Optima DMC-1xxx and DMC-18x2 Command Reference
GR
i
98
GR
FUNCTION: Gear Ratio
DESCRIPTION:
GR specifies the Gear Ratios for the geared axes in the electronic gearing mode. The master
axis is defined by the GA command. The gear ratio may be different for each geared
axis. The master can go in both directions. A gear ratio of 0 disables gearing for each
axis. A limit switch also disables the gearing unless gantry mode has been enabled (see
GM command).
ARGUMENTS: GR n,n,n,n,n,n,n,n or
GRA=n where
n is a signed numbers in the range +/-127, with a fractional resolution of
16
2
1
.
n = 0 Disables gearing
n = ? Returns the value of the gear ratio for the specified axis.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
3.4
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_GRn contains the value of the gear ratio for the specified axis.
RELATED COMMANDS:
"GA"
Master Axis
"GMGM" Gantry
Mode
EXAMPLES:
#GEAR
MOB
Turn off servo to B motor
GAB,,B
Specify master axis as B
GR .25,,-5
Specify A and C gear ratios
EN End
program
Now when the B motor is rotated by hand, the A will rotate at 1/4th the speed and C will
rotate 5 times the speed in the opposite direction.
Hint: when the geared motors must be coupled "strongly" to the master, use the gantry mode GM.
