Bosch 6000 User's Guide download pdf (Page 227)

212

6000 Series Programmer's Guide

The master cycle length will be set equal to the desired cut length (36" in the example below),

which the operator can change by modifying variable VAR1. The cut cycle will be a

continuous loop, but the first cut will be made 0.2 inches from the end of the stock to ensure

an even first edge. Axis #1 will accelerate to the desired tracking ratio over 1 inch of master

travel for all cuts. Assume that the home position of both axes is at position 0 inches.

The Cut-to-Length example takes advantage of being able to change master cycle length, while

being careful to change it only at the beginning of a current cycle. This ensures that the

current master cycle position will be less than the new master cycle length, and will not

change as a result of a change in cycle length. In this example, the master cycle length and

corresponding waits are redefined every cycle to the current value of VAR1. The value of

VAR1 becomes the cut length, and can be changed via remote command during program

execution. With minor modifications, the cut lengths and the number of iterations could be

read from DATA commands (e.g., in a teach mode application).

Program

SCALE1 ; Enable scaling

SCLD8000,8000 ; Set axes #1 & #2 scale factors for programming

; in inches

SCLV,8000 ; Axis #2 velocity scale factor for inches/sec

SCLA,8000 ; Axis #2 accel scale factor for inches/sec/sec

SCLMAS8000 ; Master scale factor for programming in inches

DEF CUTLEN ; Start definition of Cut-to-Length program

COMEXC1 ; Enable continuous command execution mode

COMEXS1 ; Continue execution if stop is issued

INFEN1 ; Enable input functions

INFNC25-H ; Enable trigger input A for TRGFN use

OUTFEN1 ; Enable output functions

A20,20 ; Set acceleration

V5,5 ; Set velocity

MA11 ; Absolute positioning mode for non-Following moves

VAR1=36 ; Desired cut length is 36"

VAR2=4 ; Sensor is 4" from home position of axis #1

VAR2=VAR2+0.2 ; 1st cut to be 0.2" from end of stock

VAR3=1 ; FOLMD to be set to 1"

VAR4=VAR3/2 ; Slave will travel 1/2" when accelerating to

; 1:1 ratio while master travels 1"

VAR2=VAR4-VAR2 ; Take distance slave travels during accel into account

; so we'll be up to speed at position = 0.2" from end

; of stock. Then the cut will be made. Initial master

; cycle position will be the negative of the distance

; traveled during slave wait and accel.

FOLMAS31 ; Encoder input #3 is the master for slave axis #1

FMCP(VAR2) ; Set initial master cycle position to wait length

FOLMD(VAR3) ; Acceleration to constant ratio will take place over

; VAR3" (1" here) of master travel

FOLRN1

FOLRD1 ; Following ratio is 1 to 1

TRGFNA X1 ; Define a new master cycle on trigger input #1 (TRG-A)

WAIT(IN.25=b1) ; Suspend program execution until stock is sensed

OUT.6-1 ; Turn on output for saw blade to move down into position

GOWHEN(1PMAS>=0) ; Wait on first move for start of master cycle.

; This will ensure being at 1:1 ratio at exactly 0.2"

; from end of stock.

$NEWCUT ; Subroutine DEF for continuous cutting

D,5 ; Axis #2 will move 5 inches across the stock

MC1 ; Axis 1 into continuous move mode.

FOLEN1 ; Enable Following on axis #1

VAR5=VAR1 ; Set VAR5 = VAR1 (Snapshot of VAR1)

FMCLEN(VAR5) ; New master cycle length is cut length

GO1 ; Start Following move on slave axis #1

(Continued)

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Bosch 6000 User's Guide Page 227

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