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Chapter 6 Programming Motion • 78 USER MANUAL
There are two modes: standard gearing and gantry mode. The gantry mode is enabled with the
command GM. GR 0,0,00 turns off gearing in both modes. A limit switch or ST command disable
gearing in the standard mode but not in the gentry mode.
The command GM x,y,z,w select the axes to be controlled under the gantry mode. The parameter 1
enables gantry mode, and 0 disables it.
GR causes the specified axes to be geared to the actual position of the master. The master axis is
commanded with motion commands such as PR, PA or JG.
When the master axis is driven by the controller in the jog mode or an independent motion mode, it is
possible to define the master as the command position of that axis, rather than the actual position. The
designation of the commanded position master is by the letter, C. For example, GACX indicates that
the gearing is the commanded position of X.
An alternative gearing method is to synchronize the slave motor to the commanded vector motion of
several axes performed by GAS. For example, if the X and Y motor form a circular motion, the Z axis
may move in proportion to the vector move. Similarly, if X,Y and Z perform a linear interpolation
move, W can be geared to the vector move.
Electronic gearing allows the geared motor to perform a second independent or coordinated move in
addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be
advanced an additional distance with PR, or JG, commands, or VP, or LI.
Command Summary - Electronic Gearing
COMMAND DESCRIPTION
GA n Specifies master axes for gearing where:
n = X,Y,Z or W for main encoder as master
n = CX,CY,CZ or CW for commanded position.
n = DX,DY,DZ or DW for auxiliary encoders
n = S or T for gearing to coordinated motion.
GR x,y,z,w Sets gear ratio for slave axes. 0 disables electronic gearing for specified axis.
GM x,y,z,w X = 1 sets gantry mode, 0 disables gantry mode
MR x,y,z,w Trippoint for reverse motion past specified value. Only one field may be used.
MF x,y,z,w Trippoint for forward motion past specified value. Only one field may be used.
Example - Simple Master Slave
Master axis moves 10000 counts at slew speed of 100000 counts/sec. Y is defined as the master.
X,Z,W are geared to master at ratios of 5,-.5 and 10 respectively.
GA Y,,Y,Y Specify master axes as Y
GR 5,,-.5,10 Set gear ratios
PR ,10000 Specify Y position
SP ,100000 Specify Y speed
BGY Begin motion
Example - Electronic Gearing
Objective: Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master.
The master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).
Solution: Use a DMC-13X8 controller, where the Z-axis is the master and X and Y are the geared
axes.