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Following a Virtual Master. There are two "Virtual Master" options (an internal count source and an
internal sine wave) for applications that require the synchronization features of Following, but have no
external master. For a detailed description of virtual master features, see Virtual Master in the
Programmer's Guide.
• Master Source Option 5 (e.g.,
frequency and acceleration of the internal count source are established with the
commands, respectively.
FVMFRQ
• Master Source Option 6 (e.g.,
amplitude of the sine wave are established with the
To start and stop the internal sine wave generator, use the
Following an Integer Variable (Option 8: syntax is
integer variable (
) specified with "
VARI
For example,
FOLMAS48
This option is particularly useful in conjunction with the
feature.
continuously updates a specified
INVARI
digital inputs, allowing the axis to follow a binary input pattern. Another useful way to update the
value of the
variable is to calculate its value in a
VARI
command).
The
and
INVARI
SCANP
every system update, thus facilitating smooth Following motion. It is also possible to use an extra task
(multi-tasking) to calculate
periodic); consequently, Follow motion will be less smooth.
If scaling is enabled (
SCALE1
information on scaling, refer to page
• A follower axis cannot use its own feedback device or commanded position as the
master input.
• Before you can use an analog input as a master count source, you must first use the
ANIMAS command to assign the analog input to a master axis number. Then you can
use the FOLMAS command to assign the analog input as a master counting source for
the follower axis.
As an example, the
FOLMAS+1
•
Follower axis #1 is set up as follows (
axis #1. The positive sign bit indicates that master counts will count in the same direction as the
master encoder.
The FOLMAS command configures an axis to be a follower, but does not automatically
enable Following. To enable Following use the FOLEN1 command. To enable follower
motion, enable Following (FOLEN1), issue a ratio (FOLRN and FOLRD), and issue the GO
command.
As soon as the master is specified with the
maintained between the follower's position and the master's position. Also, master velocity is continuously
measured.
There are several applications in which a minus sign in the
be used whenever the master is moving in the desired positive direction and yet the Gem6K drive actually
perceives the master to be moving in the negative direction. For example, this can occur when the master
input device is mounted on the opposite side of a conveyor. Putting a minus sign in front of the master
) selects the internal count source as master. The
FOLMAS±15
) selects the internal sine wave as master. The angle and
FOLMAS±16
FOLMASn8
"; that is,
n
VARIn
assigns the axis to follow
VARI4
VARI
options for updating
are good choices, because both are performed
VARI
values, but the resulting updates will not be as fast (not perfectly
VARI
), the measurement of the master is scaled by the
16
or to the
SCLMAS
NOTES
command sets up these parameters:
): the master encoder is assigned as the master to follower
+1
NOTE
command, a continuously updated relationship is
FOLMAS
www.comoso.com
and
commands, respectively.
SINANG
SINAMP
command.
SINGO
). This option allows an axis to follow the
. The range for "
" is 1-8 (
n
.
(Map Inputs to a
INVARI
variable with the value of a specified group of
program (launched with the
PLCP
SCLMAS
command description.
command is used. A minus sign should
FOLMAS
Command Descriptions
and
FVMACC
–
).
VARI1
VARI8
Variable)
VARI
SCANP
value. For more
135
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