Delta RMC101 User Manual
Page 191
Gearing Axes 4.3
Controller Features
4-5
in the Speed command parameter) must remain constant.
When a Gear command is given to an axis that is not currently geared, then its initial gear ratio is
computed such that the computed geared speed of the axis will match its current speed.
Note:
RMC CPU firmware prior to 20020222 always starts a previously non-geared axis with a zero
gear ratio.
The ramping up or down of the gear ratio may be specified in several ways. The
Acceleration/Deceleration Mode Select bits in the Mode word determine the method:
Mode 0:
Reserved; do not use.
Mode 1 (Rate):
Acceleration indicates the number of counts that the numerator is increased or
decreased each millisecond until it reaches the requested ratio. The Deceleration field is not used
in this mode.
Mode 2 (Distance):
This mode uses the following two parameters to specify the range of master
positions over which the gear ratio will be ramped:
Acceleration: Indicates the total distance spanned by the master positions. The span must be less
than 32767 position units for proper operation.
Deceleration: Indicates the starting master position for the slave's ramp.
Speed: The sign of this field, which is the denominator of the new gear ratio, indicates the
direction that the range of master positions span from the starting master
position.
Note:
A negative number x may need to be entered as 65536 - x. For example, -1000 is
entered as 64536.
Once the final gear ratio is reached, the slave will be locked into that gear ratio. Therefore, if the
master backs up after the final gear ratio is reached, the slave will move at that ratio.
If the master backs up before the final gear ratio is reached, the slave will follow the clutching
ramp profile backwards. If the master moves before the clutching start point, and then back into
the clutching area, the slave will resume the clutching at the correct position as specified by the
command.
Example 1 of Mode 2:
Acceleration:
600
Deceleration:
1000
Speed:
Positive
The slave will change the gear ratio beginning when the master is at 1000 position units, and
reach the requested gear ratio when the master is at 1600 position units.
Note that if the axis is given this gearing command when the master axis is at a position
greater than 1600, the gearing will start instantaneously.
Example 2 of Mode 2:
Acceleration:
-200
Deceleration:
500
Speed:
Negative
The slave will change the gear ratio beginning when the master is at 500 position units, and