Table of Contents
Advertisement
Each time
or
are given, the Gem6K drive divides the scaled numerator and denominator to
FOLRN
FOLRD
calculate the ratio, but round-off errors are eliminated by measuring both master and follower over a large
distance. After scaling, the maximum magnitude of the ratio is 127 follower steps for every master step.
ON-THE-FLY CHANGES: You can change Following ratio on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (
(
). The other way is to enable the continuous command execution mode (
!GO
buffered command (
) followed by a buffered go command (
FOLRN
:
Example
refer to the FOLRD and FOLEN examples
FOLRNF
Numerator of Final Follower-to-Master Ratio, Preset Moves
Type
Following; Compiled Motion
Syntax
<a_><!>FOLRNF<r>
Units
r = follower distance in steps
Range
0.00000
Default
0
Response
FOLRNF
*FOLRNF0
See Also
FGADV, FOLEN, FOLRD, FOLRN, FOLMD, SCLD
The
command establishes the numerator of the final ratio between follower and master travel.
FOLRNF
(Ratios are always specified as positive, similar to velocity.) The
will move the load the distance designated in a preset
zero.
applies only to the first subsequent
FOLRNF
a following profile.
FOLRNF
always finish with zero
FOLRNF
If scaling is enabled (
SCALE1
refer to page
16
or to the
SCLD
NOTE: The only allowable value for
moves (a non-zero
value will result in an immediate error message).
FOLRNF
segment only if the starting ratio is also zero (i.e., it must be the first segment, or the previous segment
must have ended in zero ratio).
With compiled preset Following moves where
and the shape of the intermediate profile will be constrained to be within the starting and ending ratios.
For more information on using the
Profiling chapter in the Programmer's Guide.
FPPEN
Master Position Prediction Enable
Type
Following
Syntax
<a_><!>FPPEN<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
1
Response
FPPEN
*FPPEN1
See Also
[ FS ], TFS
The
command enables or disables Master Position Prediction in the Gem6K drive Following algorithm.
FPPEN
Master Position Prediction is enabled by default, but can be disabled as desired with the
The Gem6K drive measures master position once per position sample period and calculates a corresponding
follower commanded position. This calculation, and achieving the subsequent follower commanded position,
requires 2 sample periods (4 milliseconds).
Enabling Master Position Prediction (
dependent on master speed. It may be desirable to disable Master Position Prediction (
138
Gemini GV6K/GT6K Command Reference
!FOLRN
GOBUF
, which marks an intermediate "end of move" within
GOBUF
is used only in conjunction with the
.
), the
value is scaled by the
FOLRNF
command description.
is
, and it may only be used with compiled preset Following
FOLRNF
Ø
has not been given, the final ratio is given with
FOLRNF
command, refer to Compiled Following Profiles in the Custom
FOLRNF
) eliminates any lag in follower position which would be
FPPEN1
www.comoso.com
) followed by an immediate go command
) and execute a
COMEXC1
).
GO
command designates that the motor
FOLRNF
segment, completing the move at a final ratio of
command. Normal preset
GOBUF
value. For more detail on scaling,
SCLD
is allowed for a
FOLRNF
FPPENØ
FPPENØ
Product
Rev
GT6K
6.0
GV6K
6.0
moves
GO
,
FOLRN
Product
Rev
GT6K
6.0
GV6K
6.0
command.
) when
Advertisement
Table of Contents
