Bosch 6000 User's Guide download pdf (Page 237)

222

6000 Series Programmer's Guide

GO Command

If a slave axis is in Following mode (FOLEN1), moves will ramp to a ratio (set with FOLRN

and FOLRD). If it is not in Following mode, moves will ramp to a velocity (V). Switching

in and out of Following mode does not change the value for final ratio or final velocity goals,

but simply changes which parameter is used as the goal.

Registration

Moves

(see page 182)

Registration inputs may be enabled with the INFNCi-H command while an axis is a slave,

and registration moves may interrupt either a Following mode move or a time-based move.

The registration move itself, however, is always a time based move, and implements the

registration velocity with respect to a stationary reference. Any trigger input may be

used as a registration input or for any Following feature which uses

triggers, even at the same time.

Enter/Exit

Following Mode

While Moving

The FOLENØ command may be executed while a slave is moving at constant ratio. In this

case, the current velocity becomes the constant velocity, and the slave may accelerate or

decelerate to other velocities. The FOLEN1 command may not be executed while the slave is

moving in the non-Following mode. Attempting to do so will result in the error response

“MOTION IN PROGRESS”.

Pause and

Continue

A program may be paused and continued, even if one or more axes is configured as a slave.

Those axes do not lose track of the master input, even though motion is stopped. As usual, if

a program finishes normally, or if COMEXS is set to zero (COMEXSØ), the program may not

be continued. If a program is resumed, partially completed Following moves will be

completed; however, the remainder of the move is completed over the entire original master

distance (FOLMD value).

TVEL and TVELA

Commands

The TVEL and VEL commands have always reported an unsigned value (i.e. magnitude),

consistent with the fact that the V command is always positive, even if the move direction is

negative. When Following is enabled (FOLEN1), TVEL and VEL report the net magnitude of

commanded velocity due to following and/or shifting. For example, if the slave is following

in the positive direction at 1 rps, TVEL reports 1.000. If a shift in the negative direction of

1.5 rps is then commanded, TVEL will report 0.5 – still positive, even though the net

direction is negative.

By contrast, TVELA and VELA have always been signed. In the above example, TVELA will

report -0.5.

TASF, TAS & AS

Axis Status Bits

Axis Status (TASF, TAS and AS) bits 1-4 represent the motion status of an axis. Bits 1 and 2

represent the moving and direction status of the net motion of an axis, including the

combination of following and shifting.

Bits 3 and 4 represent acceleration and velocity, respectively. With Following disabled

(FOLENØ), the accel and velocity can only be due to a commanded time-based profile. With

Following enabled (FOLEN1), the net commanded velocity and accel could be due to following

the master and/or a simultaneous shift (time-based profile). Bits 3 and 4 only reflect the

acceleration and velocity status of the time-based profile, not the combined command.

For example, if the slave is following in the positive direction at 1 rps, TAS reports 1ØØØ. If

a continuous shift (FSHFC2) of 0.8 rps in the negative direction is then commanded, TAS will

report 1Ø1Ø, while the shaft is decelerating to 0.2 rps. When the continuous shift velocity is

reached, TAS will report 1ØØ1.

Changing

Feedback Sources

(Servos only)

Changing feedback sources (SFB) may result in a slave following its own feedback. For this

reason, changing feedback sources is not allowed while a master is specified (FOLMAS).

Following and

Other Motion

Following motion is initiated with the GO command, just like normal motion. Other motion,

which does not depend on the motion of an external master, may not be used while a slave is in

Following mode (FOLEN1). These motion types include jog mode, joystick mode,

contouring, homing, streaming mode, and linear interpolation (GOL). To use these motion

types, Following must be disabled (FOLENØ) — see Enter/Exit Following Mode While

Moving above for precautions.

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Bosch 6000 User's Guide Page 237

Comments to this Manuals

Bosch 6000 User's Guide Page 237

Comments to this Manuals

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