Delta DVP-15MC Series - Page 634

DVP-15MC Series Motion Controller Operation Manual
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3. If the MC_GearIn instruction is executed when the e-gear relationship between two axes has not
been built yet, the velocity of the slave axis will reach the target velocity according to the values of
RatioNumerator, RatioDenomenator, Acceleration, Deceleration and Jerk specified by the
instruction.
After the e-gear relationship between two axes has been built (when InGear of the instruction
changes to TRUE), the relationship among the velocity of the slave axis, gear ratio numerator, gear
ratio denominator and the velocity of the master axis is shown as below.
4. E-gear ratio
If the e-gear ratio is a positive number, the motion directions of the slave axis and master axis are
same.
If the e-gear ratio is a negative number, the motion directions of the slave axis and master axis are
opposite.
 Programming Example
Below is the example of execution of MC_GearIn instructions.
1. The variable table and program
Variable name
Data type
Initial value
Vel MC_MoveVelocity
Axis1
USINT
1
Axis2
USINT
2
Vel_Ex
BOOL
FALSE
Vel_Dir
MC_DIRECTION
1
Vel_BM
MC_Buffer_Mode
0
Vel_Invel
BOOL
Vel_Bsy
BOOL
Vel_Act
BOOL
Vel_Abt
BOOL
Vel_Err
BOOL
Vel_ErrID
WORD
GearIn1
MC_GearIn
GearIn1_Ex
BOOL
FALSE
GearIn1_BM
MC_Buffer_Mode
0
GearIn1_InGear
BOOL
GearIn1_Bsy
BOOL
GearIn1_Act BOOL
GearIn1_Abt
BOOL
GearIn1_Err
BOOL
GearIn1_ErrID
WORD
GearIn2
MC_GearIn
GearIn2_Ex
BOOL
FALSE
GearIn2_BM
MC_Buffer_Mode
0
GearIn2_InGear
BOOL
Accelera tion (or Deceler ation)o f Slave axis Acceleration (or Deceler ati on) of M aster axis= x
RatioNumerator
RatioDenom inator
Target velocity of Slave axis Velocity of Master axis = x
Gear ratio n umeberator
Gear ratio denominator
E gear ratio- =
RatioNum erator
RatioDenominator