axes_Ready) THEN

//MoveVelocity command for master axis

Master_MOVEVELOCITY(Execute:=Execute_MasterMove, Axis:=Master_Axis, ContinuousUpdate:=0, Velocity:=50000.0, Acceleration:=10000.0, Deceleration:=10000.0, Jerk:=1000.0, Direction:=1, BufferMode:=0, ErrorID=>Master_MOVEVELOCITY.ErrorID);

//Example MC_GearIn fb

Slave_GEARIN(Execute:=Execute_GearIn, Master:=Master_Axis, Slave:=Slave_Axis, ContinuousUpdate:=0, RatioNumerator:=Slave_GEARIN.RatioNumerator, RatioDenominator:=Slave_GEARIN.RatioDenominator, MasterValueSource:=Slave_GEARIN.MasterValueSource, Acceleration:=Slave_GEARIN.Acceleration, Deceleration:=Slave_GEARIN.Deceleration, Jerk:=Slave_GEARIN.Jerk, BufferMode:=0, ErrorID=>Slave_GEARIN.ErrorID);

END_IF;

 

 

 

 

 

 

 

 

 

LM605-1