SIMOTION D: Configuring Gear-to-Velocity Transfer Guide

On SIMOTION D firmware 4.4, an explicit _DisableGearing command does not necessarily require the slave axis to reach standstill before a velocity command takes control. The available evidence indicates that issuing _MoveVelocity after disabling gearing activates the velocity job, and that a new motion job may itself abort synchronization. Verify the exact transition on the machine because the evidence does not identify the velocity-ramp parameter or define command timing.

Separate Gear Disable from the Following Motion

If _DisableGearing runs without another motion command, the slave ramps toward standstill. In a sequence containing _DisableGearing followed by _MoveVelocity, the velocity job can take control before the standalone gear-disable behavior is mistaken for a mandatory stop.

Implement the Gear-to-Velocity Sequence

1. While geared to the virtual master, record the actual slave velocity and synchronization state for commissioning analysis.
2. Apply the required torque limitation using the existing application method; the evidence does not identify a torque-limit command or parameter.
3. Either issue _DisableGearing immediately followed by _MoveVelocity, or test direct _MoveVelocity takeover if automatic synchronization abort is acceptable.
4. Set the destination speed and transition ramp through the supported velocity-job interface. The evidence confirms the need for an adjustable ramp but does not provide its parameter identifier or units.

// Explicit release sequence
_DisableGearing(...);
_MoveVelocity(...);   // destination speed and supported ramp settings

// Alternative requiring machine validation
_MoveVelocity(...);   // may abort synchronization automatically

Handle Job Interruption and Direction Changes

Automatic takeover can produce warning 30002, described in the evidence as a job-interrupted warning. Treat it as expected only after confirming that it corresponds to the intentionally superseded gearing job and that no unrelated motion job was interrupted.

A stop or reversal observed with _DisableGearing followed by _MoveAbsolute may be demanded by the absolute-position job rather than by gear disable. Therefore, do not use an absolute-move test to conclude that _DisableGearing always forces standstill.

Verify Continuous Transfer

Trend actual velocity, commanded velocity, synchronization status, active-job status, and torque limitation through the transition. Accept the sequence only if synchronization releases, the velocity job becomes active, actual velocity follows the configured transition without an unintended zero-speed interval, and warning 30002—if present—maps only to the deliberately interrupted job.

FAQ