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parameter specification in the
is used by the follower. The term master count refers to the count after negation, if any.
For preset follower moves, the direction the follower travels depends on the mode of operation (absolute or
incremental) and the commanded position. However, once a preset follower move is commanded, it will
only start moving if the master is moving in the positive direction. This is true no matter the commanded
direction of the follower move.
For continuous follower moves, the master count direction has a different effect. If the commanded move is
positive in direction and the master is counting up, the actual follower travel direction will be positive. If
the commanded move is positive in direction and the master is counting down, the actual follower travel
direction will be negative. Similar cases exist for follower moves commanded in the negative direction.
Example: (refer to the FOLEN examples)
FOLMD
Master Distance
Type
Following
Syntax
<a_><!>FOLMD<r>
Units
r = distance in counts
Range
0 - 999,999,999 (scalable by SCLMAS)
Default
0
Response
FOLMD
*FOLMD0
See Also
ANIMAS, FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, MC, [ PMAS ],
SCLMAS, TPMAS
If a follower is in continuous positioning mode (
or deceleration from the current ratio to the new ratio takes place. Or, if a follower is in preset positioning
mode (
), the
command indicates the master distance over which the next preset move will take
MCØ
FOLMD
place.
If scaling is enabled (
SCALE1
parameter (for more detail on scaling, refer to page
variables (
) can be used with this command (e.g.,
VAR
By carefully specifying accurate master distances for each ramp of a follower's move profile, a precise
position relationship between master and follower will be maintained during all phases of the profile. The
Master and Follower Distance Calculation section in the Following chapter of the Programmer's Guide
discusses the relationship between ratio changes and the corresponding master and follower distances.
HINT: If a follower is in continuous mode (MC1) and the master is starting from rest, setting FOLMD to Ø will
ensure precise tracking of the master's acceleration ramp.
Examples: (refer also to the FOLEN examples)
SCALE1
; Enable parameter scaling
SCLMAS4000
; Master scale factor is 4000 steps/rev
SCLD4000
; Follower scale factor is 4000 steps/rev
DEL progx
; Delete program called progx
DEF progx
; Begin definition of program called progx
FOLMAS1
; Master encoder is the master
FOLMD0
; Assign Following acceleration distance to 0 master revs
; (i.e., instantaneous)
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
D-
; Set direction to opposite direction of the master
GO1
; Begin following master. If the master is not moving, follower
; will remain at rest until master moves, at which time the
; follower will track the master precisely, but in the opposite
; direction as the master.
END
; End definition of progx
136
Gemini GV6K/GT6K Command Reference
command causes the incoming master signal to be negated before it
FOLMAS
),
MC1
FOLMD
), the
value is specified in user units and is scaled by the
FOLMD
16
or to the
FOLMD(VAR6)
www.comoso.com
is the master distance over which acceleration
command description). Numeric
SCLMAS
).
Product
Rev
GT6K
6.0
GV6K
6.0
SCLMAS
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