Instruction manual

7. TRANSMISSION MODULE
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7.4 Differential Gear
The differential gear is used for the following purposes;
• For shifting the output module phase or carrying out alignment of the operation
start position
• For carrying out independent operation separated from the virtual main shaft
7.4.1 Operation
(1) When the input shaft clutch is engaged
The differential gear subtracts the auxiliary input shaft travel distance from the
input shaft travel distance and transmits this to the output axis.
Output shaft
travel value
=
Input shaft
travel value
−
Auxiliary input shaft
travel value
(Unit: PLS)
Virtual main shaft
Auxiliary input shaft
Input shaft
Differential gear
Output shaft
Clutch
Drive
module
Output
module
(2) When the input shaft clutch is disengaged
Independent operation is possible using the auxiliary input shaft since the
differential gear transmits only the amount of travel from the auxiliary input shaft
to the output shaft.