Validity: RC3E v33.5.8-7 (or later).

This keyword allows a variable of type STRU_FOLLOW2 (STRUCT_P) to be defined.

It is used by the mv_follow2() motion function.

It consists of the following information:

Field

Type

Description

command

U32

Command and configuration word:

Bit	Hexadecimal value	Description
Configurable runtime commands:
0	0x00000001	If set to 1 there is a slave stop at qParkSlave during the next cycle (the next cycle is not executed) (active on level)
1	0x00000002	If set to 1 there is initial positioning at qParkSlave (auto-reset by RTE)
2	0x00000004	If set to 1 you have the initial positioning is done with the master cycle (auto-reset by RTE)
3	0x00000008	Forcing the end of the synchronism segment (auto-reset by RTE)
4	0x00000010	If linear type slave, forces stop at end of forward cycle as long as such flag is present (active on level)
5	0x00000020	Indicates that the supplied master sync position is not yet the real one (only assumed). Useful if used with OB ELEMENT LOCATION. In that case, the next docking is not performed and the slave remains still (active on level)
Configuration flag:
16	0x00010000	•0, fixed-cycle master(masterCycle = cycle length, qSyncMaster = sync quota relative to the cycle) •1, variable-cycle master(masterCycle = minimum cycle length, qSyncMaster = absolute sync quota updated at each cycle, e.g., on a photocell reading)
17	0x00020000	If I set to 1 there is a disabling of the test on maxSpe
18	0x00040000	If I set to 1 you have the disabling of the test on maxAcc
19	0x00080000	•0, qSyncMaster aligned to qSyncSlave •1, qSyncMaster aligned to the midpoint between qSyncSlave and qOutSlave
20	0x00100000	Valid only for cyclic slave(slaveCycle>0). •1, enables slave stop at qParkSlave at each cycle for the duration spaceWaitInPark In case of linear slave(slaveCycle=0) the stop at park quota is implied
21	0x00200000	Valid only for cyclic slave(slaveCycle>0). •0, slave can also move backward (during positioning) •1, slave can move forward only
22	0x00400000	Valid only for cyclic slave(slaveCycle>0), variable cycle master (BIT 16=1) and stop at qParkSlave disabled (BIT 20=0) •1, Enables the recover of the synchronism during the slowdown ramp

errorCode

U32

Error codes (see error code table below)

MASTER DATA:

masterCycle

REAL

Master cycle step if fixed-cycle master (B16= 0).

Minimum master cycle step if variable-cycle master (B16=1).

NOTE: If variable-cycle master can also be left at 0, in which case, however, no checks are made on the recovery speed.

qSyncMaster

REAL

Master quota used as a synchronism reference.

If fixed-cycle master (B16=0) it is assumed as a relative quota for the cycle and should be set once.
If variable-cycle master (B16=1) it is an absolute quota that should be reset at each cycle, e.g, on the photocell

qMaster

REAL

Master position. It must always be updated before each function call. If axis it corresponds to the IP

velMaster

REAL

Master speed. It must always be updated before each function call. If axis it corresponds to the IV

accMaster

REAL

Master acceleration. It must always be updated before each function call. If axis it corresponds to the AI.

NOTE: This parameter is only used to correctly calculate accSlave.

SLAVE DATA:

slaveCycle

REAL

Step increment of qSyncSlave quota to handle repeated-cyclic following. (if linear slave should be left at 0)

qSyncSlave

REAL

Synchronism start quota of slave axis

qOutSlave

REAL

Synchronism final quota of slave axis

qParkSlave

REAL

Parking quota of the slave axis

spaceStopSlave

REAL

Stop space of the slave from qOutSlave.

Valid only if linear slave (slaveCycle = 0)

spaceWaitInPark

REAL

Master advance space during which the slave axis remains stationary at parking quota qParkSlave at each cycle before starting the next tracking.

This parameter is only valid if the slave is linear (slaveCycle = 0) or if the slave is cyclic and the stop at quota qParkSlave is enabled at each cycle (B20=1)

velPositSlave

REAL

Speed initial positioning on qParkSlave

accPositSlave

REAL

Acceleration initial positioning on qParkSlave

jerkPositSlave

REAL

Jerk initial positioning on qParkSlave

kSlaveMaster

REAL

Master speed to slave speed conversion constant used during the synchronized segment (velSlave = velMaster * kSlaveMaster).

NOTE: It is used to equalize units if they are different, or to differentiate speeds during the synchronized segment.

qSlave

REAL

Current slave quota updated runtime by the function (the first time the function is used it should be initialized to the actual value at which the slave axis is)

vSlave

REAL

Current slave speed updated runtime by the function

aSlave

REAL

Current slave acceleration updated runtime by the function.

NOTE: Its value is correct only if the accMaster parameter is set correctly.

maxSpe

REAL

It is the maximum speed value for the movement of the slave.

Used if relative test is enabled (B17=0)

maxAcc

REAL

Is the maximum acceleration value for the movement of the slave.

Used if relative test enabled (B18=0)

INTERNAL STORAGE:

resDouble[14]

REAL

Reserved

resInt[2]

REAL

Reserved

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Structure STRU_FOLLOW2

See: Data types

This keyword allows a variable of type STRU_FOLLOW2 (STRUCT_P) to be defined.

Error codes table

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