Parker Automation Gemini GV6K, Command Reference Manual

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134 Gemini GV6K/GT6K Command Reference
MC0 ; Select preset positioning mode
GO1 ; Move back to zero (the home position)
WAIT(MOV=b0) ; Wait until the axis is not moving
JUMP INKON ; Begin cycle again on trigger #2
END ; End of program
FOLK
Following Kill
Type
Following
Syntax
<a_><!>FOLK<b>
Units
n/a
Range
b= 0 (disable) or 1 (enable)
Default
0
Response
FOLK *FOLK0
See Also
DRIVE, [ ER ], ERROR, FOLEN, FOLRD, FOLRN, FOLMAS, FOLMD,
FSHFC, FSHFD, INFNC, K, [ PSHF ], SMPER, TER
Product Rev
GT6K 6.0
GV6K 6.0
Under default operation (
FOLK0
), certain error conditions (i.e., drive fault input active, or max. position
error limit exceeded) will cause the Gem6K to disable the drive and kill the Following profile (follower’s
commanded position loses synchronization with the master).
If you enable Following Kill (
FOLK1
), these error conditions will still disable the drive, but will not kill the
Following profile. Because the Following profile is still running, the drive keeps track of what the
follower’s position should be in the Following trajectory. To resume Following operation, resolve the error
condition (drive fault, excessive position error), enable the drive (
DRIVE1
), and command the drive to
impose a shift to compensate for the lapse/shift that occurred while the drive was disabled and the follower
was not moving. To impose the shift, assign the negative of the internally monitored shift value (
PSHF
) to a
variable (e.g.,
VAR1 = -1 * PSHF
) and command the shift using a variable substitution in the
FSHFD
command (e.g.,
FSHFD(VAR1)
).
The
FOLK
command only preserves Following profiles; normal velocity-based profiles will be killed
regardless of the
FOLK
command.
FOLMAS
Assignment of Master to Follower
Type
Following
Syntax
<a_><!>FOLMAS<
±
ii >
Units
1st i = master #;
2nd i = master count source;
± sets direction of master counts relative to direction of
actual master count source
Range
1st i = 1-8 if 2nd i = 8; otherwise 1st i = 1
2nd i = 1 (encoder),
2 (analog input),
4 (commanded position),
5 (internal count source),
6 (internal sine wave source),
7 (RESERVED), or
8 (VARI variable).
NOTE: “1”, by itself, selects the master encoder.
“0”, by itself, disables the axis from being a follower
Default
+0 (disable from being a follower axis)
Response
FOLMAS *0
See Also
ANIMAS, FGADV, FOLEN, FOLK, FOLMD, FOLRD, FOLRN, FOLRNF,
[ FS ], FVMACC, FVMFRQ, SINAMP, SINANG, SINGO, TFS
Product Rev
GT6K 6.0
GV6K 6.0
Use
FOLMAS
to assign or un-assign a master to a follower axis. The data field (
±
ii
) configures the axis as a
follower following the specified master count source:
Exceptions to the syntax:
•
If a one (
1
) is placed in the data field (
±
ii
), the axis will follow the counts from the Master Encoder
(the separate encoder labeled “
MASTER ENCODER
”).
•
If a zero (
Ø
) is placed in the data field (
±
ii
), the axis becomes a normal non-Following axis.
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