User guide

166 6000 Series Programmer's Guide
Compiled Following Profiles
More details on
Following are
found in Chapter 6
(page 191).
The new FOLRNF command designates that the motor will move the load the distance
designated in a preset GOBUF segment, completing the move at the specified final ratio. For
the Revision 4.0 release of the 6000 series, the only allowable value for FOLRNF is zero (0).
FOLRNF is allowed for a 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. FOLRNF is only useful
with compiled preset Following moves because the starting and final ratios are already zero for
motion initiated with GO.
Compiled motion profiles may be constructed with any combination of preset or continuous
motion segments. A continuous (MC1) Following segment will start with the final ratio of
the previous segment, and end with the ratio given by FOLRN and FOLRD. The motion
segment will consist of one ramp from the starting ratio to the final ratio. Just as with
continuous Following ramps outside of a compiled profile, the master travel over which the
ramp takes place is specified with FOLMD. The slave travel over which the ramp takes place
is simply the product of master travel and average ratio. Because the slave travel is not
specified explicitly, it is possible for arithmetic round-off errors to cause actual slave travel
during a ramp to differ from theoretical calculations. For applications in which slave distance
is important, preset segments should be used.
A preset (MCØ) Following segment will also start with the final ratio of the previous segment,
but may end in one of two ways. FOLRNF specifies the final ratio of a preset Following
segment. As previously described, with this Revision 4.0 release, the only valid value for
FOLRNF is zero (0). If FOLRNFØ is given before the GOBUF, the resulting motion segment
will be constructed exactly as preset Following moves are outside of compiled profiles. In
this case, the starting ratio must be zero, the final ratio will be zero, and the maximum
intermediate ratio will be given by FOLRN and FOLRD. The relationships between ratio,
master distance, and slave distance for this case are given on page 220 under the heading
Master and Slave Distance Calculations. The FOLRNF command affects only the immediately
subsequent preset Following segment, and must be given explicitly for each preset segment
which is to end in zero ratio.
If FOLRNFØ is not given before the GOBUF, the segment will end with the ratio given by
FOLRN and FOLRD, and need not start with zero ratio. This type of motion segment is
constrained, however, to intermediate ratios which fall between the starting and final ratios.
Compiled profiles are built from motion segments created with the GOBUF command. For
each individual axis, all motion segments in a compiled profile must use the same state of
Following. That is, the motion segments may be all Following or all non-Following, but
not a mixture of Following and non-Following (but at any point in time, separate axes may
have different Following mode states).
The GOBUF command builds the appropriate type of motion segment based on the values of
FOLMAS and FOLEN during compilation. These parameters may not be changed inside a
compiled program after a GOBUF. The choice of zero or non-zero FOLMAS must be the same
during PRUN as during PCOMP (if non-zero, the value can be changed, but still must be non-
zero). If a non-zero FOLMAS is given, the value of FOLEN must be the same during PRUN as
during PCOMP.