6K Software - Following a Virtual Master

This program is designed to start a motor following a Virtual Master as smoothly as possible.

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		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.