Yaskawa LEGEND-MC - Manual (Page 280)

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LEGEND-MC User’s Manual
Electronic Gearing
With the LEGEND-MC, the master is always the auxiliary encoder. The master may rotate in both
directions and the geared axis will follow at the specified gear ratio.
The GA command is unnecessary for the LEGEND-MC, as the auxiliary encoder is automatically used.
GR x,y specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with
a fractional resolution of .0001. GR 0,0 turns off gearing in both modes. A limit switch or ST command
disables gearing.
GR causes the specified axes to be geared to the actual position of the master.
Electronic gearing allows the geared motor to perform a second independent or coordinated move in
addition to the gearing. For example, when a geared motor follows a master at a ratio of 1:1, it may be
advanced an additional distance with PR, JG, VP, or LI commands.
Command Summary - Electronic Gearing
Command Description
GA n Specifies master axes for gearing where n=DX for auxiliary encoder.
GR x Sets gear ratio for slave axes. 0 disables electronic gearing .
GR a Sets gear ratio for slave axes. 0 disables electronic gearing.
MR x Trippoint for reverse motion past specified value.
MF x Trippoint for forward motion past specified value.