User guide

174 6000 Series Programmer's Guide
Compiled Motion — Sample Application 3
In this application, there is a wheel that stamps a logo onto the product. The product is
assumed to be entering at a constant and fixed spacing, each product is 4 inches in length with
2 inches separating each unit. The stamp wheel has a circumference of 9 inches, and must be
traveling at a 1 to 1 ratio with the product at the time of stamping. The stamp wheel must
then travel five inches in just 2 inches of master travel. There is a sensor wired to trigger A of
the 6000 controller to detect the first product and start the cycling. At the time of the trigger
the product is 1 inch away from contact with the stamp wheel. Assume that the home
position of the slave is 0.5” away from a stamp. The mechanics of the system give 3000
steps of master travel per inch and 1500 steps of slave travel per inch.
Profile
Ratio
Master
Distance
0
0.5"
D(slave) = 4"
D(slave) = 0.5"
D(slave) = 1"
D(slave) = 3"
D(slave) = 1"
0.5"
Master Cycle
As you can see above, we have a multi-tiered Following profile. By multi-tiered we mean that
ratio is changing from a non-zero value to another non-zero value. To program this profile
effectively, we will break the profile into pieces as shown with the dotted lines in the above
illustration:
Program FOLMAS21 ; Define the master as encoder on axis 2
FOLEN1 ; Enable Following
INFEN1 ; Enable input functions
INFNC25-H ; Trigger interrupt on trigger A
SCLMAS3000 ; Set scaling of master steps per inch
SCLD1500 ; Set scaling of slave steps per inch
SCALE1 ; Enable scaling
DEF EXMPL3 ; Start definition of example program 3
TRGFNA1 ; Launch profile when trigger A occurs
; Program first ramp from ratio 0 to ratio 1
FOLRD1 ; Set Following ratio - denominator
FOLRN1 ; Set the Following ratio at 1 to 1
FOLMD1 ; Over a master distance of 1”
D0.5 ; Slave will travel 0.5”
GOBUF1 ; Build motion
PLOOP0 ; Start the continuous loop
; Program constant ratio
FOLRN1 ; At a 1 to 1 ratio
FOLMD4 ; Over a master distance of 4”
D4 ; Slave will travel 4”
GOBUF1 ; Build motion
; Program ramp to new ratio
FOLRN3 ; Go to a 3 to 1 ratio
FOLMD0.5 ; Over a master distance of 0.5”
D1 ; Slave will travel 1”
GOBUF1 ; Build motion