Omron NJ501-1300, User Manual

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9 Motion Control Functions
9-12
NJ-series CPU Unit Motion Control User’s Manual (W507)
This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Positioning gear operation allows you to set the positions of the master and slave axes at which to start
synchronization. Start positioning gear operation with the MC_GearInPos instruction. End synchroniza-
tion with the MC_GearOut instruction or the MC_Stop instruction.
You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and
deceleration rate for the slave axis to operate. For the master axis, you can specify the command posi-
tion, actual position, or most recent command position.
After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its tar-
get velocity, and accelerates/decelerates accordingly. The slave axis is in the catching phase until it
reaches the slave axis sync start position. The slave axis enters the
InGear phase after it reaches the
slave sync start position. For either, the position of the slave axis is synchronized with the master axis.
For details on positioning gear operation, refer to the MC_GearInPos (Positioning Gear Operation), the
MC_GearOut (End Gear Operation), and the MC_Stop instructions in the
NJ-series Motion Control
Instructions Reference Manual (Cat. No. W508).
9-2-3 Positioning Gear Operation
Command position
Remainder
Denominator
Numerator
Gear Operation
Most recent command
position
Command position
Actual position
Specify with
ReferenceType.
Execute
Catching Phase InSync phase
Master
Slave
RatioDenominator
RatioNumerator
Time
Travel distance of slave axis
= Travel distance of master axis
×
Position