4. Motion Control Instructions 4.4.16. DMC_ChangeMechanismGearRatio The instruction is applied to change the terminal actuator parameters. User could change the parameters into new ones same as the actual mechanism parameters via the instruction. After the instruction is enabled, the modified parameter values are effective as DVP10MC11T is re-powered on. All axes must be at a standstill when the instruction is enabled. Explanation of the Instruction: Users should know about every parameter of the instruction while using the instruction. Refer to section 11.1.1.1 in the software help for more details on the parameters.
In addition, to avoid any damage, user should make sure that the servo speed will not exceed its maximum value in the execution of other motion instructions after the instruction is enabled. Explanation of input and output parameter of the instruction: 4-50 DVP-MC operating manual API DMC ChangeMechanismGearRatio _ Revise mechanism parameter Applicable Model 10MC11T 16 Data Available Parameter name Explanation type device Axis Node ID of the servo drive UINT Constant, D Enable This instruction is executed when “Enable” is ON.
BOOL M,I,Q, Constant InputRotation To constitute the mechanism gear ratio with OutputRotation together REAL Constant, D OutputRotation To constitute the mechanism gear ratio with InputRotation together. REAL Constant, D UnitsPerRotation How many units the corresponding terminal actuator moves when the output end of the gear box rotates for one circle. (Unit: unit/rotation) REAL Constant, D AxisType 0: Rotary axis 1: Linear axis UINT Constant, D Modulo The cycle used to equally divide the terminal actuator position. REAL Constant, D Active When Active=ON and Enable=ON, input parameters of the instruction as axis parameters are effective after 10MC is re-powered on. BOOL M,I,Q, Constant