Delta RMC101 User Manual download pdf (Page 189)

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101

Gearing Axes 4.3

Controller Features 4-3

table in the Flash without storing all the other data in that section listed above. This will not be a

problem as long as you ensure that all data you want to be stored is set correctly before saving

the data in the Flash.

To update the first Flash section, issue the Update Flash (U) command to any axis, or use the

Save to Flash toolbar button in RMCWin's main or LCD Screen Editor windows.

To update the second (spline) Flash section, use the Save Splines to Flash toolbar button in

RMCWin's Curve Tool window. Notice that this section cannot be updated without using

RMCWin.

While either Flash section is being updated, the green CPU LED will flash. During this time

motion control will continue, but removing the power from the module will result in all parameters

being stored in the Flash to be lost.

The disadvantage of storing configuration data in the motion controller is that, when one module

is replaced with another, the parameters and profiles must be loaded into the new module.

Because of this, all parameters, profiles and event step table data must be stored either in the

control program or in RMCWin files so they can be later transferred to the motion controller when

needed.

4.3 Gearing Axes

Gearing is used when one axis (the geared axis) must move incrementally and proportionately to

another axis (the gear master). This topic describes a method of gearing one axis to another by

using a gear ratio. There are three other types of gearing available, described in the following

topics:

• Sine Move Command

• Follow Spline Segment Command

• Follow Axis with Offset - see the SoftPID Position Move Command

The gear master axis can either be controlled by the RMC (internal) or just a position input from

an encoder or transducer that is not under the control of the RMC (external, also called an half

axis). A numerator and denominator specified in the geared axis's command area determines the

ratio of the movement between the gear master and the geared axis.

The only limitation for gearing axes together is that axes must not be geared in a loop (that is, if

axis 0 is geared to axis 1, axis 1 cannot also be geared to axis 0).

The Gear Master Axis:

An axis does not need to do anything to become the master of a gearing relationship. That is, the

axis may be controlled in open or closed loop, or it may even be only an input (in the case of a

velocity or position reference such as a joystick). The geared axis will select its gear master axis.

Setting up a Geared (Slave) Axis:

The slave axis starts gearing when issued a Go command with the command parameters set up

as follows. It continues gearing until another motion command is issued to the same axis.

1. Specify the Gear Master and Type.

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Delta RMC101 User Manual Page 189

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