Command Descriptions
137
FOLRD
Denominator of Follower-to-Master Ratio
Type
Following
Syntax
<a_><!>FOLRD<r>
Units
r = master distance in counts
Range
r = 1.00000 - 999,999,999 (scalable by SCLMAS)
Default
1
Response
FOLRD *FOLRD1
See Also
COMEXC, FGADV, FOLEN, FOLK, FOLMAS, FOLRN, FOLRNF, SCLMAS
Product Rev
GT6K 6.0
GV6K 6.0
The
FOLRD
command establishes the denominator of a ratio between follower and master travel. (Ratios are
always specified as positive, similar to velocity.) For a preset move (
MCØ
), it is the maximum allowed ratio,
and for a continuous move (
MC1
), it is the final ratio reached by the follower. The actual follower direction
will depend on commanded moves (
D+
or
D-
) and master direction.
If no
FOLRD
parameter is specified, it is assumed to be 1.
If scaling is enabled (
SCALE1
), the
FOLRD
value is scaled by the
SCLMAS
value. For more detail on scaling,
refer to page
16
or to the
SCLMAS
command description.
Numeric variables (
VAR
) can be used with this command for master parameters (e.g.,
FOLRD(VAR5)
).
Each time
FOLRN
or
FOLRD
are given, the Gem6K drive divides the scaled numerator and denominator to
calculate the ratio, but round-off errors are eliminated by measuring both master and follower over a large
distance. After scaling, the maximum magnitude of the ratio is 127 follower steps for every master step.
ON-THE-FLY CHANGES
: You can change Following ratio
on the fly
(while motion is in progress) in
two ways. One way is to send an immediate command (
!FOLRD
) followed by an immediate go command
(
!GO
). The other way is to enable the continuous command execution mode (
COMEXC1
) and execute a
buffered command (
FOLRD
) followed by a buffered go command (
GO
).
Example
:
(refer also to the
FOLEN
examples)
SCLD25000
; Set follower scaling factor to 25,000
SCLMAS4000
; Set master scaling factor to 4,000
SCALE1
; Enable scaling
FOLRN5
; Set ratio numerator to 5 (5 * 25,000 = 125,000)
FOLRD3
; Set ratio denominator to 3 (3 * 4,000 = 12,000)
; (Resulting ratio is 125 follower steps to every 12 master steps.)
FOLRN
Numerator of Follower-to-Master Ratio
Type
Following
Syntax
<a_><!>FOLRN<r>
Units
r = follower distance in steps
Range
r = 0.00000 – 999,999,999.99999 (scalable by SCLD)
Default
1
Response
FOLRN *FOLRN1
See Also
FGADV,
FOLEN, FOLK, FOLMAS, FOLRNF, FOLRD, SCLD
Product Rev
GT6K 6.0
GV6K 6.0
The
FOLRN
command establishes the numerator of a ratio between follower and master travel. (Ratios are
always specified as positive, similar to velocity.) For a preset move (
MCØ
), it is the maximum allowed ratio,
and for a continuous move (
MC1
), it is the final ratio reached by the follower. The actual follower direction
will depend on commanded moves (
D+
or
D-
) and master direction.
If no
FOLRN
parameter is specified, it is assumed to be 1.
If scaling is enabled (
SCALE1
), the
FOLRN
value is scaled by the
SCLD
value. For more detail on scaling,
refer to page
16
or to the
SCLD
command description.
Numeric variables (
VAR
) can be used with this command for follower parameters (e.g.,
FOLRN(VAR2)
).
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