MC_GearOut

PLCopen motion icon

Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Disengages the slave axis from a MC_GearIn or MC_GearInPos move or the master axis.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge The transition of a digital signal from low to high. AKA: positive edge., request to disengage the slave axis from a MC_GearIn or MC_GearInPos move.
Slave	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances.. See Axis Name and Number. See AXIS_REF Structure.
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec²	No default	Trapezoidal: Acceleration rate. S-curve: Maximum acceleration. See S-curve and Trapezoidal Acceleration / Deceleration.
Deceleration	LREAL	No range	User unit/sec²	No default	Trapezoidal: Deceleration rate. S-curve: Unused. See S-curve and Trapezoidal Acceleration / Deceleration.
Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time.	LREAL	No range	User unit/sec³	No default	Trapezoidal: 0 (zero). S-curve: Constant jerk. See S-curve and Trapezoidal Acceleration / Deceleration.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	Indicates the axis is disengaged from its master.
Busy	BOOL	No range	N/A	Indicates the function is executing.
Active	BOOL	No range	N/A	Indicates this move is the Active move.
CommandAborted	BOOL	No range	N/A	Indicates the move was aborted.
Error	BOOL	No range	N/A	Indicates either: An invalid input was specified. No MC_GearIn or MC_GearInPos move is active.
ErrorID	INT	No range	N/A	Indicates the error if the Error output is set to TRUE. See PLCopen Function Block ErrorIDs.

Remarks

This function block starts a motion-related action and stores data for calculations and error checking.
See Call Function Blocks Multiple Times in the Same Cycle if using a dual-core controller.

This function block:

Aborts the active MC_GearIn or MC_GearInPos move.
Disengages the axis from its master.
Commands the axis to continue at its current velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP.
See Function Blocks - General Rules about how inputs and outputs work.

The current velocity is calculated by taking the average of the actual velocity during the previous 16 cycles.

The control continues to command the axis to move at this velocity until this MC_GearOut move is aborted.
The Acceleration, Deceleration, and Jerk input parameters are applied if this command velocity is modified by the MC_SetOverride function block.
If this function block is called, and the active move is not a MC_GearIn or MC_GearInPos move, this function block returns an error and the active move is not aborted.

The MC_GearOut is done when the slave axis is disengaged from the master axis.
Once done, the MC_GearOut remains busy and active until it is aborted by a different motion function block.
This is different behavior than most other motion function blocks.
The MC_GearOut function block represents an exception to the exclusivity rule as the Done and Active outputs may be true at the same time.

Figure 1: MC_GearOut

FBD Language Example

Not available.

FFLD Language Example

IL Language Example

Not available.

ST Language Example

            (* MC_GearOut ST example *)
            
Inst_MC_GearOut(ExecGearOut1,Axis1,GearOut1Acc,GearOut1Dec,GearOut1Jerk);
//Inst_MC_GearOut is instance of MC_GearOut