Optima DMC-1xxx and DMC-18x2 Command Reference
_GP*
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_GP*
FUNCTION: Gearing Phase Differential Operand (Keyword)
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
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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:
"GR" Gear
Ratio
"GA" Gear
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
Ses 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.
