MC_GearIn, MCP_GearIn – Engange the master/slave velocity ratio

Block SymbolsLicensing group: MOTION CONTROL

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 $V e l M$ and velocity of slave axis $V e l S$ , following relation holds (without phasing): $V e l S = V e l M * R a t i o N u m e r a t o r ∕ R a t i o D e n o m i n a t o r$ . 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/s $^{2}$ ]	Double (F64)
Deceleration	Maximal allowed deceleration [unit/s $^{2}$ ]	Double (F64)
Jerk	Maximal allowed jerk [unit/s $^{3}$ ]	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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