Delta RMC151 - Manual (Page 763)

8 Command Reference
This command allows reversing the direction of the master. If the master reverses
direction before it has reached the Final Master Position, the slave will follow the profile in
reverse. If the master continues in reverse past the Initial Master Position, the slave will
continue following the master as directed from the previous gearing command. The offset
will resume if the master returns to the Initial Master Position.
Once the master has reached the Final Master Position, the slave will continue gearing as
directed from the previous gearing command whether the master goes forward or
backward. It will not revert to the profile it followed before reaching the Final Slave
Position.
Specifying an Absolute Position
The Master Distance parameter is relative to the master position at the time this
command was issued. To specify an absolute position, use an Expression command that
calculates the Master Distance by subtracting the current master position from the
desired absolute position. For example, if the slave is gearing to the Axis 0 Target
Position, and you wish to change the master phase by the time it reaches 5 pu, then use
the following expression command:
MasterDist := 5 - _Axis[0].TarPos
where MasterDist is a variable defined in the variable table. Then use this variable in the
Master Distance parameter of this command.
Rotary Axes
The Master Distance and Master Phase Offset specify distances on the master axis.
These distances are complete distances whether the axis is rotary or not. If the master
axis has a Position Unwind of 1, and the Master Distance is 2, the Master Phase
Offset will be done over 2 pu, or 2 rotations of the master. The sign of the values
indicates the direction.
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
Set when the master position has reached the Final Master Position. The gear ratio is now
locked and will no longer change even if the master moves prior to the Final Master
Position.
Target Generator State A and B bits
B A Description
0 0 The master is beyond the Final Master Position. Use the Target
Generator Done bit to determine if it has reached the Final
Master Position.
0 1 Reserved
1 0 The master is prior to the Initial Master Position.
1 1 Reserved
8.4.6.7. Command: Geared Slave Offset (35)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.70 or newer
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