Motion Control
Precision MicroControl Corp.
100
Electronic Gearing
MultiFlex motion controllers support slaving any axis or axes to a master. Moving the master axis will
cause the slave to move based on the specified slave ratio. The optimal position of the slave axis is
calculated by multiplying the optimal position of the master by the gearing ratio of the slave. The slave's
optimal position is maintained proportional to the master's position. This can be used in applications
where multiple motors drive the same load. Gearing supports both servos and stepper axes, with the
master axis operating in position, velocity, or contouring mode. If a following error or limit error occurs on
any of the geared axes (master or slaves) all axes in the geared group will stop.
The Motion Control API function
MCEnableGearing( )
configures and initiates gearing. The slave ratio
can be set to any integer or real value. If the slave ratio is a positive value, a move in the positive
direction of the master will cause a move in the positive direction of the slave. If the slave ratio is a
negative value, a move in the positive direction of the master will cause a move in the negative direction
of the slave. The following program example configures axes 2, 3, and 4 as slaves of axis 1.
// Enable gearing of axis 2, 3, and 4
// Move axis 1 (master), slaves (axes 2, 3, and 4) will move at define
ratio
MCEnableGearing( hCtlr, 2, 1, 0.5, TRUE );
MCEnableGearing( hCtlr, 3, 1, 12.87, TRUE );
MCEnableGearing( hCtlr, 4, 1, -125, TRUE );
MCMoveRelative (hCtlr, 1, 215.0 );
// disable gearing
MCEnableGearing( hCtlr, 2, 1, 0.5, FALSE );
MCEnableGearing( hCtlr, 3, 1, 12.87, FALSE );
MCEnableGearing( hCtlr, 4, 1, -125, FALSE );
!
Note – if the slave axes are servo’s or closed loop steppers, the
PID
parameters
for each axis
must be defined prior
to beginning
master/slave operation.
!
Note – Changing the slave ratio ‘on the fly’ may cause the mechanical
system to ‘jerk’ or to ‘error out’ (following error).
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