Delta RMC151 - Manual (Page 755)

8 Command Reference
Term Description
Master Sync
Position
The position of the master at which the slave will be at its sync
position and will be at locked in at the final gear ratio.
Master Start
Distance
The distance from the Master Sync Position during which the
clutching will take place. This area is also called the "clutch area".
Note: This is the distance, not the absolute position!
Master Start
Position
The master position at which the slave starts clutching.
This position is Master Sync Position - Master Start Distance.
Slave Sync Position The position of the slave at which the master will be at its sync
position and the slave will be at locked in at the final gear ratio.
Slave Start Position The slave position at the time the command is issued.
Slave Distance
The distance between the Slave Start Position and the Slave Sync
Position.
Clutching
This command requires that the slave is either stopped (which is a zero gear ratio) or
geared when the command is issued. This gear ratio will be used to create an initial
constant gear ratio that holds until the master reaches the Master Start Position.
When the master moves beyond the Master Start Position, the gear ratio will ramped
from the initial ratio to the requested ratio such that the two synchronize exactly at the
requested Master Sync Position and Slave Sync Position. The Master Start
Distance specifies how far from the Master Sync Position the clutching should start.
The Master Start Distance implies the direction with its sign. For example, with a
Master Sync Position of 10, a Master Start Distance of 2 means that the clutching
happens as the master moves from 8 up to 10. With a Master Sync Position of 10, a
Master Start Distance of -2 means that the clutching happens from 12 down to 10.
Notice that the RMC will decrease the Master Start Distance in some cases. See the
Master Start Distance Details section below for more details.
Reversing Direction
This command allows reversing the direction of the master. If the master reverses
directions before the axes have reached the sync positions, the slave will follow the
profile in reverse. If the master continues in reverse past the Master Start Distance, the
slave will continue following the master in reverse using the initial gear ratio. The
clutching will resume if the master returns to the Master Start Position.
Once the axes have reached the sync positions, the slave will lock in at the final gear
ratio, and will gear to the master at that ratio whether the master goes forward or
backward. It will not revert to the profile it followed before reaching the sync position.
Errors
If the axis is not stopped or already geared when this command is issued, a Command
Error will be generated.
If the Master Position is already beyond the Master Sync Position when the command is
issued (where "beyond" is defined by the direction implied by the Master Start Distance
as described above), then the command will fail with a Command Error.
If the Master Position is already in the clutch area (between Master Start Position and
Master Sync Position) when the command is issued, then the command will proceed but
with a Command Modified error, since the effective Master Start Distance will be adjusted
to make the move complete. Setting the Command Modified Auto Stop to Status Only will
allow this move to proceed.
Uses for Gear Pos (Clutch by Distance) Command
The Gear Pos (Clutch by Distance) command is useful for the following purposes:
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