Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 477
Use Add-On Instructions Appendix C
raC_Dvc_K5100_MAG
Use the Motion Axis Gear (raC_Dvc_K5100_MAG) instruction to set the gear
ratio between the PUU (Pulse of User Unit) and encoder counts, and specify the
position source for the position control in Kinetix 5100 drives.
Figure 221 - MAG Ladder Diagram
Operands
Description
The raC_Dvc_K5100_MAG instruction enables electronic gearing between two
axes at a specified ratio. Electronic gearing lets you synchronize any physical axis
to the actual or command position of another physical axis at a precise ratio. It
provides a direct edge-to-edge lock between the two axes-no maximum velocity,
acceleration, or deceleration limits are used. The motion of the master axis and
the specified gear ratio determines the speed, acceleration, and deceleration of the
slave axis.
Execution
Operand Type Format Description
Instance raC_Dvc_K5100_MAG Tag Instance of raC_Dvc_K5100_MAG
Ref_Axis raC_UDT_Dvc_K5100_Assm Tag Name of the axis to perform operation on
Mnemonic Description
Sts_EN (Enable) This bit is set when the rung makes a false-to-true transition and remains set until the process
is completed and the rung goes false.
Sts_DN (Done) This bit is set when the axis gear has been successfully initiated.
Sts_ER (Error) This bit is set to indicate that the instruction detected an error.
Sts_IP (In Progress) This bit is set when the axis is accepting the external pulse input and cleared if terminated by a
stop command or servo fault.
Condition/State Action Taken
Prescan The Sts_EN, Sts_DN, Sts_ER bits and
Ref_Axis.Output_IO.StartMotion are cleared. The rung-
condition-out is set to false.
Rung-condition-in is false The Sts_EN bit is cleared if the Sts_DN or Sts_ER bit is
true.
Rung-condition-in is true The Sts_EN bit is cleared to false if the Sts_DN or Sts_ER
bit is true.
Postscan —
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