Syntax
MODE GS |
Set axis in MODE Gear Slave |
| Operands | – |
Binary code
| Description | Sets 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