Electronic Gearing; Command Summary - Electronic Gearing - Galil Motion Control DMC-18 2 Series User Manual

Electronic Gearing

This mode allows multiple axes to be electronically geared to some master axes. The masters may
rotate in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may
be different for each axis and changed during motion.
The command GA specifies the master axes. GR x,y,z,w specifies the gear ratios for the slaves where
the ratio may be a number between +/-127.9999 with a fractional resolution of .0001. There are two
modes: standard gearing and gantry mode. The gantry mode is enabled with the command GM. GR
0,0,0,0 turns off gearing in both modes. A limit switch or ST command disables gearing in the
standard mode but not in the gantry mode.
The command GM x,y,z,w selects the axes to be controlled under the gantry mode. The parameter 1
enables gantry mode, and 0 disables it.
GR causes the specified axes to be geared to the actual position of the master. The master axis is
commanded with motion commands such as PR, PA, or JG.
When the master axis is driven by the controller in the jog mode or an independent motion mode, it is
possible to define the master as the command position of that axis, rather than the actual position. The
designation of the commanded position master is by the letter C. For example, GACX indicates that
the gearing is the commanded position of X.
An alternative gearing method is to synchronize the slave motor to the commanded vector motion of
several axes performed by GAS. For example, if the X and Y motor form a circular motion, the Z axis
may move in proportion to the vector move. Similarly, if X,Y, and Z perform a linear interpolation
move, W can be geared to the vector move.
Electronic gearing allows the geared motor to perform a second independent or coordinated move in
addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be
advanced an additional distance with PR, JG, VP, or LI commands.

Command Summary - Electronic Gearing

COMMAND
GA n
GR x,y,z,w
GM x,y,z,w
MR x,y,z,w
MF x,y,z,w
Example - Simple Master Slave
Master axis moves 10000 counts at slew speed of 100000 counts/sec. Y is defined as the master.
X,Z,W are geared to master at ratios of 5,-.5 and 10 respectively.
GA Y,,Y,Y
GR 5,,-.5,10
PR ,10000
SP ,100000
BGY
82 ● Chapter 6 Programming Motion
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DESCRIPTION
Specifies master axes for gearing where:
n = X,Y,Z or W or A,B,C,D for main encoder as master
n = CX,CY,CZ, CW or CA, CB,CC,CD for commanded position.
n = S vector move as master
Sets gear ratio for slave axes. 0 disables electronic gearing for specified axis.
X = 1 sets gantry mode, 0 disables gantry mode
Trippoint for reverse motion past specified value. Only one field may be used.
Trippoint for forward motion past specified value. Only one field may be used.
Specify master axes as Y
Set gear ratios
Specify Y position
Specify Y speed
Begin motion
DMC-18x2