Function BlockMC_GearOutPLCopen motion icon

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.

  • 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 JerkClosedIn 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.


  • 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.

MC_GearOut

Figure 7-152: MC_GearOut

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 jerkClosedIn 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

MC_GearOut: LD example

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