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; negative-direction)
FSHFC2
; Start continuous follower shift move in the negative-direction
WAIT(IN.2=b0)
; Continue shift until onboard input #2 is deactivated
FSHFC0
; Stop shift move
JUMP TESTIN
; Return to main program loop
END
; End definition of program called SHIFT
FSHFD
Preset Shift
Type
Following
Syntax
<a_><!>FSHFD<r>
Units
r = shift distance
Range
r = 0.00000 - 999,999,999 (scalable with SCLD)
Default
n/a
Response
n/a
See Also
FGADV, FOLEN, FOLK, FOLRN, FOLRNF, FOLRD, [ FS ], FSHFC, MC,
ONCOND, [ PSHF ], SCLD, TFS, TPSHF
The
command allows time-based follower moves to be superimposed on continuous Following
FSHFD
moves. This results in a shift (change in phase, or registration) between the master position and the follower
position. Preset shift moves of defined or variable distances, may be commanded only while the follower is
in the Following mode (
FOLEN1
(
).
SCALE1
The most recently commanded velocity (
speed at which the
move takes place. The velocity and direction of the
FSHFD
superimposed on whatever velocity and direction results from the ratio and motion of the master.
The
parameters stop (
FSHFC
It should be noted that
FSHFD
velocity, must finish before the Gem6K drive proceeds to the next command.
The
shift is not a change in ratio; rather, it is a velocity added to a ratio. The velocity commanded
FSHFD
will be added to the present speed at which the follower is moving, up to the velocity limit of the product.
For example, assume a follower is traveling at 1 rps in the positive direction while following a master. If a
move is commanded in the positive direction at 2 rps, the follower's actual velocity (after
FSHFD
acceleration) will be 3 rps.
An
move may be needed to adjust the follower position on the fly because of a load condition which
FSHFD
changes during the continuous Following move. For example, suppose an operator is visually inspecting
the follower's motion with respect to the master. If the operator notices that the master and follower are out
of synchronization, it may be desirable to have an input programmed (e.g., activated with a push-button
switch) that will allow the operator to advance or retard the follower a fixed distance, and then let the
follower resume tracking the master. The example below illustrates this.
FSHFD Example:
Assume all scale factors and set-up parameters have been entered for the master and follower. In this
example, the follower is continually following the master at a 1:1 ratio. If the operator notices some
misalignment between master and follower, he can press 1 of 2 pushbuttons (connected to onboard trigger
inputs #1 and #2, which are also referred to as TRG-1A and TRG-1B) to advance or retard the follower a
fixed distance of 200 steps. After the adjustment, the follower resumes tracking the master as before.
Example:
DEF PSHIFT
; Begin definition of program called PSHIFT
COMEXS1
; Continue command execution after stop
COMEXC1
; Continue command execution during motion
FOLMAS1
; Master encoder input is the master for axis 1
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 mode
142
Gemini GV6K/GT6K Command Reference
). The
distance is scaled by the
FSHFD
) and acceleration (
V
) and kill (
) can be used to halt an
Ø
3
is similar in execution to
GO
www.comoso.com
value of scaling is enabled
SCLD
) for the follower axis will determine the
A
shift is independently
FSHFD
.
FSHFD
. The entire preset distance shift, or ramp-to-shift
Product
Rev
GT6K
6.0
GV6K
6.0
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