Chapter 11 Motion Control Instructions
11-163
Name Timing for changing to TRUE Timing for changing to FALSE
Active
When the axis starts being
controlled by the instruction
When CommandAborted changes to TRUE
When Error changes to TRUE
CommandAborted
When the instruction execution is
aborted by other motion
instruction
When Execute changes from TRUE to
FALSE
CommandAborted is set to TRUE when the
instruction is aborted by other instruction
after Execute changes from TRUE to FALSE
in the course of the instruction execution.
One period later, CommandAborted changes
Error
When an error occurs in the
instruction execution or the input
parameters for the instruction are
When Execute changes from TRUE to
FALSE
Output Update Timing Chart
Case 1： Busy changes to TRUE as Execute changes from FALSE to TRUE. One period later, Active
changes to TRUE. When the synchronous state is reached, InGear changes to TRUE and
meanwhile Busy and Active remain TRUE.
Case 2： When Execute changes to TRUE and the slave axis is controlled by other instruction,
MC_GearIn instruction is aborted by other instruction and CommandAborted changes to
TRUE. Meanwhile Busy and Active change to FALSE. When Execute changes from TRUE to
FALSE, CommandAborted changes to FALSE.
Case 3： When Execute changes from FALSE to TRUE and an error such as a parameter mistake
occurs, Error changes to TRUE and ErrorID shows corresponding error codes. Meanwhile
InGear, Busy and Active change to FALSE. As Execute changes from TRUE to FALSE, Error
changes to FALSE.
Case 4： After Execute changes from TRUE to FALSE in the process of execution of MC_GearIn,
InGear changes to TRUE and meanwhile Busy and Active remain TRUE.
Function
1. MC_GearIn is used for establishing an electronic gear relationship between two axes. After the
MC_GearIn instruction is executed, the slave axis performs the gear operation with the master axis
according to the parameters, RatioNumerator, RatioDenominator, Acceleration, Deceleration, Jerk
and BufferMode. The master axis can be a real axis, virtual axis or encoder axis. The salve axis
can be a real axis or virtual axis.
2. In the instruction execution, the slave axis need be enabled and the master axis can be enabled or
disabled.
Execute
InGear
Busy
Active
CommandAborted
Error
Error ID
Case1
Case2 Case4
Case3
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