User`s manual

GFK-1742A 8-1
Follower Motion
Configuring the DSM314 for
Follower Control Loop
= Enabled (in the VersaPro Axis
Configuration tab) allows each Servo Axis (slave) to respond to a Master Axis input using a
programmable slave
:
master ratio. The DSM314 defines the slave
:
master ratio as the ratio of
two integer numbers A and B. The basic formula for computing Follower motion is:
Follower Servo Axis motion (slave axis) = Master Axis motion x (A/B)
or
slave : master ratio = A : B ratio
If a
Jog
,
Move at Velocity
or
Execute Motion Program
command is also initiated, the axis motion
will represent the combination of the Master Axis motion and the internally commanded motion.
This Chapter provides details of servo motion related to the Master Axis input. Refer to Chapter 9
for additional information about combined Follower and commanded motion.
When the
Enable Follower
%Q bit is turned ON, an axis will immediately begin following the
selected
Master Source
unless a
Follower Enable Trigger
input has been selected. If a
Follower
Enable Trigger
input has been selected, then the
Enable Follower
%Q bit must be ON and an
OFF to ON transition of the trigger input must occur. The external trigger input CTL01 -
CTL032 is selected in the configuration software.
The DSM314 always operates the follower axis in “ramp makeup” mode. If the master axis has a
nonzero velocity when the follower is enabled, the slave axis will accelerate at the configured
Ramp Makeup Acceleration to a speed which allows it to catch up to the master axis.
8
Chapter