Bosch 6000 User's Guide download pdf (Page 217)

202

6000 Series Programmer's Guide

Phase Shift

Examples

An FSHFC or FSHFD move may be needed to adjust the slave position on the fly because of a

load condition which changes during the continuous Following move. Below are

programming examples to demonstrate both shift methods.

FSHFC Example

An operator is visually inspecting the slave's continuous Following motion with respect to

the master. If he notices that the master and slave are out of synchronization, it may be

desirable to have an interrupt programmed (e.g., activated by pressing a pushbutton switch)

that will allow the operator to move the slave at a superimposed correction speed until the

operator chooses to have the slave start tracking the master again (by releasing the

pushbutton). The programming example below illustrates this.

Assume all scale factors and set-up parameters have been entered for the master and slave. In

this example, the slave (axis #1) is continually following the master at a 1:1 ratio. If the

operator notices some mis-alignment between master and slave, he can press 1 of 2

pushbuttons (connected to programmable inputs #1 and #2) to shift the slave in the positive or

negative direction until the button is released. After the adjustment, the program continues on

as before.

DEL SHIFT ; Delete program before defining

DEF SHIFT ; Begin definition of program called SHIFT

COMEXS1 ; Continue command execution after stop

COMEXC1 ; Continue command execution during motion

FOLMAS21 ; Axis 2 encoder input is the master for axis 1

FOLRN1 ; Set slave-to-master Following ratio numerator to 1

FOLRD1 ; Set slave-to-master Following ratio denominator to 1

; (ratio set to 1:1)

FOLEN1 ; Enable Following mode on axis #1

A25 ; Set acceleration

AD18 ; Set deceleration

V5 ; Set velocity

D+ ; Set direction to positive

MC1 ; Select continuous positioning mode

GO1 ; Start following master continuously

VARB1=b10 ; Define input pattern #1 and assign to VARB

VARB2=b01 ; Define input pattern #2 and assign to VARB

$TESTIN ; Define label called TESTIN

IF(IN=VARB1) ; IF statement (if input #1 is activated, do the jump)

JUMP SHIFTP ; Jump to shift slave in the positive direction

; when pattern 1 active

NIF ; End of IF statement

IF(IN=VARB2) ; IF statement (if input #2 is activated, do the jump)

JUMP SHIFTN ; Jump to shift slave in the negative direction

; when pattern 2 active

NIF ; End of IF statement

JUMP TESTIN ; Return to main program loop

$SHIFTP ; Define label called SHIFTP (subroutine to shift in

; the positive direction)

FSHFC1 ; Start continuous slave shift move in positive direction

WAIT(IN.1=B0) ; Continue shift until input bit #1 is deactivated

FSHFC0 ; Stop shift move

This line is for steppers only →

WAIT(1FS.10=B0) ; Wait until the shift is completed (steppers only)

JUMP TESTIN ; Return to main program loop

$SHIFTN ; Define label called SHIFTN (subroutine to shift

; in the negative direction)

FSHFC2 ; Start continuous slave shift move in the

; negative direction

WAIT(IN.2=B0) ; Continue shift until bit #2 is deactivated

FSHFC0 ; Stop shift move

This line is for steppers only →

WAIT(1FS.10=B0) ; Wait until the shift is completed (steppers only)

JUMP TESTIN ; Return to main program loop

END ; End definition of program called SHIFT

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Bosch 6000 User's Guide Page 217

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