MCA_GearInDirectΒΆ

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MCA_GearInDirect

This Function Block commands a gear ratio between the position of the slave and master axes from the synchronization point onwards.

The Function Block behaves as follows:

  • Synchronization starts right away, no matter if the master moves or is in standstill.

  • The synchronization is limited by the given velocity and acceleration, and achieved as fast as possible, so it can happen that:

    • The 2 axes are synchronized earlier then the 2 given positions
    • The 2 axes are synchronized later then the 2 given positions

  • Following formula is used:

    • slavePosition = (masterPosition-MasterSyncPosition)*RatioNumerator/RatioDenumerator+SlaveSyncPosition

  • In a modulo-axis, it is possible to reach the synchronization point in different directions.

    The input parameter SyncDirection with its possible values: POSITIVE, NEGATIVE or SHORTEST can be used to set this direction.

    Inside the SyncWindow, automatically the direction SHORTEST will be used. It is important to set a SyncWindow>0 for a modulo axis, because otherwise, slightest deviations could result in moving a complete modulo distance.

    • Inside SyncWindow, the slave axis will move SHORTEST to reach the SlaveSyncPosition
    • Outside SyncWIndow, it will move the given SyncDirection, which can be POSITIVE or NEGATIVE

  • If a direction POSITIVE or NEGATIVE is used in a linear axis, the slave will wait until the master reaches a position which allows the slave to move the required direction.