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USER MANUAL Chapter 6 Programming Motion • 79
MO Z Turn Z off, for external master
GA Z, Z Specify Z as the master axis for both X and Y.
GR 1.132,-.045 Specify gear ratios
Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by
commanding:
GR 2 Specify gear ratio for X axis to be 2
Example - Gantry Mode
In applications where both the master and the follower are controlled by the DMC-13X8 controller, it
may be desired to synchronize the follower with the commanded position of the master, rather than the
actual position. This eliminates the coupling between the axes which may lead to oscillations.
For example, assume that a gantry is driven by two axes, X,Y, on both sides. This requires the gantry
mode for strong coupling between the motors. The X-axis is the master and the Y-axis is the follower.
To synchronize Y with the commanded position of X, use the instructions:
GA, CX Specify the commanded position of X as master for Y.
GR,1 Set gear ratio for Y as 1:1
GM,1 Set gantry mode
PR 3000 Command X motion
BG X Start motion on X axis
You may also perform profiled position corrections in the electronic gearing mode. Suppose, for
example, that you need to advance the slave 10 counts. Simply command
IP ,10 Specify an incremental position movement of 10 on Y axis.
Under these conditions, this IP command is equivalent to:
PR,10 Specify position relative movement of 10 on Y axis
BGY Begin motion on Y axis
Often the correction is quite large. Such requirements are common when synchronizing cutting knives
or conveyor belts.
Example - Synchronize two conveyor belts with trapezoidal velocity
correction.
GA,X Define X as the master axis for Y.
GR,2 Set gear ratio 2:1 for Y
PR,300 Specify correction distance
SP,5000 Specify correction speed
AC,100000 Specify correction acceleration
DC,100000 Specify correction deceleration
BGY Start correction
Electronic Cam
The electronic cam is a motion control mode which enables the periodic synchronization of several
axes of motion. Up to 3 axes can be slaved to one master axis. The master axis encoder must be input
through a main encoder port.