Bosch 6000 User's Guide download pdf (Page 102)

Chapter 3. Basic Operation Setup

Positioning Modes

The 6000 controller can be programmed to position in either the preset (incremental or

absolute) mode or the continuous mode. You should select the mode that will be most

convenient for your application. For example, a repetitive cut-to-length application requires

incremental positioning. X-Y positioning, on the other hand, is better served in the absolute

mode. Continuous mode is useful for applications that require constant movement of the load

based on internal conditions or inputs, not distance.

Refer also to the

Scaling

section above.

Positioning modes require acceleration, deceleration, velocity, and distance commands

(continuous mode does not require distance). The table below identifies these commands and

their units of measure, and which scaling command affects them.

Parameter Units (Unscaled), Steppers Units (Unscaled), Servos Unit Scaling Command *

Acceleration revs/sec

encoder/resolver: revs/sec

ANI: volts/sec

LDT: inches/sec

SCLA or PSCLA

Deceleration revs/sec

encoder/resolver: revs/sec

ANI: volts/sec

LDT: inches/sec

SCLA or PSCLA

Velocity revs/sec encoder/resolver: revs/sec

ANI: volts/sec

LDT: inches/sec

SCLV or PSCLV

Distance steps counts SCLD or PSCLD **

* Scaling must first be enabled with the SCALE1 command. PSCLA, PSCLV, and PSCLD are for interpolated moves.

** An axis assigned as a master (for Following) is scaled by the SCLMAS command.

On-The-Fly (Pre-emptive Go) Motion Profiling

While motion is in progress (regardless of the positioning mode), you can change these

motion parameters to affect a new profile:

• Acceleration and S-curve Acceleration (A and AA)

• Deceleration and S-curve Deceleration (AD and ADA)

• Velocity (V)

• Distance (D)

• Preset or Continuous Positioning Mode Selection (MC)

• Incremental or Absolute Positioning Mode Selection (MA)

• Following Ratio Numerator and Denominator (FOLRN and FOLRD, respectively)

The motion parameters can be changed by sending the respective command (e.g., A, V, D,

MC, etc.) followed by the GO command. If the continuous command execution mode is

enabled (COMEXC1), you can execute buffered commands; otherwise, you must prefix each

command with an immediate command identifier (e.g., !A, !V, !D, !MC, etc., followed by

!GO). The new GO command pre-empts the motion profile in progress with a new profile based

on the new motion parameter(s).

For more information, see

On-The-Fly Motion Profiling

on page 178.

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Bosch 6000 User's Guide Page 102

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