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Example #2:
Stepper Axes:
The master is an encoder mounted to gearing on a conveyor line. The gearing results in 16,000
encoder steps per conveyor inch. The follower, controlled by the Gem6K, is a 25,000 step/rev
microstepper on a 36" long, 4-pitch leadscrew. The follower waits for the product to be sensed on
the conveyor, accelerates to a 1-to-1 ratio, waits for a safe location to actuate the stamping
equipment, then applies an inked stamp to the product at the correct location. After the stamp is
placed, the follower quickly moves back to the starting position and waits for the next product.
Note that this example illustrates how the
positions in order to coordinate motion.
Scaling Set Up: (prior to defining program)
SCALE1
; Enable scaling
SCLA100000
; Set accel scaling: 100,000 steps/inch
SCLV100000
; Set velocity scaling: 100,000 steps/inch
SCLD100000
; Set follower distance scaling: 100,000 steps/inch
SCLMAS16000
; Set master scale factor to 16000 steps/inch to program in inches
Servo Axes:
The master is an encoder mounted to gearing on a conveyor line. The gearing results in 16,000
encoder steps per conveyor inch. The follower is a 4,000 step/rev servo on a 36" long, 4-pitch
leadscrew. The follower waits for the product to be sensed on the conveyor, accelerates to a 1-to-1
ratio, waits for a safe location to actuate the stamping equipment, then applies an inked stamp to
the product at the correct location. After the stamp is placed, the follower quickly moves back to
the starting position and waits for the next product. Note that this example illustrates how the
command can be used to wait for master cycle positions in order to coordinate motion.
WAIT
Scaling Set Up: (prior to defining program)
SCALE1
; Enable scaling
SCLA16000
; Set accel scaling: 16,000 steps/inch
SCLV16000
; Set velocity scaling: 16,000 steps/inch
SCLD16000
; Set follower distance scaling: 16,000 steps/inch
SCLMAS16000
; Set master scale factor to 16,000 steps/inch to program in inches
The application program is defined as follows:
DEF STAMPR
; Begin definition of program called STAMPR
COMEXS1
; Continue command execution after Stop
COMEXC1
; Continue command execution during motion
SCALE1
; Enable parameter scaling
1OUTFNC1-A
; Configure onboard output #1 as a general-purpose prog. output
1INFNC2-H
; Define TRG-1B as trigger interrupt (use as GOWHEN input)
A10
; Acceleration = 10 inches/sec/sec
V5
; Velocity = 5 inches/sec (non-Following moves)
MA1
; Enable absolute positioning mode
FOLMAS1
; Assign Master encoder input as master
FOLRN1
; Set follower-to-master Following ratio numerator to 1
FOLRD1
; Set follower-to-master Following ratio denominator to 1 (ratio is 1:1)
FOLMD1
; Accel the follower over 1 master inch for Following moves
FMCLEN40
; Master cycle length is 40 inches
$INKON
; Label to repeat inking process
FOLEN1
; Enable Following on axis #1
1TRGFNBx1
; Begin new master cycle when TRG-1B goes active
; (product sensed on conveyor)
1TRGFNB1
; Start next move when TRG-1B is active
D+
; Set to positive-direction
MC1
; Select continuous positioning mode
GO1
; Start continuous follower move on trigger #2
WAIT(PMAS>=10.5)
; Wait until master position is 10.5 inches - this is when the
1OUT.1-1
; Turn on actuator (output #1) to place ink stamp on product
T.1
; Wait for the ink stamp to be pressed in place by a
; stationary stamper
1OUT.1-0
; Turn off actuator (output #1)
S1
; Stop follower move
WAIT(1AS.1=b0)
; Wait until the axis is not moving
FOLEN0
; Disable Following
D0
; Set distance (position) to zero
WAIT
; stamping device can be actuated without mechanical damage
; to the leadscrew assembly
www.comoso.com
command can be used to wait for master cycle
Command Descriptions
133
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