Yaskawa MotionWorks+ Windows Software - Manual (Page 146)

Block Reference MotionWorks+™
140
3.2.7 GEAR
Definition
This block enables or disables the gearing function, based on the property settings.
When the gearing function is disabled, the slave continues to run at the speed at which it
was running before disengagement. Use the STOP block to stop the slave after disen-
gagement. This guarantees that the slave is stopped.
Properties
Enabled: The gearing function is enabled or disabled depending on this
setting.
Required Conditions
The servo must have been previously enabled using the SERVO block.
Additional Information
When gearing is enabled, the accel and decel values are set to infinite, and the speed
value is set to maximum speed. This allows the position of the servo to track the
external encoder exactly. If the external encoder is already moving when gearing is
engaged, the CHANGE DYNAMICS block can be implemented immediately after
enabling the gearing function to set accel and decel properties to minimize the shock on
the slave. Note, however, this reduces the following response; the accel and decel must
be again set to infinite when the slave has reached the desired speed.
Property Default
Minimum
Value
Maximum
Value
Base Units
Run
Time
Enabled True True False Configuration No