Delta RMC151 - Manual (Page 753)

8 Command Reference
Gear Pos (Clutch by Distance) (32) command instead. If the axis must be geared within a
certain amount of time, use the Gear Pos (Clutch by Time) (30) command.
Specifying a Register Address
When issuing this command from anywhere other than RMCTools, the addresses in the
Master Register command parameter must be entered as an integer value.
RMC addresses are represented in IEC format as:
%MDfile.element, where file = file number, and element = element number.
Use the following equation to convert a register address to integer format, N:
N = file * 4096 + element
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 move
the axis is currently in. These bits are useful when programming complex motion
sequences.
Target Generator Done bit
Indicates the clutching is complete and gear ratio is locked, which occurs when the Slave
Velocity has reached the ratioed Master Velocity.
Target Generator State A and B bits
B A Description
0 0 Locked at a zero(0) ratio
0 1 Accelerating (away from zero velocity)
1 0 Locked at a non-zero ratio
1 1 Decelerating (toward zero velocity)
8.4.6.5. Command: Gear Position (Clutch by Distance) (32)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.70 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 Final Gear Ratio Any REAL number
2 Master Register
Note: See Specifying a Register Address below.
Valid RMC register
3 Master Sync Position (position-units) Any REAL number
4 Slave Sync Position (position-units) Any REAL number
5 Master Start Distance (position-units) Any REAL number
6 Master Direction a valid integer as
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