Bosch 6000 User's Guide download pdf (Page 228)

Chapter 6. Following

213

Continuous Cut-to-Length Program

(Continued)

WAIT(1FS.4=b1) ; Wait for axis #1 to be in sync with the moving stock

GOx1 ; Once axis #1 is up to speed, move axis #2 across

; stock to make the cut

WAIT(2AS.1=b0) ; Wait for axis #2 cut to finish

S1 ; Stop Following move on axis #1

WAIT(MOV=b0) ; Wait until the move is complete on axis 1

FOLEN0 ; Exit Following mode

OUT.6-0 ; Raise the saw blade

MC0 ; Axis 1 into preset move mode.

D0,0 ; Move both axes back to home positions

GO11 ; Execute moves on axes 1 and 2 (execution will not

; occur until motion from previous move is complete)

WAIT(MOV=b00) ; Wait until the moves are complete on axes 1 and 2

OUT.6-1 ; Move saw blade into position for next cut

GOWHEN(1PMAS>=VAR5) ; Synchronize next move with next master cycle

GOTO NEWCUT ; Repeat the cut cycle

END ; End program definition

Technical Considerations for Following

In the introduction to Following (see page 192), the algorithm for 6000 controller Following

was briefly discussed. Here we will address some of the more technical aspects of Following:

• Master Position Prediction

• Master Position Filtering

• Following error

• Maximum acceleration and velocity (steppers only)

• Dynamic position maintenance (steppers only)

• Factors affecting Following accuracy

• Preset vs. Continuous Following moves

• Master and slave distance calculations

• Using other features with Following

**Keep in mind that in all cases, the slave position is calculated from a sampled master position.

Following Status (TFSF, TFS, and FS) bits 17 and 18 indicate the status of master

position measurement features:

Bit # Function (YES =1; NO = Ø)

17 Mas Pos Prediction On ..... Master position prediction has been enabled (FPPEN).

18 Mas Filtering On................ A non-zero value for master position filtering (FFILT) is in effect.

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Bosch 6000 User's Guide Page 228