Bosch 6000 User's Guide download pdf (Page 240)

Chapter 6. Following

225

Following Commands

Detailed information about these commands is provided in the

6000 Series Software Reference

ERROR ..................... Enable bit #14 to check for when a GOWHEN condition is already true when a subsequent GO, GOL,

FSHFC, or FSHFD command is given.

ERRORP.................... If ERROR bit #14 is enabled, a GOSUB branch to the error program occurs if a GOWHEN condition is

already true when a subsequent GO, GOL, FSHFC, or FSHFD command is given.

FFILT ..................... Sets the bandwidth for master position filtering.

FMAXA ..................... STEPPERS ONLY: Sets the max. acceleration a slave may use while Following.

FMAXV ..................... STEPPERS ONLY: Sets the max. velocity at which a slave may travel.

FMCLEN.................... Defines the length of the master cycle.

FMCNEW.................... Restarts new master cycle counting immediately. To make this a trigger-based operation instead of

issuing the FMCNEW command, use the TRGFNcx1 command.

FMCP ....................... Defines the initial position of a new master cycle.

FOLEN ..................... Enables or disables Following mode.

FOLMAS.................... Defines masters for slave axes.

FOLMD ..................... Defines the master distance over which ratio changes or moves are to take place.

FOLRD ..................... Establishes the DENOMINATOR ONLY for the max. slave-to-master ratio for a preset move or the

final ratio for a continuous move (use in combination with the FOLRN command).

FOLRN ..................... Establishes the NUMERATOR ONLY for the max. slave-to-master ratio for a preset move or the final

ratio for a continuous move (use in combination with the FOLRD command).

FPPEN ..................... Allows master position prediction to be enabled or disabled.

FSHFC ..................... Allows continuous advance or retard (shift) of slave position during continuous Following moves.

FSHFD ..................... Allows preset advance or retard (shift) of slave position during continuous Following moves.

GOWHEN.................... A GOWHEN command suspends execution of the next slave move until the specified conditional

statement (based on T, IN, PC, PE, PM, PMAS, PSLV, or PSHF) is true. To make this a trigger-based

operation instead of issuing the GOWHEN command, use the TRGFNc1x command.

SCLD ....................... Sets the slave distance scale factor.

SCLMAS.................... Sets the master scale factor.

TRGFN ..................... TRGFNc1xxxxxxx initiates a GOWHEN. Suspends execution of the next slave move until the specified

trigger input (c) goes active.

TRGFNcx1xxxxxx allows master cycle counting to be restarted when the specified trigger input (c)

goes active.

Status and Assignment Commands:

TASF, TAS

& [ AS ] ..... Bit 26 of each axis status is set (1) if a motion profile suspended by a GOWHEN (including TRGFNc1x) is

pending on that axis. The bit is cleared when the GOWHEN is true, or when a stop (S) or kill (K) command

is executed.

TERF, TER

& [ ER ] ..... Bit 14 is set if the GOWHEN condition is already true when a subsequent GO, GOL, FSHFC, or FSHFD

command is given. (The corresponding error-checking bits must be enabled with the ERROR command

before the error will be detectable.)

TFSF, TFS

& [ FS ] ..... Transfers or assigns/compares the Following status or each axis.

TNMCY

and [ NMCY ]... Transfers or assigns the current master cycle number.

TPMAS

and [ PMAS ]... Transfers or assigns the current master cycle position.

TPSHF

and [ PSHF ]... Transfers or assigns the net position shift since constant ratio.

TPSLV

and [ PSLV ]... Transfers or assigns the slave's current commanded position.

TVMAS

and [ VMAS ]... Transfers or assigns the current velocity of the master axis.

WAIT ....................... A WAIT command suspends program execution until the specified conditional statement (based on

PMAS, FS, NMCY, PSHF, PSLV, or VMAS) is true;

WAIT(SS.i=b1) suspends program execution until a trigger input is activated (“i” is the input bit

number corresponding to the trigger input—refer to the

6000 Series Software Reference

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Bosch 6000 User's Guide Page 240

Comments to this Manuals

Bosch 6000 User's Guide Page 240

Comments to this Manuals

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