Installation guide

238 Following for MX2000 version 4.0

8.1.11 - Follower Exercise

1) Fill in the Motion states and Following Commands on the following sheet. Put the Following

command letter inside the Parenthesis and the motion state number in between brackets. All of the

Following commands and Motion states are used at least once.

2) Write a user program that will generate the velocity profile on the following sheet. The master axis

should be stable before the follower axis is allowed to move.

3) Set up data logging to prove that the profile will be generated.

‘********************* Follower will follow the Master axis speed at 100% ***************************

‘********************* Follower triggers when EVENT 1 is active **********************************

#DEFINE MASTER 2

#DEFINE FOLLOWER 1

SPEED(MASTER)=5 ‘ Master velocity is 5 units/sec

ACCEL(MASTER)=50 ‘ Master acceleration is 50 units/sec

DECEL(MASTER)=50 ‘ Master deceleration is 50 units/sec

DRVREADY(FOLLOWER,MASTER)=1,1 ‘ drives not required to run program

JOG(MASTER)=1 ‘START MASTER AXIS

DO : LOOP UNTIL ACTSPD(MASTER) >= 4.9 ‘WAIT FOR MASTER TO ACHIEVE SPEED

STOP(FOLLOWER) ‘ follower axis stop

WAITDONE(FOLLOWER) ‘ wait for follower axis done

STOP (MASTER) ‘ master axis stop

WAITDONE(MASTER) ‘ wait for master axis done

END