Aerotech UNIDEX 600 Series, User Manual

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Parameters U600 User’s Guide
C-22
Aerotech, Inc.
Version 1.4
C.2.40. GEARMASTER
This axis parameter along with the GEARSLAVE axis parameter is used for gearing. It
defines the ratio of movement between the master and slave axes. This parameter is set
for the salve axis, not the master. This parameter is automatically set by the TRACK
command (tracking mode), or it may be set manually in conjunction with the gearing
mode (by setting the GEARMODE axis parameter to one). It may also be set when the
tracking mode is active to change the gear ratio on the fly.
C.2.41. GEARSLAVE
This axis parameter is used along with the GEARMASTER axis parameter for gearing.
The ratio of which defines the movement between the master and slave axes. This
parameter is set for the slave axis, not the master. This parameter is automatically set by
the TRACK command (the tracking mode), or it may be set manually in conjunction with
the gearing mode (by setting the GEARMODE parameter to one). It may also be set
when the tracking mode is active to change the gear ratio on the fly.
C.2.42. GEARMODE
The GEARMODE axis parameter will enable and disable electronic gearing. Electronic
gearing is a form of camming motion where a slave axis moves at a ratio of a master axis
movement. Setting this parameter to 1 (on the slave axis) will immediately enable
electronic gearing. Setting it to zero (on the slave axis) will disable electronic gearing.
Gearing motion requires that you have previously defined a master and a slave axis using
the CFGMASTER command. See Figure C-3 for additional information.
Once gearing is enabled, the slave axis will always travel at the gear ratio of the master
axis speed, even as the master axis speed changes. The gear ratio is as follows:
Slave speed (counts/sec) = Master speed (counts/sec) * (GEARSLAVE /
GEARMASTER)
Where, the GEARSLAVE and GEARMASTER axis parameter values in the formula
above are those of the slave axis. In gearing, the actual values of these two parameters are
not relevant, only their ratio is. The programmer should be aware that the speeds above
are in machine-counts/sec, not user-units. If the CntsPerInch / CntsPerDeg parameters
vary for the two axes, then the speed ratio will be different when viewed in user-units:
(the formula below assumes both axes are linear Type axes).
Slave speed (user-units/sec) = Master speed (user-units/sec) *
(GEARSLAVE * * CntsPerInch-of-Master/GEARMASTER *CntsPerInch-of-Slave)
The user must be warned that when gearing is enabled, the slave axis will
immediately try to follow the master speed. So the master axis should not be moving
at the time electronic gearing is enabled, or the slave axis will instantaneously try to
move at the specified speed (see above formula) thereby jerking the slave axis. If you
must establish gearing while the master axis is moving, see the TRACK command,
which allows you to establish gearing while simultaneously blending in an
acceleration for the slave axis. See the CFGMASTER command for an example
program.
WARNING