IAxis.Gear method

Commands a ratio between the velocity of the slave and master axis. The number of slaves is up to 32.

Namespace: IntervalZero.KINGSTAR.Base.Class

Assembly: IntervalZero.KINGSTAR.Base.Class (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

IGearCommand Gear(
       IAxis master,
       bool permanent,
       double ratio,
       McSource masterValueSource,
       double acceleration,
       double deceleration,
       double jerk,
       McBufferMode bufferMode
)

Function Gear(
       master As IAxis,
       permanent As Boolean,
       ratio As Double,
       masterValueSource As McSource,
       acceleration As Double,
       deceleration As Double,
       jerk As Double,
       bufferMode As McBufferMode
)As IGearCommand

Parameters

master

Type: IAxis

The reference to the master axis.

permanent

Type: bool

Determines whether the gear state is preserved after the motor is disabled.

true: the gear state is preserved even if the motor is disabled. For example, if the master axis is enabled, the slave axis will be enabled. If an error has occurred on the master, it occurred on the slave too.

false: the gear state won't be preserved after the motor is disabled.

ratio

Type: double

The gear ratio.

masterValueSource

Type: McSource

Defines the source for synchronization. See McSource.

mcSetValue – synchronization on master set value. We suggest you use these settings.
mcActualValue – synchronization on master actual value. This setting may not be stable.
mcSecondEncoderValue – actual value of the secondary encoder of the axis.

NOTE: mcSecondEncoderValue is not supported yet.

acceleration

Type: double

The acceleration for gearing in.

deceleration

Type: double

The deceleration for gearing in.

jerk

Type: double

The jerk for gearing in.

bufferMode

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: IGearCommand

Returns the properties of a gear move.

Remarks

The slave ramps up to the ratio of the master velocity and locks in when this is reached. Any lost distance during synchronization is not caught up.
The gearing ratio can be changed while Gear is running, using a consecutive Gear method without the necessity to Abort first.
After being "InSync," a position locking or just a velocity locking is system-specific.