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FGADV
Following Geared Advance
Type
Following
Syntax
<a_><!>FGADV<r>
Units
r = advance distance (scalable)
Range
0.00000-999,999,999 (scalable with SCLD)
Default
n/a
Response
n/a
See Also
FOLMD, FOLRD, FOLRN, [ FS ], FSHFD, GOWHEN, SCLD, TFS
The FGADV command provides the ability to superimpose an advance or retard on Following motion. This is the same
ability provided by the FSHFD command, except that the superimposed motion is also geared to master motion. The
FGADV command has the positive or negative "advance" distance as a parameter, but it initiates motion instead of
simply setting up the distance. The shape of the superimposed profile is determined by the FOLMD, FOLRN, and
FOLRD commands (just as a normal preset Following move).
The FGADV command profile may be delayed with the GOWHEN command.
A FGADV move may be performed only while the conditions below exist (Following status bit #23, reported with the
FS, TFS, and TFSF commands, indicates that it is "OK to do FGADV move"):
• Master is specified with a FOLMAS command
• Following is enabled with the FOLEN command
• The follower axis is either not moving, or moving at constant ratio in continuous mode (MC1)
A FGADV move may not be performed:
• During a preset (MC0) move
• In a compiled profile or program
Following Status (FS, TFS, and TFSF) bit #24 reports if a "FGADV move is underway".
Example:
COMEXC1
; All command processing during motion
FOLRN25
; Set numerator of follower-to-master Following ratio
FOLRD10
; Set denominator of follower-to-master Following ratio
FOLMD1000
; Set master distance to 1000 units
MC1
; Enable continuous positioning mode
D+
; Set direction to positive
FOLEN1
; Enable Following
GO
; Ramp up to a 2.5 to 1 ratio over 1000 master distance units
FOLMD500
; Set master distance to 500 units
FOLRN13
; Superimposed ratio will be 1.3 (added to 2.5 = 3.8 total)
WAIT(FS.23=B1)
; Wait for OK to do geared advance
; (in this case, ramp is complete)
FGAVD400
; Advance the follower axis 400 counts over a distance
; of 500 master counts
WAIT (FS.23=B1)
; Wait for OK to do geared advance
; (in this case, FGADV400 superimposed profile is complete)
FGADV-400
; Retard the follower axis 400 counts over a distance of
; 500 master counts (2.5 - 1.3 = 1.2 net ratio)
FLTDSB
Fault on Drive Disable (DRIVE0)
Type
Drive Configuration
Syntax
<a_><!>FLTDSB<b>
Units
b = enable bit
Range
0 (disable) or 1 (enable)
Default
1
Response
FLTDSB: *FLTDSB1
See Also
DRIVE, TAS, TASX, TER
Use the
command to enable/disable the Fault on Drive Disable mode. If Fault on Drive Disable is
FLTDSB
enabled (
– the default setting), and the drive is disabled via the
FLTDSB1
"Enable" input (pin 1 on the
the dry contact relay (labeled "
opened.
128
Gemini GV6K/GT6K Command Reference
connector), any output configured as a fault output is activated and
DRIVE I/O
" and "
RELAY COM
RELAY N.O
www.comoso.com
command or the
DRIVE0
." on the 4-pin removable connector) is
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
6.0
GV6K
6.0
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