DMC-40x0 Command Reference _GP • 115
_GP
FUNCTION: Gearing Phase Differential Operand
DESCRIPTION:
The _GP operand contains the value of the “phase differential”
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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:
#A
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.
EN ;'End Program
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