Installation guide

204 Following for MX2000 version 4.0
8.1 - Following Description
The controller has the ability to position follow numerous
axes from a single master device. The following features
are listed below.
• Flexible Follower definition.
• Programmable follower ratio.
• Three types of following motions can be
performed, (JOG, MOVE and MOVEREG).
• Programmable Follower motion trigger.
• Programmable Delay Distance before Follower
motion.
• Programmable Follower Acceleration distance.
• Programmable Follower Deceleration distance.
• Positional advance/recede cycles can be
performed during a FOLJOG cycle.
8.1.1 - Follower Definition
The initialization of the follower requires the
follower axes as well as the follower source to be
defined. This is accomplished using the FOLINPUT
command. When this command is encountered
during program execution it enables following.
Note: If a new follower definition command is
encountered during program execution it will
become the follower definition.
Command Syntax:
FOLINPUT(Axis,…,Axis) = ACTSPD(Axis)
FOLINPUT(Axis,…,Axis) = ENCSPD(Axis)
FOLINPUT(Axis,…,Axis)=ANALOG(b0n)*exp
FOLINPUT(Axis,…,Axis)=variable
Axis defines the follower axes. These axes must be
numeric values and be assigned to the task this
command is being used in.
Exp may be an equation, variable, command
and/or a constant.
equation operators are limited to multiply, add and
subtract.
variable can be a LOCAL or COMMON variable.
command listing:
ACTSPD(axis) commanded velocity of an axis
ENCSPD(axis) encoder velocity of an axis
ANALOG(b0n) analog input voltage
1=A side for analog input
2=B side for analog input
Board # of dual axis board
8.1.1.1 - Analog Following
An analog input with a center frequency and a
deviation frequency for a 10 volt input can be
defined as the master source for following.
Command Syntax:
FOLINPUT(axis, ... ,axis) =
(ANALOG (b0n) * .1 * DevFreq) + CenterFreq
ANALOG(b0n) defines the analog source.
1=A side for analog input
2=B side for analog input
Board # of dual axes board
The .1 * DevFreq defines the velocity change per
analog input volt in Units/second. DevFreq can be a
variable or a constant.
The CenterFreq variable defines the 0 volt input
velocity in Units/sec. The ACTSPD or ENCSPD
commands can be substituted for the CenterFreq
variable.
8.1.1.2 - Encoder Following
An Encoder input can be defined as the master
source. If the master axis is a stepper axis it must
configured as a closed loop stepper with the error
action set to disabled.
Command Syntax:
FOLINPUT (axis, ... ,axis)=ENCSPD (axis)
The ENCSPD (axis) defines the master encoder axis
(1-8) and can be assigned to any task. A
mathematical operators and/or Constant can be used
in conjunction with ENCSPD if desired.
8.1.1.3 – Command & Variable
Following
The Master source can be defined by specific basic
command or variable. The commands are:
ACTSPD and ENCSPD. The variable can be a
COMMON or LOCAL variable.
Command Syntax:
FOLINPUT(axis, ... ,axis)=ACTSPD(MASTER)
FOLINPUT(axis, ... ,axis)=ENCSPD(MASTER)
FOLINPUT(axis, ... ,axis)=SpeedControl
axis specifies the number of the following axis.
MASTER is defined for a particular axis using the
#DEFINE statement.
ACTSPD & ENCSPD may have a mathematical
operator and/or Constants used in conjunction with
these commands.
SpeedControl can be a local variable or a shared
variable. Mathematical operators and/ or Constants