Function - Omron NY532-1500 Reference Manual

3 Axis Command Instructions

Function

• The MC_GearInPos instruction performs gear operation for the slave axis specified with Slave. The
following parameters are also specified: RatioNumerator (Gear Ratio Numerator), RatioDenominator
(Gear Ratio Denominator), ReferenceType (Position Type), Acceleration (Acceleration Rate), and
Deceleration (Deceleration Rate).
• For the master axis, you can specify the command position, actual position, or most recent command
position.
Specified with
ReferenceType.
Actual position
Command position
Most recent
command position
• After operation starts, the Slave (Slave Axis) accelerates and decelerates in sync with the Master
(Master Axis) in the catching operation.
• Catching phase exists until the slave axis reaches the slave sync position. For either, the position is
synchronized with the master axis.
• The Velocity (Target Velocity) input variable is the target velocity for the catching phase.
• The slave axis moves in the same direction as the master axis when operation is started.
An error occurs if the master axis velocity is 0 when started. If the master axis is moving in the posi-
tive direction and SlaveSyncPosition (Slave Sync Position) is smaller than the position of the slave
axis when the instruction was executed, the slave axis will reverse direction. If the master axis is
moving in the negative direction and SlaveSyncPosition (Slave Sync Position) is larger than the posi-
tion of the slave axis when the instruction was executed, the slave axis will also reverse direction. For
either, the position is synchronized with the master axis.
• If the master axis velocity changes significantly between periods, the slave axis velocity will not be
constant.
3-246
Gear function
Numerator
Denominator
Remainder
NY-series Motion Control Instructions Reference Manual (W561)
Command position