Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 94)

5-8 2-Axis Servo Module M/N 57C422B
5.6 Electronic Gearing
The following example illustrates the software necessary to
use electronic gearing. Three examples are provided, one
each for turning the gearing mode on, changing the gear
ratio while the drive is active, and turning the gearing mode
off.
6992 !
6993 ! Turn on gearing mode
6994 !
6995 ! FDBK_SCALING = feedback encoder counts/engineering unit
6996 ! REF_SCALING = gearing encoder counts/engineering unit
6997 ! GEAR = gear ratio
6998 ! GEAR_DIR_SAME@ = gear direction switch
6999 !
7000 GEAR_RATIO!=(FDBK_SCALING*GEAR/REF_SCALING\ *65536.*256.
7005 MODES%=MODES% AND 0ADH
7010 IF NOT GEAR_DIR_SAME@ THEN MODES%= MODES% OR 010H
7015 MODES%=MODES% OR 2
7020 RETURN
7100 !
7293 !
7294 ! Change gear ratio while drive is active
7295 !
7296 ! FDBK_SCALING = feedback encoder counts/engineering unit
7297 ! REF_SCALING = gearing encoder counts/engineering unit
7298 ! GEAR = gear ratio
7299 !
7300 GEAR_RATIO!=(FDBK_SCALING*GEAR/REF_SCALING) *65536.*256.
7305 CMD67%=8 \GOSUB 25000
7310 RETURN
7400 !
7497 !
7498 ! Turn off gearing mode
7499 !
7500 MODES%= MODES% AND 0ADH
7505 RETURN