Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 106)

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Gearing View

Figure 84: Gearing View

Gearing is used to fix the motion of the motor to the motion of the master axis signal at a specified ratio. This is commonly

called “electronic line shafting” or “electronic gearing”. To gear the motor to the master axis, a ratio must be specified as a

relationship between follower distance units and master distance units. The ratio is as follows:

The ratio is defined as the number of follower distance units to move the motor per master distance unit of travel. The master

distance units are configured on the Master Units view. The gear ratio can be positive or negative and is a signed 32-bit

parameter. The resolution of the parameter is determined by the number of decimal places configured for the Master Velocity

Units on the Master Units view

By default, gearing does not use acceleration or deceleration ramps with respect to the master encoder. This means that once

gearing is activated, peak torque is available to try to achieve the specified gear ratio. Therefore, if the master axis is already

in motion when gearing is activated, the control loop will attempt to accelerate the motor to the programmed ratio within one

update (800µsec <

update rate <1600 µsec). Analogously, when gearing is deactivated, the motor will use peak torque to bring

the motor to a stop without a deceleration ramp.

Acceleration and Deceleration ramps may be enabled on the Gearing view as seen in Figure 84 above (B3 firmware or later

is required for Accel / Decel). If enabled, the accel and decel ramps are specified in units of Follower Units / Velocity Time

Base / Acceleration Time Base. Note that this is a Realtime ramp. Therefore, the time that it takes to reach the programmed

ratio depends on how fast the master is traveling when gearing is activated. Figure 85 below demonstrates that the faster the

Master Velocity, the longer it will take to reach the programmed ratio. If the Master Axis is not moving when gearing is

initiated, then the follower locks into its programmed gear ratio instantly (no acceleration time required).

Gear Ratio

# of Follower Distance Units

1 Master Distance Unit

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1 2 ... 101 102 103 104 105 106 107 108 109 110 111 ... 239 240

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 106