Omron Sysmac NY-series User Manual

Precautions for Correct Use
If you specify the same axis for the master axis and slave axis, a Master and Slave Defined as
Same Axis minor fault (error code 5436 hex) will occur
.
Function
• The MC_GearInPos instruction performs gear operation for the slave axis specified with Slave
(Slave Axis). The following parameters are also specified: RatioNumerator (Gear Ratio Numerator),
RatioDenominator (Gear Ratio Denominator), ReferenceT
ype (Position Type), Acceleration (Accel-
eration Rate), and Deceleration (Deceleration Rate).
• For Master (Master Axis), you can specify the command position, actual position, or most recent
command position.
Remainder
Command position
Denominator
Numerator
Gear function
Most recent
command position
Command position
Actual position
Specified with
ReferenceType.
• After operation starts, the Slave (Slave Axis) accelerates and decelerates in sync with the Master
(Master Axis) in the catching operation.
•
The slave axis is in the catching phase until it reaches the slave sync position. The slave axis enters
the InSync phase after it reaches the slave sync position. For either, the position is synchronized
with the master axis.
• The Velocity (Target Velocity) input variable is the target velocity for the catching phase.
• The slave axis moves in the same direction as the master axis when operation is started.
An error occurs if the master axis velocity is 0 when started.
If the master axis is moving in the positive direction and SlaveSyncPosition (Slave Sync Position) is
smaller than the position of the slave axis when the instruction was executed, the slave axis will re-
verse direction.
If the master axis is moving in the negative direction and SlaveSyncPosition (Slave Sync Position) is
larger than the position of the slave axis when the instruction was executed, the slave axis will also
reverse direction.
• If the master axis velocity changes significantly between periods, the slave axis velocity will not be
constant.
• If the gear ratio is positive, the Slave (Slave Axis) and the Master (Master Axis) move in the same
direction.
3 Axis Command Instructions
3-270
NY-series Motion Control Instructions Reference Manual (W561)

Omron Sysmac NY-series Specifications

General

Brand	Omron
Model	Sysmac NY-series
Category	Control Unit
Language	English