142
Gemini GV6K/GT6K Command Reference
;
negative-direction)
FSHFC2
; Start continuous follower shift move in the negative-direction
WAIT(IN.2=b0)
; Continue shift until onboard input #2 is deactivated
FSHFC0
; Stop shift move
JUMP TESTIN
; Return to main program loop
END
; End definition of program called SHIFT
FSHFD
Preset Shift
Type
Following
Syntax
<a_><!>FSHFD<r>
Units
r = shift distance
Range
r = 0.00000 - 999,999,999 (scalable with SCLD)
Default
n/a
Response
n/a
See Also
FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, [ FS ], FSHFC, MC,
ONCOND, [ PSHF ], SCLD, TFS, TPSHF
Product Rev
GT6K 6.0
GV6K 6.0
The
FSHFD
command allows time-based follower moves to be superimposed on continuous Following
moves. This results in a
shift
(change in phase, or registration) between the master position and the follower
position. Preset shift moves of defined or variable distances, may be commanded only while the follower is
in the Following mode (
FOLEN1
). The
FSHFD
distance is scaled by the
SCLD
value of scaling is enabled
(
SCALE1
).
The most recently commanded velocity (
V
) and acceleration (
A
) for the follower axis will determine the
speed at which the
FSHFD
move takes place. The velocity and direction of the
FSHFD
shift is independently
superimposed on whatever velocity and direction results from the ratio and motion of the master.
The
FSHFC
parameters stop (
Ø
) and kill (
3
) can be used to halt an
FSHFD
.
It should be noted that
FSHFD
is similar in execution to
GO
. The entire preset distance shift, or ramp-to-shift
velocity, must finish before the Gem6K drive proceeds to the next command.
The
FSHFD
shift is not a change in ratio; rather, it is a velocity added to a ratio. The velocity commanded
will be added to the present speed at which the follower is moving, up to the velocity limit of the product.
For example, assume a follower is traveling at 1 rps in the positive direction while following a master. If a
FSHFD
move is commanded in the positive direction at 2 rps, the follower's actual velocity (after
acceleration) will be 3 rps.
An
FSHFD
move may be needed to adjust the follower position on the fly because of a load condition which
changes during the continuous Following move. For example, suppose an operator is visually inspecting
the follower's motion with respect to the master. If the operator notices that the master and follower are out
of synchronization, it may be desirable to have an input programmed (e.g., activated with a push-button
switch) that will allow the operator to advance or retard the follower a fixed distance, and then let the
follower resume tracking the master. The example below illustrates this.
FSHFD
Example:
Assume all scale factors and set-up parameters have been entered for the master and follower. In this
example, the follower is continually following the master at a 1:1 ratio. If the operator notices some
misalignment between master and follower, he can press 1 of 2 pushbuttons (connected to onboard trigger
inputs #1 and #2, which are also referred to as TRG-1A and TRG-1B) to advance or retard the follower a
fixed distance of 200 steps. After the adjustment, the follower resumes tracking the master as before.
Example:
DEF PSHIFT
; Begin definition of program called PSHIFT
COMEXS1
; Continue command execution after stop
COMEXC1
; Continue command execution during motion
FOLMAS1
; Master encoder input is the master for axis 1
FOLRN1
; Set follower-to-master Following ratio numerator to 1
FOLRD1
; Set follower-to-master Following ratio denominator to 1
; (ratio set to 1:1)
FOLEN1
; Enable Following mode
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