MODE GS Set electronic gearing slave mode |
Syntax
Binary code
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 |