User`s manual
Combined Follower and Commanded Motion
GFK-1742A Chapter 9 Combined Follower and Commanded Motion 9-5
9
Program moves will execute in a continuous fashion such that incremental PMOVE or CMOVE
commands past the limits will roll over at the limit and continue. Absolute PMOVE or CMOVE
commands can also be used for applications that do not require going beyond the high/low count
limits.
Any internally generated move command can be immediately terminated by the
Abort All Moves
%Q command.
The
User Selected Data
%AI status word can be changed to report the Program Command
Position by using the
Select Return Data
%AQ command. Refer to Chapter 5 for details.
The following application example illustrates how a stored program can be used to control
positioning operations relative to the detected edge of a moving object as it moves at a rate
detected by the master axis (Aux Axis 3) encoder input.
Example 2: Follower Motion Combined with Motion Program
Applications that require modifying parts on the fly (such as notching, marking, riveting, spot
welding, spot gluing, and so forth) would make use of the point-to-point moves superimposed on
follower motion and enable follower at input features. A typical configuration and control
sequence required for these applications is shown below.
Master
motion
(Aux Axis 3)
F
ollower Axis
Home
Sensor
F
ollower
C
arriage
P
art
E
dge
S
ensor
o
o
PART
Control Sequence:
1. With
Enable Follower
%Q bit OFF, the PLC commands Follower axis to home position
where
Actual Position
& Program Command Position are synchronized and set to Home
Position value.
Position Valid
%I bit indicates when this step is complete.
2. The PLC sets the
Enable Follower
%Q bit command.
Note
The CTL01- CTL24 bit to which the part edge sensor is connected would
already have been configured in the
Follower Enable Trigger
configuration
parameter.
3. When the Part edge sensor trips, the DSM314 enables the Follower axis to start following the
master (Aux Axis 3) encoder inputs. The
Follower Enabled
%I bit indicates when the axis is