Yaskawa SMC–4000 - Manual (Page 291)

281
SMC–4000 User Manual
Example
Simple Master Slave
Master axis moves 10000 counts at slew speed of 100000 counts/sec. B is defined as the master. A,C,D
are geared to master at ratios of 5,-.5 and 10 repectively.
Electronic Gearing
Objective: Run two geared motors at speeds of 1,132 and -0.045 times the speed of an external master. The
master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).
Solution: Use a SMC–4000 controller, where the C-axis is the master and A and B are the geared axes.
Now suppose the gear ratio of the A-axis is to change on-the-fly to 2. This can be achieved by commanding:
GR 2 Specify gear ratio for A axis to be 2
Gantry Mode
In applications where both the master and the follower are controlled by the SMC–4000 controller, it may
be desired to synchronize the follower with the commanded position of the master, rather than the actual
position. This eliminates the coupling between the axes which may lead to oscillations.
For example, assume that a gantry is driven by two axes, A,B on both sides. This requires the gantry mode
for strong coupling between the motors. The A-axis is the master and the B-axis the follower. To
synchronize B with the commanded position of A, use the instructions:
Instruction Interpretation
GA B,,B,B Specify master axis as B
GR 5,,-.5,10 Set gear ratios
PR ,10000 Specify B position
SP ,100000 Specify B speed
BGB Begin motion
Instruction Interpretation
MO C Turn C off, for external master
GA C,C Set C as the master axis for both A and B
GR 1.132,-.045 Specify gear ratios
Instruction Interpretation
GA CA Specify the commanded position of A as master for B
GR,1 Set gear ratio for Y as 1:1
GM,1 Set gantry mode
PR 3000 Command A motion
BG A Start motion on A axis