Bosch 6000 User's Guide download pdf (Page 216)

Chapter 6. Following

201

Performing Phase Shifts

Following Status (TFSF, TFS and FS) bits 9-12 indicate the shift status of the slave. Shifting

is super-imposed motion, but if viewed alone, can have its own status. In other words, bits 10-

12 describe only the shifting portion of motion.

Bit # Function (YES = 1; NO = Ø)

9 OK to Shift.......................... Conditions are valid to issue shift commands (FSHFD or FSHFC).

10 Shifting now........................ A shift move is in progress.

11 Shift is Continuous............. An FSHFC-based shift move is in progress.

12 Shift Dir is Neg.................. The direction of the shift move in progress is negative.

When a slave is following a master continuously, it may be necessary to adjust, or shift, the

Following phase (slave's position with respect to the master) independent of motion due to

ratio moves. The FSHFC and FSHFD commands allow time-based slave moves to be

superimposed upon ratio Following moves. Because phase shifts are time-based, they are

independent of master motion; in fact, the master may be at rest and a shift may still be

performed.

Use the FSHFD command to perform a preset shift move with a specific change in slave

phase. The FSHFD distance value will be scaled by SCLD if scaling is enabled (SCALE1).

Use the FSHFC command to superimpose a continuous shift move in the positive (FSHFC1)

or negative (FSHFC2) direction. The FSHFC parameters stop (Ø) and kill (3) can be used to

halt a continuous FSHFC move or a preset FSHFD move without affect the ratio motion.

The most recently defined velocity and acceleration (i.e., the V and A values) for the slave will

determine the basis for the superimposed shift move profile for both FSHFC and FSHFD

moves. The commanded velocity of the FSHFC or FSHFD move will be added to the current

velocity at which the slave is performing the Following move. For example, assume a slave

is traveling at 1 rps in the positive direction as a result of following a master. If a FSHFC

move is commanded in the positive direction at 2 rps, the slave's actual velocity (after

acceleration) will be 3 rps.

For servos, shifting may be performed whenever Following is enabled (FOLEN1). For steppers,

this may only be done while Following is enabled and the slave is either not in a move, or is in

continuous positioning mode (MC1) and moving at constant ratio. For both products, TFS/FS

bit 9 indicates when a shift is allowed.

The current slave position (TPSLV value) and the net slave shift accumulated since the most

recent FOLEN1 command (TPSHF value) may be read into numeric variables (VAR) using the

PSLV and PSHF commands, respectively (e.g., VAR6=2PSLV). They may also be used for

subsequent decision making (e.g., IF(3PSHF<6), GOWHEN(1PSLV>VAR2), etc.).

The TPSHF and PSHF values are set to zero each time the Following mode is enabled

(FOLEN1), even if the slave is already in Following mode. This provides a way of clearing

these values for programming convenience.

Note that the distance traveled during the time-based deceleration due to stop, kill, or limits is

included in the PSHF value. By comparing "before and after" values of PSHF, a 6000

program may calculate how much shift was required to perform visual- or sensor-based

alignment of a master/slave phase relationship.

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Bosch 6000 User's Guide Page 216

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