User`s manual

9-4 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – October 2000 GFK-1742A
9
Table 9-1. - Continued - Command Input Effect on Position Registers
COMMAND
Input
Follower
Enabled Follower Registers Affected by input
Other Internally
Generated Move
Commands
(Home, Jog, and
Move at Velocity)
No
Actual Position
%AI status word is updated
Commanded Position
%AI status word is updated
(
Actual Position
+
Position Error
)
Program Command Position is updated but not used
Actual Velocity
%AI status word is updated.
Commanded Velocity
%AI status word is updated
(by Internal command velocity only)
Yes
(Find Home
is not
allowed)
Actual Position
%AI status word is updated
(by Internal command + Master command)
Commanded Position
%AI status word is updated
(
Actual Position
+
Position Error
)
Program Command Position is updated but not used
Actual Velocity
%A status word is updated
(by Internal command velocity + Master command velocity)
Commanded Velocity
%AI status word is updated
(by Internal command velocity only)
The Program Command Position can be synchronized to the
Actual Position
%AI value in 3 ways:
•
Find Home
%Q command execution
•
Set Position
%AQ command
•
Execute Motion Program n
%Q command (if the follower is not enabled)
The effect of these commands is indicated in Table 9-2 below.
Table 9-2. Actions Affecting Program Command Position
ACTION
Follower
Enabled Resulting Updates to Follower Position Registers
Home Found No
Actual Position
%AI status word is set to Home Value
Program Command Position is set to
Actual Position
+
Position Error
Yes
Find Home
%Q command is Not allowed
Status Error is returned
Set Position
%AQ
Command
Not
applicable
Actual Position
%AI status word is set to %AQ Value
Program Command Position is set to
Actual Position
+
Position Error
Note: Set Position is not allowed if the
Moving
%I bit is ON.
Execute Program No
Actual Position
%AI status word is NOT affected
Program Command Position is set to
Actual Position
+
Position Error
Yes
Actual Position
%AI status word is NOT affected
Program Command Position is set to Reference Position (0)