MC_GearOut

Description

This function block:

• aborts the active MC_GearIn or MC_GearInPos move,
• disengages the axis from its master,
• and commands the axis to continue at its current velocity.

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

Like a MC_MoveVelocity move, the control continues to command the axis to move at this velocity until this MC_GearOut move is aborted. The Acceleration, Deceleration and JerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time 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.

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• The MC_GearOut is done when the slave axis is disengaged from the master axis. Once done, the MC_GearOut will remain 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 7-152: MC_GearOut

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• This function block starts a motion-related action and therefore stores data for calculations and error checking. Please see Calling Function Blocks Multiple Times in the Same Cycle if you are using a dual-core controller.

Arguments

For more detail on how inputs and outputs work, refer to PLCopen Function Blocks - General Rules

Input

Execute	Description	Requests to disengage the slave axis from a MC_GearIn or MC_GearInPos move
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Slave	Description	Name of a declared instance of the AXIS_REF library function (for more details, About Axis Name and Number)
	Data type	AXIS_REF
	Range	[1,256]
	Unit	N/A
	Default	—
Acceleration	Description	Trapezoidal: Acceleration rate S-curve: Maximum acceleration
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Trapezoidal: Deceleration rate S-curve: Unused
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Jerk	Description	Trapezoidal: 0 S-curve: Constant jerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time
	Data type	LREAL
	Range	—
	Unit	User unit/sec3
	Default	—

Output

Done	Description	Indicates the axis is disengaged from its master
	Data type	BOOL
Busy	Description	Indicates the function is executing
	Data type	BOOL
Active	Description	Indicates this move is the Active move
	Data type	BOOL
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
Error	Description	Indicates an invalid input was specified or no MC_GearIn or MC_GearInPos move is active
	Data type	BOOL
ErrorID	Description	Indicates the error if Error output is set to TRUE See table in PLCopen Function Block ErrorID Output
	Data type	INT

Example

Structured Text

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

Ladder Diagram

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