Bosch 6000 User's Guide download pdf (Page 194)

Chapter 5. Custom Profiling

179

The table below summarizes the restrictions on pre-emptive GOs.

Condition Possible?

Execute GO during MC1 & FOLENØ Yes

Execute GO during MC1 & FOLEN1 Yes

Execute GO during MCØ & FOLENØ Yes

Execute GO during MCØ & FOLEN1 No

Change MC setting during motion Yes (but cannot change MC1 to

MCØ during FOLEN1)

Change ENC setting during motion No

Change FOLENØ to FOLEN1 during motion No

Change FOLEN1 to FOLENØ during motion Only while MC1, constant ratio,

and not shifting

OTF Error Conditions

Further instructions

about handling error

conditions are

provided on page 30.

The ability to change the goal position on the fly raises the possibility that the new position

goal of an on-the-fly GO cannot be reached with the current direction, velocity, and

deceleration. If this happens, an error condition is flagged in axis status bit #30 (AS.3Ø) for

that axis and in error status bit #10 (ER.1Ø).

If the direction of the new goal position is opposite that of current travel, the 6000 controller

will kill motion (stop motion abruptly) and set AS.3Ø and ER.1Ø.

If there has not yet been an overshoot, but it is not possible to decelerate to the new distance

from the current velocity using the specified AD value, the action taken by stepper controllers

is different from that taken by servo controllers:

• With steppers, the deceleration will be modified to avoid overshoot (as shown in

Scenario #2 below) and the AS.3Ø and ER.1Ø status bits will not be set.

• With servos, this case is considered an overshoot, the controller with kill the move, and

the AS.3Ø and ER.1Ø status bits will be set.

RELATED STATUS COMMANDS

Axis Status — Bit #30: (this status bit is cleared with the next GO command)

AS.3Ø .. Assignment & comparison operator — use in a conditional expression (see pg. 25).

TASF.... Full text description of each status bit. (see “Preset Move Overshot” line item)

TAS ..... Binary report of each status bit (bits 1-32 from left to right). See bit #30.

Error Status — Bit #10: The error status is monitored and reported only if you enable

error-checking bit #10 with the ERROR command (e.g., ERROR.1Ø-1). NOTE: When the error

occurs, the controller with branch to the error program (assigned with the ERRORP command).

(this status bit is cleared with the next GO command)

ER.1Ø .. Assignment & comparison operator — use in a conditional expression (see pg. 25).

TERF.... Full text description of each status bit. (see “Preset Move Overshot” line item)

TER ..... Binary report of each status bit (bits 1-32 from left to right). See bit #10.

Error Condition

Scenarios

Scenario #1: OTF change of velocity and

distance, where new commanded distance (D

) is

greater than the original distance (D

) that was

pre-empted [D

]. The distances are the areas

under the profiles, starting at t

for both. If the

original move had continued, D

would have been

reached at time t

. D

is reached at time t

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Bosch 6000 User's Guide Page 194

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