Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
Gear, Electronic gearbox
soft activation of the gearbox. Set to 8191 for no ramp.
Gear.InAct 11 -32767..32767 R
Actual value for Gear.In, after the ramp function.
Gear.OffsetAct 12 -2 31 ..2 31 -1 R(W)
Actual value of the offset, after the ramp function, added to
the result of the gear or cam function.
Gear.OffsetInc 13 0..32767 RW
Ramp constant for the offset. The actual value of
Gear.OffsetAct changes
with this value every ms. It can
be used for soft phase shifting of the gearbox. Set to 32767
for no ramp.
Gear.SlaveSpeed 14 -2 31 ..2 31 -1 R(W)
Master/Slave, The Slave’s speed.
Gear.SlaveSPos 15 -2 31 ..2 31 -1 RW
Master/Slave, The Slave’s set position. For the simple
interpolator, when writing to Gear.SlaveSPos the firmware
will calculate the speed required to reach the new position
based on the current time and the value of
Gear.SlaveUTime and store
this speed in
Gear.SlaveSpeed.
Gear.SlaveAPos 16 -2 31 ..2 31 -1 R(W)
Master/Slave, The Slave’s actual position
Gear.SlaveUTime 17 -2 31 ..2 31 -1 R(W)
Master/Slave, The time for the last write to
Gear.SlaveSPos. This is the lower 16 bits of Tmr.Abs.
Gear.CamInc 18 -2 31 ..2 31 -1 RW
Incremental cam period. Should be set to the last value in the
Pdata array used as cam.
Gear.CamCurLine 19 0..65535 R
Indicate relative position in cam.
By adding Gear.CamLine to this member
the current PData
statement line is achieved.
Gear.CamSpeed 20 -32767*FS..32767*FS R
The speed of the ’CAM’.
Only valid when Gear.CamInterp 0.
Gear.CamAccel 21 0..2 31 -1 R
The acceleration of the ’CAM’. Due to the relatively low
resolution in speed, this signal is not very useful.
Only valid when Gear.CamInterp 0.
Currently not used for feed-forward.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
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