User`s manual

Combined Follower and Commanded Motion
GFK-1742A Chapter 9 Combined Follower and Commanded Motion 9-3
9
Table 9-1 below indicates which source commands affect these position registers and the actual
and commanded velocities. Program Command Position is updated only by internally generated
move commands (program commands,
Jog Plus Minus
,
Find Home
, and
Move at Velocity
). The
Commanded Velocity
(returned in %AI data) also only indicates velocity commanded by these
internally generated move commands.
Actual Position
and
Actual Velocity
%AI return data reflect
the combination of the master input and the move commands. In other words, counts coming
from the master source affect
only
the
Actual Position
and
Actual Velocity
. If there are no
internally generated move commands, the
Commanded Velocity
will be 0 and the Program
Command Position will not change.
Table 9-1. Command Input Effect on Position Registers
COMMAND
Input
Follower
Enabled Follower Registers Affected by input
Master Commands
(from selected
Master source)
No None affected
Yes
Actual Position
%AI status word is updated
Commanded Position
%AI status word is updated
(
Actual Position
+
Position Error
)
Program Command Position is
Not
affected
Actual Velocity
%AI status word is updated
Commanded Velocity
%AI status word is
Not
affected
Program Commands No
Actual Position
%AI status word is updated
Commanded Position
%AI status word is updated
Actual Position
+
Position Error
)
Program Command Position is updated
Actual Velocity
%AI status word is updated
Commanded Velocity
%AI status word is updated
(by Program commanded velocity only)
Yes
Actual Position
%AI status word is updated
(by Program command + Master command)
Commanded Position
%AI status word is updated
(
Actual Position
+
Position Error
)
Program Command Position is updated
(by Program command only)
Actual Velocity
%AI status word is updated
(by Program command velocity + Master command velocity)
Commanded Velocity
%AI status word is Updated
(by Program command velocity only)