Yaskawa MotionWorks IEC - Manual (Page 78)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 70
Notes
1. The slave accelerates up to the ratio of the master velocity and become
"InGear" when ratio is reached. Compensation for any position
relationship lost during the acceleration phase is not provided during
synchronization. Use
MC_GearInPos when maintaining a position
relationship is important.
2. The gearing ratio can be changed while MC_GearIn is running, using a
consecutive MC_GearIn command or re-triggering the 'Execute' input
without the necessity to
MC_GearOut first.
3. The InGear output is set the first time the specified ratio is reached.
Related Function Blocks
MC_GearOut : disengages the Slave axis from the master axis.
Error Description
ErrorID Meaning
0 No Error
4369 The move could not be buffered because the axis motion
queue is full. 16 moves is the maximum which can be
buffered.
4370 The move could not be started because motion is prohibited.
MC_Stop.Execute might be held high, preventing motion. If
MC_Stop has control of the axis, no other function block can
override the "Stopping" state. Other blocks that try to cause
motion while MC_Stop has control of the axis will generate
this error. Also verify that the limit switches are not active by
checking the Global Variables for the axis. Also, a motion