MC_GearIn and control modes

Motion
Omar Ampyx
2019-02-12
2019-02-13
  • Omar Ampyx

    Omar Ampyx - 2019-02-12

    Hi everyone,

    Question 1: is it possible to have two axes in torque mode and coupled via MC_GearIn? If yes, I would expect that the slave will produce a ratio of the master's torque... can somebody confirm this?

    Question 2: assumming two axes coupled via MC_GearIn. Is the gear ratio mantained after switching the slave's control mode ?? Or must MC_GearIn be executed again?

    Thank you in advance,
    Omar

     
  • eschwellinger

    eschwellinger - 2019-02-13

    Hi,

    MC_GearIn does only work in position or velocity mode !

    BR
    Edwin

     

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