Bosch 6000 User's Guide download pdf (Page 155)

140

6000 Series Programmer's Guide

Joystick Set

Up Example

This example represents a typical two-axis joystick application in which a high velocity range is

required to move to a region, then a low velocity range is required for a fine search. After the

search is completed it is necessary to record the load positions, then move to the next region.

The joystick trigger input can be used to indicate that the position should be read. The joystick

release is used to exit the joystick mode and continue with the motion program.

The following table describes the requirements of the application (using rotary motors), and how

the controller is configured to satisfy those requirements. The resulting joystick voltage

configuration is illustrated below. One analog input channel is used for each axis.

Requirement Configuration

Set max. high-range velocity to 5 units/sec (on both axes) Type in the JOYVH5,5 command

Set max. low-range velocity to 1 units/sec (on both axes) Type in the JOYVL1,1 command

No velocity when voltage is at 1.0V Set center voltage with JOYCTR1,1, command,

or set voltage level at both analog inputs to 1.0V

and type in JOYZ11

Joystick cannot reliably rest at 1.0V, but can rest within

±0.1V of 1.0V

Set center deadband of 0.1V with JOYCDB.1,.1

command (0.1V is the system default)

Joystick can only produce maximum of 2.3V and

minimum of 0.2V

Set end deadband to get max. velocity at 2.3V or

0.2V with the JOYEDB.2,.2 command.

Voltage range: CW = 1.1V to 2.3V (1.2V total)

CCW = 0.9V to 0.2V (0.7V total)

Voltage resolution: see below

The high-range velocity resolutions (at 5 rps max.) are calculated as follows:

CW:

5 rps

voltage range of 1.2V (122 counts)

= 0.041 rps/count; CCW:

5 rps

voltage range of 0.7V (72 counts)

= 0.069 rps/count

The low-range velocity resolutions (at 1 rps max.) are calculated as follows:

CW:

1 rps

voltage range of 1.2V (122 counts)

= 0.008 rps/count; CCW:

1 rps

voltage range of 0.7V (72 counts)

= 0.014 rps/count

2.5V

2.3V

1.1V

1.0V

0.9V

0.2V

0.0V

Center Deadband (JOYCDB.1,.1); Velocity = 0 rps

End Deadband (JOYEDB.2,.2); Velocity = 5 rps (high range) or 1 rps (low range)

Binary 11111111

21 counts

Binary 11101000

Binary 01110000

Binary 01011100

Binary 00010100

Binary 00000000

122 counts

20 counts

72 counts

21 counts

Velocity

Increases

Velocity

Increases

CW Velocity

CCW Velocity

Analog

Voltage

Override

Before you actually wire the analog inputs, you can simulate their activation in software by

using the ANVO command. For instance, ANVO1.2,1.6,1.8,1.3 overrides the hardware

analog input channels—1.2V on channel 1, 1.6V on channel 2, 1.8V on channel 3, and 1.3V

on channel 4. The ANVO values are used in any command or function that references the

analog input channels, but only those channels for which ANVOEN is set to 1 (e.g., Given

ANVOENØ11Ø, the ANVO values 1.6V and 1.8V are referenced for channels 2 and 3 only.).

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Bosch 6000 User's Guide Page 155

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