Bosch 6000 User's Guide download pdf (Page 214)

Chapter 6. Following

199

Slave vs. Master Move Profiles

Following Status (TFSF, TFS, and FS) bits 1-4 indicate the status of slave following motion.

They mimic the meaning and organization of Axis Status (TASF and AS) bits 1-4, except that

each bit indicates the current state of the ratio, rather than the current state of the velocity:

Bit # Function (YES = 1; NO = Ø)

1 Slave in Ratio Move .......... A Following move is in progress

2 Ratio is Negative ............... The current ratio is negative (i.e., the slave counts are counting in the

opposite direction from the master counts).

3 Slave Ratio Changing........ The slave is ramping from one ratio to another (including a ramp to or

from zero ratio).

4 Slave At Ratio.................... The slave is at constant non-zero ratio.

Continuous

Positioning

Mode Moves

For Following moves in the continuous positioning mode (MC1), FOLMD specifies the exact

master travel distance over which the slave ratio changes. This will be required for any

application that uses multiple ratios and continuous moves for the construction of precisely

defined multi-segment moves.

☞ HINT: If the slave is in continuous mode (MC1) and the master is starting from rest,

setting FOLMD to Ø will ensure precise tracking of the master's acceleration ramp.

In the profile below, the first two moves each change ratio over one master inch, and the final

ramp to zero takes place over two master inches.

Ratio

Master Travel (inches)1234567

Example

☞ In the sample 6000 code below, assume the slave has a 1000-line encoder on axis 1, connected to

a 2-pitch leadscrew. This gives 8000 slaves steps per inch. The master is a toothed belt with a

pulley connected to encoder 2, such that there are 800 master steps per inch.

COMEXC1 ; Allow commands during motion

FOLMAS21 ; Define axis 1 master to be encoder input #2

FOLEN1 ; Enable Following on axis 1 (will follow encoder #2)

SCALE1 ; Enable scaling

SCLD8000 ; Set axis 1 scaling so that slave commands are in inches

SCLMAS800 ; Set axis 1 scaling so that master commands are in inches

FOLMD1 ; Slave to change ratio over 1 inch of the master travel

FOLRD1 ; Set Following ratio denominator to

1 for subsequent ratios

D+ ; Set direction positive

MC1 ; Mode set to continuous clockwise moves

FOLRN1 ; Set Following ratio numerator to 1 (ratio set to 1:1)

FMCNEW1 ; Restart master cycle counting

GO1 ; Start axis 1 from rest to reach velocity of master

; (encoder #2)

This command is for steppers only →

WAIT(1FS.4=B1) ; Wait until slave is at ratio

FOLRN3 ; Set Following ratio numerator to 3 (ratio set to 3:1)

GOWHEN (1PMAS>=2) ; Enable motion pre-processing so that the next ramp

; begins at master position 2

GO1 ; Slave starts ratio change to 3 to 1 at master position 2

FOLRN0 ; Set Following ratio numerator to zero (ratio is 0 to 1)

FOLMD2 ; Have slave change ratio over 2 inches of master travel

WAIT(1AS.26=b0) ; Wait until the previous ramp is started

; (GOWHEN bit in axis status register is cleared)

WAIT(1FS.3=b0) ; Wait until the previous ramp is finished

GOWHEN(1PMAS>=5) ; Enable motion pre-processing so that slave motion

; begins at master position 5

GO1 ; Wait for master to reach 5 revolutions before

; slave starts ratio change to 0 (zero)

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Bosch 6000 User's Guide Page 214

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