and command maximum current to the motor. This can be a large shock to the system. For many
applications it is acceptable to slowly ramp the engagement of gearing over a greater time frame. Galil
allows the user to specify an interval of the master axis over which the gearing will be engaged. For
example, the same master X axis in this case travels at 1,000,000 counts/sec, and the gear ratio is 1:1,
but the gearing is slowly engaged over 30,000 cts of the master axis, greatly diminishing the initial
shock to the slave axis. Figure 1 below shows the velocity vs. time profile for instantaneous gearing.
Figure 2 shows the velocity vs. time profile for the gradual gearing engagement.
Figure 1 Velocity cts/sec vs. Time (msec) Instantaneous Gearing Engagement
Figure 2 Velocity (cts/sec) vs. Time (msec) Ramped Gearing
92 • Chapter 6 Programming Motion DMC-2X00
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