This program is designed to start a motor following a Virtual Master as smoothly as possible.
********************************************************************** drive0 axsdef0 drive1 scla25000 sclv25000 scld25000 sclmas25000 scale1 DEL VM DEF VM MC1 COMEXC1 FOLRN10 FOLRD1 FOLEN1 FOLMAS+16 ;Axis 1 follows the Virtual Master (VM) SINGO0 ;Stop the VM. SINAMP1000 ;Set the VM Amplitude. FVMACC999999999 ;Set the VM Acceleration to infinity. FVMFRQ0 ;Set the VM Frequency to zero. SINGO1 ;Start the VM. T1 ;Wait a bit just to make sure the VM Frequency ; gets to zero in case it didn't start at zero. SINGO0 ;Stop the VM. SINANG0 ;Set the VM Angle to zero. FVMACC10 ;Set the VM Acceleration to really low. SINGO1 ;Start the VM. T.005 ;Wait a little bit before starting to follow. GO1 ;Start following. FVMFRQ3600 ;Increase VM Frequency to desired value. T1 ;Wait a moment before increasing the VM Acceleration. FVMACC1000 ;VM Acceleration can be adjusted as desired. END
Setting the Frequency to zero with the FVMFRQ0 command does not occur instantaneously. If the FVMFRQ has previously been set to a higher value, then the Frequency will go to zero by the Acceleration rate of FVMACC.
Note that the Follower is not started until after the Virtual Master is started. But, the FVMFRQ is not increased until after the GO1, so there will not be any position lost. Doing it any other way creates a little bump...as of Version 5.1.1 of the 6K Operating System.
0 Comments