MC_GearIn, MCP_GearIn –  Engange the master/slave velocity ratio

Block SymbolsLicensing group: MOTION CONTROL
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Function Description

The MC_GearIn and MCP_GearIn blocks offer the same functionality, the only difference is that some of the inputs are available as parameters in the MCP_ version of the block.

The MC_GearIn block commands the slave axis motion in such a way that a preset ratio between master and slave velocities is maintained. Considering the velocity of master axis V elM and velocity of slave axis V elS, following relation holds (without phasing): V elS = V elM RatioNumeratorRatioDenominator. Position and acceleration is commanded to be consistent with velocity; position/distance ratio is also locked. This mode of synchronized motion is called electronic gear.

The gear mode is switched off by executing other motion block on slave axis with mode aborting or by executing a MC_GearIn block.

Similarly to the MC_CamIn block, ramp-in mode is activated if initial velocity of slave axis is different from master axis and gearing ratio. Parameters Acceleration, Deceleration, Jerk are used during ramp-in mode.

Inputs

uMaster

Master axis reference

Reference

uSlave

Slave axis reference

Reference

Execute

The block is activated on rising edge

Bool

RatioNumerator

Gear ratio Numerator

Long (I32)

RatioDenominator

Gear ratio Denominator

Long (I32)

Acceleration

Maximal allowed acceleration [unit/s2]

Double (F64)

Deceleration

Maximal allowed deceleration [unit/s2]

Double (F64)

Jerk

Maximal allowed jerk [unit/s3]

Double (F64)

BufferMode

Buffering mode

Long (I32)

1 ....

Aborting (start immediately)

2 ....

Buffered (start after finish of previous motion)

3 ....

Blending low (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

4 ....

Blending high (start after finishing the previous motion, previous motion finishes with the lowest velocity of both commands)

5 ....

Blending previous (start after finishing the previous motion, previous motion finishes with its final velocity)

6 ....

Blending next (start after finishing the previous motion, previous motion finishes with the starting velocity of the next block)

Outputs

yMaster

Master axis reference

Reference

ySlave

Slave axis reference

Reference

InGear

Slave axis reached gearing ratio

Bool

CommandAborted

Algorithm was aborted

Bool

Busy

Algorithm not finished yet

Bool

Active

The block is controlling the axis

Bool

Error

Error occurred

Bool

ErrorID

Result of the last operation

Error

i ....

REXYGEN general error

Example
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