Alternatively to doing this in the control one may create a so called technology function (TechFunc) which is in fact a drive integrated PLC program with the means of the options "TE0" or "TE1".
Inside this function one would
- switch drive to drive halt state using control word S-0-0134, then switch off drive enable by sui9gn as well this control word parameter S-0-0134
- if needed, with an absolute encoder and an absolute position present, store the actual position to a TechFunc parameter for gear ratio 1 (similarly a parameter is needed as well for gear ratio 2)
- switch to configuration mode (CM) using command parameter S-0-0420
- change the required gear ratio parameters (S-0-0121, S-0-0122) and eventually some other related parameters like max. velocity (S-0-0091), standstill window (S-0-0124), etc.
- switch back to operation mode (OM) using command parameter S-0-0422
- usually, with an absolute encoder present, system will tell that the absolute position has been lost (e.g. error code F2174)
- if needed and only this error code F2174 is present, initially reset this error by using parameter S-0-0099 and then set the absolute position again by first setting the required absolute target position (coming from the in before stored TechFunc parameter for gear ratio 2) to parameter S-0-0052 and then using command parameter S-0-0447 to set this as the actual position (if switching to gear ratio 1 the other TechFunc parameter is used)
- now normal procedure of commanding the axis after setting enable again can be applied
