The slave axis for each figure is shown on the bottom portion of the figure; the master axis is shown on the top
portion. The shock to the slave axis will be significantly less in Figure 6.14 than in Figure 6.Error: Reference source
not found. The ramped gearing does have one consequence. There isn’t a true synchronization of the two axes,
until the gearing ramp is complete. The slave will lag behind the true ratio during the ramp period. If exact
position synchronization is required from the point gearing is initiated, then the position must be commanded in
addition to the gearing. The controller keeps track of this position phase lag with the _GP operand. The following
example will demonstrate how the command is used.
Example – Electronic Gearing Over a Specified Interval
Objective Run two geared motors at speeds of 1.132 and -.045 times the speed of an external master. Because the
master is traveling at high speeds, it is desirable for the speeds to change slowly.
Solution: Use a DMC-4030 controller where the Z-axis is the master and X and Y are the geared axes. We will
implement the gearing change over 6000 counts (3 revolutions) of the master axis.
MO Z
Turn Z off, for external master
GA Z, Z
Specify Z as the master axis for both X and Y.
GD 6000,6000
Specify ramped gearing over 6000 counts of the master axis.
GR 1.132,-.045
Specify gear ratios
Chapter 6 Programming Motion ▫ 90
DMC-40x0 User Manual
Figure 6.11: Velocity counts/sec vs. Time (msec) Instantaneous Gearing Engagement
Figure 6.12: Velocity (counts/sec) vs. Time (msec) Ramped Gearing