Installation guide

230 Following for MX2000 version 4.0
MOTIONSTATE Trajectory Parameter
ACTION: Returns the motion state for an axis.
PROGRAM SYNTAX: MOTIONSTATE(axis) - used in an expression.
REMARKS: The motion states for a following cycle are:
0 Following cycle Done.
1 Waiting for Following Trigger.
2 Waiting for master to move FOLSTARTDIST distance.
4 Acceleration to Master Velocity in FOLACCDIST
distance.
8 In Synchronization with master Velocity.
16 Decelerating to Stop in FOLDCCDIST master distance.
32 Offset command issued and Waiting for master to move
FOLSYNCDIST distance before starting the Offset
Acceleration.
64 Offset Acceleration occurring.
128 At FOLMAXRATIO or FOLMINRATIO limit.
256 Offset Deceleration occurring.
512 Checking for pending Offset Cycle.
Wait
For Sync
Distance
(32)
Another
Offset
command
(512)
Offset
Accel
(64)
Constant
(8)
Offset
Constant
(128)
Offset
Decel
(256)
Wait
For
Distance
(2)
Done
(0)
Wait
for
Trigger
(1)
FOLTRIG
0 no trigger
1 Event 1 active
2 Event 2 active
3 Event 1 inactive
4 Event 2 inactive
FOLSTARTDIST
Trigger occured
FOLMOVE
FOLMOVEREG
FOLJOG
Decel
(16)
FOLDCCDIST
Accel
(4)
FOLACCDIST
Master moved decel
distance
Master traveled Start
Distance
Master traveled Accel
Distance
FOLSYNC
STOP
FOLOFFSET commanded
FOLSYNCDIST
No
Yes
Master moved FOLSYNCDIST
Distance
Master moved FOLOFFSETDIST distance
Follower moved FOLOFFSET distance