Bosch 6000 User's Guide download pdf (Page 164)

Chapter 5. Custom Profiling

149

Greater in-depth discussions on each SD command function are provided in the 6000 Series

Software Reference.

CAUTION

Minimized Error Checking: In both streaming modes, the SD commands are executed

in the motion trajectory update. Because of processing time constraints, error checking is

minimal. For instance, a 2 in a field designated for a 1 or 0 may turn on unexpected outputs.

Entering data greater than the maximum distance or frequency will cause unexpected motor

positioning. If incorrect data or no data is detected, the data is ignored and the last velocity

value is output.

Do not exceed update period: When in the distance or velocity streaming mode, the

last SD data point output will continue to be output on each succeeding update, unless a new

SD data point is received. If you have all of your SD data points in a program that is contained

in the controller, this will pose no problem; however, if you are sending each individual SD

data point from an external program

on the fly

, be sure to not exceed the update period you

specified with the STD command.

Executing a pause (P command or pause input): The occurrence of a pause

command or a pause input will stop motion and disable the streaming mode.

Keep the pulse width settings equal: All axes involved in the streaming mode

(STREAM) must have the same PULSE setting (1 µs minimum).

Time-Distance Streaming Example

The example below illustrates a grinding application. The application involves two axes in an

X-Y orientation. One axis controls the position of the grinding wheel relative to the part

being ground (Y-axis). The other axis moves the grinding wheel parallel to the part being

ground (X-axis). The motion on the Y-axis is accomplished with the standard motion

commands (A, V, D, and GO). However, the motion on the X-axis is more complex, requiring

time-distance streaming.

There are two parts that can be ground (see illustration below). The three faces labeled A, B,

and C are to be ground at a speed of 2 rps, while traversing between each grind at 10 rps. The

motion profiles for the X-axis of each part are shown.

100000

Distance

Velocity

0 150000 200000 250000 300000 350000

350250

50000 100000 150000 200000 2500000

Part 1

Grinding Surface

100000

Distance

Velocity

0 200000 250000 350000 400000 500000

500250

100000 150000 250000 300000 4000000

Grinding Surface

Part 2

Grinding Surface Grinding Surface

1 2 ... 159 160 161 162 163 164 165 166 167 168 169 ... 267 268

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Bosch 6000 User's Guide Page 164

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