Delta RMC151 - Manual (Page 764)

RMC70/150 and RMCTools User Manual
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Slave Offset (position-units) Any REAL number
2 Master Distance (position-units) Any REAL number
Description
This command offsets the slave axis position by a specified amount. As the master moves
the Master Distance from its position at the time this command was issued, the Slave
Offset will be superimposed upon the slave position. When this command is issued, the
axis must be geared and the gear ratio must be locked. This command will not work if the
axis is geared with a Gear Absolute (25) command.
The Master Distance implies the direction with its sign. For example, with an initial master
position 5, a Master Distance of 2 means that the offset will happen as the master
moves from 5 up to 7. A Master Distance of -2 means that the offset happens from 5
down to 3.
The Geared Slave Offset command is related to the Phasing (34) command. The Phasing
command shifts the master position as seen by the slave. The Gear Slave Offset
command shifts the slave position itself.
Geared Slave Offset Example
In this example, Axis 1 (slave) is geared to Axis 0 (master) at a 1:2 ratio. Both axes start
at 0 pu. The master is moving at 5 pu/sec. When the master reaches 2 pu, the following
Geared Slave Offset command is issued to the slave.
Slave Offset = 1
Master Distance = 1
The plot below shows how the slave moves.
Legend: — Master Position — Slave Position — Slave Velocity — Master Velocity
The Initial Master and Slave positions are the positions at the time the command was
issued. The Slave Final Position is 2.5 pu. If the Geared Slave Offset command had not
been issued, it would have been at 1.5 pu at that master position. Therefore, the Geared
Slave Offset moved the slave 1 pu, as specified by the command.
Reversing Direction
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