Table of Contents - TG Drives

88
Gear, Electronic gearbox
EXTENDED REGISTER GROUPS
PDATA statements), is set by Gear.CamLen variable. Each PDATA statement
corresponds to 1024 increments.
If there is a 2-pole resolver on RD2 and you want 2 turns on RD2 equal one turn on
the CAM, and 17 PDATA statements are desired.
The PDATA vector length is 17 * 1024 = 17408 increments.
Two turns on RD2 is 8192 * 2 = 16384 increments.
To map 16384 to 17408, the gearbox must be setup like this:
Set Gear.In = 17 and Gear.Out = 16
to accomplish this.
Fill the PDATA statements with the positions for the corresponding index values.
The positions given in the PDATA statements are scaled by the Gear.CamScale,
which has the same function as the PG.ProScale.
In this version, only linear interpolation between index points is possible. The
scaling is disabled when incremental cam is used.
TIME LOCKED CAM
The same as Position Lock cam but RD2 is replaced by a time function to generate
the index into the table.
MASTER/SLAVE
In this mode the gearbox is used to follow a value given by a master. The master
can be as simple as an analog input, in this case a CONNECT command can be
used to connect an analog input to Gear.SlaveSPos. The master can also be
another DMC 2 unit over the LAN, in that case the distributed position can be written
to Gear.SlaveSPos by a user written PL program.
In both cases the Gear.SlaveSPos must be written in a timely manner and the
firmware will automatically calculate the time difference between the writes and
store that value in Gear.SlaveUTime.
The simple interpolation is done internally as,
Gear.
SlavePos − Gear.
SlaveAPos
Gear.
SlaveSpeed =
Tmr.
Abs − Gear.
SlaveUTime
If Gear.SlaveFixTm 0 the calculation will use the fixed value instead.
INCREMENTAL CAM
This mode adds an indexing function to the cam. Each time the index to the cam
table wraps, the Gear.CamInc is added to the output. Gear.CamLen must be set to
the ”number of Pdata files minus one”. Gear.CamInc should normally be set to the
last value in the Pdata table. The scaling with Gear.CamScale is disabled in this
mode.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001