Delta RMC151 - Manual (Page 750)

RMC70/150 and RMCTools User Manual
Example:
Register address %MD8.33 is 8*4096 + 33 = 32801.
Target Generator State Bits
The Target Generator bits in the Status Bits register indicate which portion of the motion
the axis is currently in. These bits are useful when programming complex motion
sequences.
Target Generator Done bit
Indicates the clutching is complete and the gear ratio is now locked, which occurs when
the Time expires.
Target Generator State A and B bits
B A Description
0 0 Locked at a zero (0) ratio
0 1 Increasing the ratio (away from zero)
1 0 Locked at a non-zero ratio
1 1 Decreasing the ratio (toward zero)
8.4.6.3. Command: Gear Velocity (31)
Supported Axes: Position or Velocity Control Axes
Supported Control Modes: Position PID, Position I-PD, Velocity PID, Velocity I-PD
Firmware Requirement: 1.30 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Numerator Any REAL number
2 Denominator Any REAL number,
not 0
3 Master Register
Note: See Specifying a Register Address below.
Valid RMC register
4 Clutch Time (sec) Any REAL number
>0
Description
This command gears the velocity of the axis to the Master Register, using the value in
this register as the master velocity. Typically the master register is the Target or Actual
Velocity of another axis.
When this command is issued, the RMC uses the current gear ratio or determines the
current gear ratio by comparing the master to the velocities of the slave. The gear ratio is
then ramped from its current effective ratio to the requested ratio in the time specified by
the Clutch Time parameter. The gear ratio is determined by the Numerator and
Denominator.
This command is particularly useful when gearing an axis to a velocity reference axis.
Because a velocity reference axis does not have a position, the Gear Pos (Clutch by Time)
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