DMC-18x6 Command Reference
99
_GP
FUNCTION: Gearing Phase Differential Operand
DESCRIPTION:
The _GP operand contains the value of the "phase differential"
1
accumulated on the most current
change in the gearing ratio between the master and the slave axes. The value does not update
if the distance over which the slave will engage is set to 0 with the GD command.
The operand is specified as: _GPn where n is the specified slave axis
1
Phase Differential is a term that is used to describe the lead or lag between the master axis and the
slave axis due to gradual gear shift. Pd=GR*Cm-Cs where Pd is the phase differential, GR is
the gear ratio, Cm is the number of encoder counts the master axis moved, and Cs is the
number of encoder counts the slave moved.
RELATED COMMANDS:
Ratio
Axis
EXAMPLES:
GAY
Sets the Y axis as the gearing master for the X axis. This axis does not
have to be under servo control. In this example, the axis is connected to a
conveyor operating open loop.
GD1000
Set the distance that the master will travel to 1000 counts before the
gearing is fully engaged for the X axis slave.
AI-1
Wait for input 1 to go low. In this example, this input is representing a
sensor that senses an object on a conveyor. This will trigger the controller
to begin gearing and synchronize the master and slave axes together.
GR1
Engage gearing between the master and slave
P1=_TPY
Sets the current Y axis position to variable P1. This variable is used in
the next command, because MF requires an absolute position..
MF,(P1+1000)
Wait for the Y axis (master) to move forward 1000 encoder counts so the
gearing engagement period is complete. Then the phase difference can be
adjusted for. Note this example assumes forward motion.
IP_GPX
Increment the difference to bring the master/slave in position sync from
the point that the GR1 command was issued.
