Control Velocity with an Analog Input

A program may follow an analog input, but this only allows the user to control position with an analog input.

The program below will allow a user to control velocity via an analog input.

The Virtual Master commands are hidden in the 6000 series products and only available in the late 4.x firmware.



		
		
		
		DEL CONTROL		   ;Delete the existing program.

		
		
		
		DEF CONTROL		   ;Define the program.

		
		
		
		COMEXC1			   ;Continuous execution mode.

		
		
		
		VAR1=0			   ;Set VAR1 to zero.

		
		
		
		VAR2=0			   ;Set VAR2 to zero.

		
		
		
		MC1			   ;Mode Continuous.

		
		
		
		FVMFRQ,0		   ;Virtual Master (VM) Frequency.

		
		
		
		FVMACC,80000		   ;Virtual Master Accel (cnts/sec^2).

		
		
		
		FOLMAS25		   ;Axis 1 will follow Axis 2 VM.

		
		
		
		FOLRN1			   ;Following Ratio Numerator.

		
		
		
		FOLRD1			   ;Following Ratio Denominator.

		
		
		
		FOLEN1			   ;Enable Following.

		
		
		
		GO1			   ;Start the Following.

		
		
		
		L			   ;Begin Loop.

		
		
		
		VAR1=1ANI.1		   ;Analog voltage into a variable.

		
		
		
		IF(VAR1<0.1 AND VAR1>-0.1) ;Set the deadband where no motion

		
		
		
		  VAR1=0		   ;	will occur.

		
		
		
		NIF			   ;End deadband logic.

		
		
		
		VAR2=VAR1*8000		   ;Scale the analog input.

		
		
		
		FVMFRQ,(VAR2)		   ;Set the VM Frequency to the input.

		
		
		
		LN			   ;End Loop.

		
		
		
		END			   ;End program.