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

This keyword allows a variable of type STRU_FOLLOW2_S (STRUCT_P) to be defined.

It is used by the mva_follow2() motion function.

It consists of the following information:

Field

Type

Description

nAxS

U32

Slave axis number

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.

hmtoggle_plus0 Error codes table

Example of use:

; definition of variable mf2 of type STRU_FOLLOW2_S

STRU_FOLLOW2_S mf2

result = mva_follow2(mf2)  

 
  

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