Motion.SetAxisGear method

Commands a ratio between the velocity of the slave and master axis.

Namespace: IntervalZero.KINGSTAR.OpcUa.Api

Assembly: IntervalZero.KINGSTAR.OpcUa.Api (in IntervalZero.KINGSTAR.OpcUa.Client.dll) Version: 4.4.0.0

Syntax

C#VB

public KsCommandStatus SetAxisGear(
       int Master,
       int Slave,
       bool Permanent,
       double Ratio,
       McSource MasterValueSource,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McBufferMode BufferMode
)

Public Function SetAxisGear(
       Master As Integer,
       Slave As Integer,
       Permanent As Boolean,
       Ratio As Double,
       MasterValueSource As McSource,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       BufferMode As McBufferMode
) As KsCommandStatus

Parameters

Master [in]

Type: int

The index of the master axis. Indexes are zero based. Aliases affect this parameter.

Slave [in]

Type: int

The index of the slave axis. Indexes are zero based. Aliases affect this parameter. The number of slaves is up to 32.

Permanent [in]

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 [in]

Type: double

The gear ratio.

MasterValueSource [in]

Type: McSource

Defines the source for synchronization.

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 [in]

Type: double

The acceleration for gearing in.

Deceleration [in]

Type: double

The deceleration for gearing in.

Jerk [in]

Type: double

The jerk for gearing in.

BufferMode [in]

Type: McBufferMode

Defines how to blend the velocity of two methods.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

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 SetAxisGear is running, using a consecutive SetAxisGear function without the necessity to Motion.ReleaseAxis first.
After being "InSync," a position locking or just a velocity locking is system-specific.
To detach the slave axis, use ReleaseAxis.

Examples

N/A