User`s manual

5-6 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
5
Limit
status bit is set,
Commanded Velocity
and
Commanded Position
are frozen to allow the axis
to ”catch up” to the
Commanded Position
.
1.13 Torque Limit.
The
Torque Limit
status bit is set when the commanded torque exceeds the
torque limit setting for the configured motor type.
1.14 Servo Ready.
This status bit is set when faceplate signal IN4 of the associated connector (A,
B, C or D) is ON (active low: ON = 0v, OFF = +5v). For each Servo Axis, this input reports the
Servo Ready
state of the servo amplifier.
1.15 Follower Enabled.
This status bit indicates when the Follower is enabled for the axis. The
Enable Follower
% Q bit and an optional CTL01-CTL32 faceplate trigger input enable the
Follower function. If follower ramp acceleration control is active when
Follower Enabled
turns
on, the axis will accelerate to the master velocity command, and when it turns off, the axis will
decelerate to zero master velocity command. Both acceleration and deceleration during the ramp
process will utilize the configured Follower Ramp Acceleration.
1.16 Velocity Limit
.
The
Velocity Limit
status bit is set if the velocity requested by any axis
command (internal path generator or internal/external follower source) exceeds the configured
velocity limit. Therefore,
Velocity Limit
is an indication that the axis is no longer locked to its
position command. If Follower is enabled, an error code is reported in the associated axis Error
Code variable when
Velocity Limit
is set.
An exception exists when unidirectional motion is configured by setting Command Direction to
Positive Only or Negative Only. Positive Only means that the velocity limit is zero for negative
motion. Negative Only means that the velocity limit is zero for positive motion. No error is
generated for the limit that is set to zero. For example, if Command Direction is set to Negative
Only and + Counts are commanded, the
Velocity Limit
Status bit is set, but no Status Error code is
reported.
1.17 Follower Ramp Active
.
When the follower is enabled,
Follower Ramp Active
is ON during
initial acceleration and distance makeup. When the follower is disabled,
Follower Ramp Active
is ON until the
Follower Disable Action
incremental distance (if selected) has been traveled and
the follower has decelerated to zero velocity.