MLGearInit

 Function - Initializes a Gear Pipe Block with user-defined settings and for use in a PLC program.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID number of a created Pipe Block.
Ratio	LREAL	No range	N/A	No default	Ratio of new Gear Pipe Block. Values lower then 1.0 can be entered, but require a leading 0 (zero). Example: 0.8 instead of .8.
Offset	LREAL	No range	N/A	No default	Offset of new Gear Pipe Block. Values lower then 1.0 can be entered, but require a leading 0 (zero). Example: 0.8 instead of .8.
UseUserRatioSlope	BOOL	FALSE, TRUE	N/A	No default	FALSE to use the maximum Slope. FALSE causes an instantaneous gear change within one cycle. Use TRUE to use user-defined RatioSlope.
RatioSlope	LREAL	No range	1/sec	No default	User-defined limit at which step changes in Ratio are implemented. Values lower then 1.0 can be entered, but require a leading 0 (zero). Example: 0.8 instead of .8.
UseUserOffsetSlope	BOOL	FALSE, TRUE	N/A	No default	FALSE to use the maximum Slope. FALSE causes an instantaneous gear change within one cycle. Use TRUE to use user-defined OffsetSlope.
OffsetSlope	LREAL	No range	User unit/sec	No default	User-defined limit at which step changes in Offset are implemented. Values lower then 1.0 can be entered, but require a leading 0 (zero). Example: 0.8 instead of .8.
Modulo	BOOL	FALSE, TRUE	N/A	No default	TRUE when the mode is modulo. Modulo mode adapts the output values according to the ModuloPosition (modulo).

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Returns TRUE if the Gear Pipe Block is initialized. The output of a Gear Block = Input value * Ratio + Offset. See Function - General Rules.

Remarks

• This function block is automatically called if a Gear Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.
• The Pipe Block is assigned a Name, Ratio, Offset, and Slopes for changes in Ratio and Offset values.
  • Choose between Modulo or Not modulo mode.
  • Slopes set the limit at which step changes in Ratio and Offset are implemented.

• 
  

• Set the RatioSlope < (Ratio * EtherCAT Update Rate).
  The Gear block makes a jump (without a ramp) from one gear to the next when the RatioSlope is greater than the Ratio change factor multiplied by the update rate scale factor.

Modulo Value

If the Gear block's input is a modulo value and the position delta is greater than ½, the modulo value within one sample period in the opposite direction, the Gear block cannot detect the change in the direction of motion.

Example

• The sample period is: 1 msec.
• The Master is configured for a 360 degree modulo.
• The Master position is changed by >180 degrees within 1 msec.
  • In this case, the Gear block cannot determine whether the direction is in the same or opposite direction.

Avoid Modulo Calculation Problems

• Either deactivate and reactivate the PipeNetwork when forcing the Master position with MLMstForcePos.
• Use a MLMstAbs or MLMstRel move to force the Master’s position value.

Example

To force the Master position to 0 (zero), use this code:

PipeNetwork(MLPN_DEACTIVATE);
MLMstForcePos(PipeNetwork.MASTER, 0);
PipeNetwork(MLPN_ACTIVATE);

• 
  

• Gear objects are normally created in the Pipe Network using the graphical engine.
  You do not have to add MLGearInit function blocks to their programs.
  Parameters are entered directly in pop-up windows and the code is automatically added to the current project.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize a Gear Pipe Block named GEAR1 with:
//  Ratio = 1,Offset = 0, User Ratio Slope OFF, User Ratio
//  Slope = 0, Offset Slope = 0, and no Modulo
GEAR1 := MLBlkCreate( 'GEAR1', 'GEAR' );
MLGearInit( GEAR1, 1.0, 0.0, false, 0.0, false, 0.0, false);

See Also

• MLBlkCreate
• MLGearWriteRatio