Table of Contents - TG Drives

90
Gear, Electronic gearbox
i
EXTENDED REGISTER GROUPS
By using RD2.Mode 5 or 7 the input to the gearing is
filtered.
Gear.CamLine 5 1..8191 RW
Specifies start of CAM profile. The Gear.CamLine points to
the first PDATA statement that defines the profile.
Gear.CamLen 6 2..4000 RW
Specifies the length of the CAM profile in PDATA statements.
Each PDATA statement corresponds to an index-position of
1024 increments. The profile wraps from the last statement to
the first. The normal positioning and speed commands (POS
ABS etc.) are usable during CAM operation, since both GEAR
and CAM modes generate an offset that is fed together with
the normal position into the regulator.
For incremental cam, Gear.CamLen should
be set to .
Gear.CamPos 7 -2 31 ..2 31 -1 R(W)
The resulting CAM PROFILE position.
Gear.CamScale 8 -2 31 ..2 31 -1 R(W)
i
Scale factor for CAM profiles. The data obtained from the
profile is multiplied by GEAR.CamScale and the result is then
a divided by 1024.
If the value in the PDATA * Gear.CamScale is greater
than
2 47 , the generator gets an overflow and the CAM motion is
suspended while the overflow is present. The scaling of the
cam is disabled when the incremental cam is used.
The POS LOCK CAM does currently only use linear
interpolation. Therefore, if the segment length (the time
each PDATA is active) exceeds a few milliseconds, the
motor may not run as smooth as desired.
Gear.Offset 9 -2 31 ..2 31 -1 R(W)
Gear mode.
The offset is calculated circulary so that continues modification
of Gear.Offset is possible
Cam mode.
The offset is calculated circulary but not in respect to the
length of the CAM. In order to move within a single CAM turn a
user can calculate the offset as:
Gear.Offset = offs modulo cam_length.
Note. When the ’POS MOD ON xxx’ instruction is executed
this member is cleared, to avoid startup movement. This may
change in a future release so that the Gear.Offset is used
when the start position is calculated.
Gear.Incr 10 0.. 32767 RW
Ramp constant for the gearing. The actual value of Gear.In
changes with this value every servo cycle. It can be used for
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001