Parker Automation Gemini GV6K, Command Reference Manual

Page: 133 / 362

Command Descriptions 131
FMCP
Initial Master Cycle Position
Type
Following
Syntax
<a_><!>FMCP<r>
Units
r = master position in scalable steps
Range
r = ±999,999,999 (scalable with SCLMAS)
Default
0
Response
FMCP *FMCP+0
See Also
FMCNEW, FOLMAS, [ FS ], GOWHEN, SCLMAS, TFS, WAIT
Product Rev
GT6K 6.0
GV6K 6.0
The
FMCP
command defines the initial master cycle position in user units. The initial master cycle position
is assigned as the current master cycle position each time master cycle counting is restarted with the
FMCNEW
or
TRGFNcx1
command. This value is scaled by the
SCLMAS
parameter. Numeric variables (
VAR
)
can be used with this command. The default value for
FMCP
is zero (
FMCPØ
), which means that the master
cycle position will be zero when master cycle counting is restarted (see
FMCNEW
).
The concept of an initial master cycle position may be useful if new master cycle position counting must be
restarted at a master position which is different from what needs to be considered the “zero position” of a
periodic cycle. The initial position defined with
FMCP
applies to the first cycle only. When a master cycle is
complete, the master cycle position rolls over to zero. A negative value would be used if some master travel
were desired before master cycle position was zero. A positive value would be used if it was necessary to
enter the first master cycle at a position greater than zero.
For example, suppose
FMCLEN
was set to 20 and
FMCP
was set to 7. When master cycle position counting is
restarted, either via
FMCNEW1
or the specified trigger (
TRGFNcx1
), the initial master cycle position will be 7.
Rollover will occur after the master travels 13 more units, and the master cycle position would go to zero.
Example:
FMCP-2 ; Set the initial master cycle position to -2
FOLEN
Following Mode Enable
Type
Following
Syntax
<a_><!>FOLEN<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
FOLEN: *FOLEN0
See Also
FGADV, FOLK, FOLMAS, FOLRD, FOLRN, FOLRNF, [ FS ], FSHFC,
FSHFD, GOWHEN, JOG, JOY, TFS
Product Rev
GT6K 6.0
GV6K 6.0
The
FOLEN
command indicates whether subsequent moves on the specified axes will be following a master
(
FOLEN1
) or normal time-based moves (
FOLEN0
). The term Following mode means that
FOLEN1
has been
given, and that the motion of the follower is dependent on the motion of the master at all times. If
FOLEN0
is given, the motion of the master is still monitored, but the motion of the follower is independent of the
master.
To move in the Following mode, the master must be previously specified with the
FOLMAS
command.
Enabling the Following mode (
FOLEN1
) will set the net position shift value (reported by
TPSHF
and
PSHF
)
to zero. This is true even if the follower is already in Following mode.
S-Curve profiling is not operational during Following moves.
RESTRICTIONS ON USING FOLEN
The
FOLEN
command may not be executed during certain conditions (results in the error
message
“
NOT VALID DURING RAMP
”
).
•
You may not enable Following (
FOLEN1
) on an axis that is in motion, waiting for a
GOWHEN
condition, or operating in the Joystick mode (
JOY1
) or Jog mode (
JOG1
).
•
You may not disable Following (
FOLEN0
) on an axis that is in motion (unless moving at
ratio in continuous mode,
MC1
, and not shifting) or waiting for a
GOWHEN
condition.
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