Galil Motion Control DMC-21 5 Series User Manual page 62

Using the ramped gearing, the slave will engage gearing gradually. Since the gearing is engaged over the interval of
6000 counts of the master, the slave will only travel ~3396 counts and ~135 counts respectively. The difference
between these two values is stored in the
command is used to adjust for the difference.
Command Summary - Electronic Gearing
COMMAND
GA
GD
_GPm
GR
GM
MR
MF
Example - Simple Master Slave
Master axis moves 10000 counts at slew speed of 100000 counts/sec. B is defined as the master. A, C, D are geared
to master at ratios of 5,-.5 and 10 respectively.
#label;
GA B,,B,B;
GR 5,,-.5,10;
PR ,10000;
SP ,100000;
SH ABCD;
BG B;
AM B;
MO ABCD;
EN;
Example - Electronic Gearing
Objective: Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master. The
master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).
Solution: Use a DMC-2135 controller, where the C axis is the master and A and B are the geared axes.
MO C;
GA C,C;
GR 1.132,-.045;
Now suppose the gear ratio of the A axis is to change on-the-fly to 2. This can be achieved by commanding:
GR 2;
Chapter 6 Programming Motion ▫ 57
_GPm operand. If exact position synchronization is required, the
Specifies master axes for gearing
CA, CB,CC,CD,CE,CF,CG,CH for commanded position
DA, DB, DC, DD, DE, DF,DG,DH for auxiliary encoders
S or T for gearing to coordinated motion
Sets the distance the master will travel for the gearing change to take full effect
Keeps track of the difference between the theoretical distance traveled if gearing
changes took effect immediately, and the distance traveled since gearing changes
take effect over a specified interval
Sets gear ratio for slave axes, 0 disables electronic gearing for specified axis
1 sets gantry mode, 0 disables gantry mode
Trippoint for reverse motion past specified value
Trippoint for forward motion past specified value
Table 6.9: List of commands for Electronic Gearing
'label for program
'specify master axes as B
'set gear ratios
'specify B position
'specify B speed
'servo A, B, C, and D axes
'begin motion on B axis
'wait until motion is completed
'disable axes
'end program
'disable C axis
'specify C as the master axis for both A and B
'specify gear ratios
'specify gear ratio for A axis to be 2
DESCRIPTION
IP
DMC-21x5 User Manual 1.0a1