Yaskawa LEGEND-MC - Manual (Page 338)

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LEGEND-MC User’s Manual
Example - Electronic Gearing LEGEND-MC
Objective: Run a geared motor at a speed of 1.132 times the speed of an external master. The master is
driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder), and is connected through the
auxiliary encoder inputs.
Solution: Use a LEGEND-MC controller, where the X-axis auxiliary is master and X-axis main is geared
axis.
Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by
commanding:
Contour Mode Example
A complete program to generate the contour movement in this example is given below. To generate an
array, compute the position value at intervals of 8 ms. This is stored at the array POS. Then, the difference
between the positions is computed and is stored in the array DIF. Finally the motors are run in the contour
mode.
GR 1.132 Specify gear ratio
GR 2 Specify gear ratio for X axis to be 2
Instruction Interpretation
#POINTS Program defines X points
DM POS[16] Allocate memory
DM DIF[15]
C=0 Set initial conditions, C is index
T=0 T is time in ms
#A
V1=50*T
V2=3*T Argument in degrees
V3=-
955*@SIN[V2]+V1 Compute position
V4=@INT[V3] Integer value of V3
POS[C]=V4 Store in array POS
T=T+8
C=C+1
JP #A,C<16
#B Program to find position differences
C=0