User guide

Chapter 6. Following 195
NOTE
• Servo controllers: The slave axis cannot use its own commanded position or its
currently selected feedback device (encoder, ANI, or LDT) as the master input.
• Stepper controllers: The slave axis cannot use its own commanded (motor) position
as the master input. Also, a slave axis that is using the encoder step mode (ENC1)
cannot use its own encoder as the master input.
• Multiple axes may be slaved to the same count source (e.g., encoder) from the same
master. However, multiple axes may not be slaved to different count sources (e.g.,
encoder and commanded position) from the same master.
Product Options for Second i Measurement *
AT6n00, 620n
& OEM6200
1—Encoder
4—Commanded (motor) position
Encoder counts
Motor counts
AT6n50, 625n
& OEM6250
1—Encoder
2—ANI input (ANI option only)
4—Commanded position
Encoder counts
ADC counts
Feedback device counts
610n 1—Encoder Encoder counts
615n 1—Encoder
2—ANI input (ANI option only)
Encoder counts
ADC counts
6270 1—Encoder (axis 1 only)
2—ANI input (6270-ANI only)
3—LDT
4—Commanded position
Encoder counts
ADC counts
LDT counts
Feedback device counts
* If scaling is enabled (SCALE1), the measurement of the master is scaled by the SCLMAS value.
As an example, suppose the ENCODER 3 input is to be the master input for slave axis 1, and
forward travel of the physical master (e.g., conveyor belt) results in negative counts on
ENCODER 3. Given these operating constraints, you would use the FOLMAS-31,,, command.
The default setting is that all axes are disabled from being slaves (FOLMAS+Ø,+Ø,+Ø,+Ø).
If you do not want a particular axis to be a slave, simply leave it not configured (e.g.,
FOLMAS,+31,, command configures only axis #2 as a slave to encoder #3; the rest of the
axes are left in the default state—not slaved). If an axis is currently configured as a slave, you
can disable its slave status by putting a zero (Ø) in the parameter field (e.g., the
FOLMAS,Ø,, command disables axis 2 from being a slave axis).
As soon as the master/slave configuration is specified with the FOLMAS command, a
continuously updated relationship is maintained between the slave's position and the master's
position. The update period for stepper controllers is 2 ms. The update period for servo
controllers (system update) depends on the current SSFR and INDAX command values (see
SSFR command description in the 6000 Series Software Reference .)
FOLMAS Setting Not Saved in Non-Volatile Memory
The FOLMAS configuration is not saved in non-volatile memory. Therefore, you may wish to
include it in the power-up program (STARTP) for serial-based controllers, or in the first program
downloaded for bus-based controllers.
Notes for Stepper Controller Users
• If the slave axis is in encoder step mode (ENC1), then the encoder resolution (ERES) of the
slave axis is also used. For that reason, the encoder resolution may not be changed after
the FOLMAS command configures an axis as a slave.
• If the slave axis is in encoder step mode (ENC1), or if stall detect is enabled (ESTALL1), or if
position maintenance is enabled (EPM1), that axis cannot use its own encoder input as the
master.