Parker Automation Gemini GV6K Command Reference Manual page 131

FMAXA
Follower Axis Maximum Acceleration
Type
Following
Syntax
<a_><!>FMAXA<r>
Units
r = units/sec/sec
Range
r = 0.00001 - 39,999,998 (scalable with SCLA)
Default
0.00 (no limit imposed)
Response
FMAXA *FMAXA0.0000
See Also
[ FS ], FFILT, FMAXV, FPPEN, SCLA, TFS, TFSF
The command sets the maximum acceleration for follower axes. The
FMAXA
the parameter.
SCLA
As part of a ramp to new ratio, or simply following an accelerating master at constant ratio, a follower may be
required to accelerate. If the required acceleration is larger than
its commanded position. The Gem6K drive will attempt to make up this position error as soon as the
commanded accel falls below
velocity to that implied by the commanded ratio.
As with , should be determined and defined early in the development stage of an application
FMAXV FMAXA
to prevent any damage to the load on the follower axis when unexpectedly high accelerations are
commanded. The torque available from the follower motor will also be a determining factor in this
parameter in order to prevent motor stalls.
Following status bit #26 (see
profile.
Example:
FMAXA75 ;Set maximum follower acceleration to 75 user units.
FMAXV
Follower Axis Maximum Velocity
Type
Following
Syntax
<a_><!>FMAXV<r>
Units
r = units/sec (scalable with SCLV)
Range
r = 0.000000-1600000.000000
Default
0.00 (no limit imposed)
Response
FMAXV *FMAXV0.0000
See Also
[ FS ], FFILT, FMAXA, FPPEN, SCLV, TFS, TFSF
The command sets the maximum velocity at which follower axes may travel. The
FMAXV
accepts numeric variables (
VAR
Normally in a Following application, the follower velocities will be known based on the normal speed of
the master and the commanded Following ratios (
speed may be higher than normal, the follower may be commanded to perform a shift move, or some other
event may occur which will cause the follower to travel at a velocity higher than expected. In these cases,
the Gem6K drive will increase the speed of the follower as necessary to perform the required move, but
only up to the value.
FMAXV
If the commanded speed is higher than
position. The Gem6K drive will attempt to make up this position error as soon as the commanded speed falls
below . In controlling stepper motors, the Gem6K automatically adds an error correction velocity to
FMAXV
that implied by the commanded ratio.
The value should be determined and defined early in the development stage of an application to
FMAXV
prevent any damage to the load on the follower axis when unexpectedly high velocities are commanded.
Following status bit #26 (see
profile.
Example:
FMAXV15 ;Set the follower maximum velocity to 15 user units
. In controlling stepper motors, the Gem6K adds an error correction
FMAXA
, , ) is set while
TAS TASF FS FMAXA
) as an argument and is scaled by the
and
FOLRN
, the follower axis will start falling behind its commanded
FMAXV
, , ) is set while
TAS TASF FS FMAXA
www.comoso.com
command is scaled by
FMAXA
, the follower will begin falling behind
FMAXA
or is limiting the present Following
FMAXV
FMAXV
parameter.
SCLV
). In some cases, however, the master
FOLRD
or is limiting the present Following
FMAXV
Command Descriptions
Product Rev
GT6K 6.0
GV6K n/a
(applicable only to
stepper axes)
Product Rev
GT6K 6.0
GV6K n/a
(applicable only to
stepper axes)
command
129