138
Gemini GV6K/GT6K Command Reference
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 (
!FOLRN
) followed by an immediate go command
(
!GO
). The other way is to enable the continuous command execution mode (
COMEXC1
) and execute a
buffered command (
FOLRN
) followed by a buffered go command (
GO
).
Example
:
refer to the
FOLRD
and
FOLEN
examples
FOLRNF
Numerator of Final Follower-to-Master Ratio, Preset Moves
Type
Following; Compiled Motion
Syntax
<a_><!>FOLRNF<r>
Units
r = follower distance in steps
Range
0.00000
Default
0
Response
FOLRNF *FOLRNF0
See Also
FGADV, FOLEN, FOLRD, FOLRN, FOLMD, SCLD
Product Rev
GT6K 6.0
GV6K 6.0
The
FOLRNF
command establishes the numerator of the final ratio between follower and master travel.
(Ratios are always specified as positive, similar to velocity.) The
FOLRNF
command designates that the motor
will move the load the distance designated in a preset
GOBUF
segment, completing the move at a final ratio of
zero.
FOLRNF
applies only to the first subsequent
GOBUF
, which marks an intermediate “end of move” within
a following profile.
FOLRNF
is used only in conjunction with the
GOBUF
command. Normal preset
GO
moves
always finish with zero
FOLRNF
.
If scaling is enabled (
SCALE1
), the
FOLRNF
value is scaled by the
SCLD
value. For more detail on scaling,
refer to page
16
or to the
SCLD
command description.
NOTE
: The only allowable value for
FOLRNF
is
Ø
, and it may only be used with compiled preset Following
moves (a non-zero
FOLRNF
value will result in an immediate error message).
FOLRNF
is allowed for a
segment only if the starting ratio is also zero (i.e., it must be the first segment, or the previous segment
must have ended in zero ratio).
With compiled preset Following moves where
FOLRNF
has not been given, the final ratio is given with
FOLRN
,
and the shape of the intermediate profile will be constrained to be within the starting and ending ratios.
For more information on using the
FOLRNF
command, refer to
Compiled Following Profiles
in the
Custom
Profiling
chapter in the
Programmer's Guide
.
FPPEN
Master Position Prediction Enable
Type
Following
Syntax
<a_><!>FPPEN<b>
Units
n/a
Range
b
=
0
(disable) or
1
(enable)
Default
1
Response
FPPEN *FPPEN1
See Also
[
FS
],
TFS
Product Rev
GT6K 6.0
GV6K 6.0
The
FPPEN
command enables or disables Master Position Prediction in the Gem6K drive Following algorithm.
Master Position Prediction is enabled by default, but can be disabled as desired with the
FPPENØ
command.
The Gem6K drive measures master position once per
position sample period
and calculates a corresponding
follower commanded position. This calculation, and achieving the subsequent follower commanded position,
requires 2 sample periods (4 milliseconds).
Enabling Master Position Prediction (
FPPEN1
) eliminates any lag in follower position which would be
dependent on master speed. It may be desirable to disable Master Position Prediction (
FPPENØ
) when
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