MODE GS        Set electronic gearing slave mode

Syntax                        

MODE GS

Set axis in MODE Gear Slave

 

Operands

PlaceTMLOnline

Binary code

DescriptionSets the drive/motor to operate in the electronic gearing slave mode. The drive/motor performs a position control and follows the master position with a programmable gear ratio. At each slow loop sampling period, the slave computes the master position increment and multiplies it with its programmed gear ratio. The result is the slave position reference increment, which added to the previous slave position reference gives the new slave position reference.

 

The new motion mode becomes effective at the next update command UPD.

 

Example

//Electronic gearing. Master position is received via //communication channel inputs. Master resolution: 2000 counts/rev

// On slave axis (Axis ID = 1):

GEAR = 0.3333; // gear ratio

GEARMASTER = 3; //gear ratio denominator

GEARSLAVE = 1; //gear ratio numerator

EXTREF 0; // master position got via communication channel

MASTERRES = 2000; // master resolution

REG_ON; //Enable superposition

MODE GS; //Set as slave, position mode

TUM1; //Set Target Update Mode 1

SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1

CACC = 0.9549; //Limit maximum acceleration at 3000[rad/s^2]

UPD; //execute immediate