Validity: RC3E v33.5.8-7 (or later).
This keyword allows a variable of type STRU_FOLLOW2_SM (STRUCT_P) to be defined.
It is used by the movement instruction mva_follow2_m().
It consists of the following information:
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nAxM
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U32
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Master axis number
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nAxS
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U32
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Slave axis number
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command
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U32
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Command and configuration word:
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Configurable runtime commands:
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0
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0x00000001
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If set to 1 there is a slave stop at qParkSlave during the next cycle (the next cycle is not executed)
(active on level)
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1
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0x00000002
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If set to 1 there is initial positioning at qParkSlave
(auto-reset by RTE)
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2
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0x00000004
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If set to 1 you have the initial positioning is done with the master cycle
(auto-reset by RTE)
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3
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0x00000008
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Forcing the end of the synchronism segment
(auto-reset by RTE)
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4
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0x00000010
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If linear type slave, forces stop at end of forward cycle as long as such flag is present
(active on level)
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5
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0x00000020
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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)
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Configuration flag:
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16
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0x00010000
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•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
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0x00020000
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If I set to 1 there is a disabling of the test on maxSpe
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18
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0x00040000
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If I set to 1 you have the disabling of the test on maxAcc
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19
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0x00080000
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•0, qSyncMaster aligned to qSyncSlave
•1, qSyncMaster aligned to the midpoint between qSyncSlave and qOutSlave |
20
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0x00100000
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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
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21
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0x00200000
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Valid only for cyclic slave(slaveCycle>0).
•0, slave can also move backward (during positioning)
•1, slave can move forward only |
22
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0x00400000
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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 |
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errorCode
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U32
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Error codes (see error code table below)
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MASTER DATA:
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masterCycle
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REAL
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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.
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qSyncMaster
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REAL
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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
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SLAVE DATA:
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slaveCycle
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REAL
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Step increment of qSyncSlave quota to handle repeated-cyclic following. (if linear slave should be left at 0)
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qSyncSlave
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REAL
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Synchronism start quota of slave axis
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qOutSlave
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REAL
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Synchronism final quota of slave axis
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qParkSlave
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REAL
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Parking quota of the slave axis
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spaceStopSlave
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REAL
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Stop space of the slave from qOutSlave.
Valid only if linear slave (slaveCycle = 0)
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spaceWaitInPark
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REAL
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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)
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velPositSlave
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REAL
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Speed initial positioning on qParkSlave
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accPositSlave
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REAL
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Acceleration initial positioning on qParkSlave
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jerkPositSlave
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REAL
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Jerk initial positioning on qParkSlave
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kSlaveMaster
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REAL
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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.
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< 0
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Internal error (contact Robox)
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0
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No error
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1
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Invalid maxAcc
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2
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Insufficient start or stop slave space
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3
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Invalid kSlaveMaster
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4
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Insufficient starting + braking master space
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5
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Insufficient recovery master space
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6
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Master cycle not set with fixed cycle master
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7
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Unable to perform positioning (invalid positioning kinematic parameters)
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8
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Exceeding maximum speed in tracking phase
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9
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Exceeding maximum acceleration in tracking phase
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10
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Exceeding maximum speed in synchronism phase
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11
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Exceeding maximum acceleration in synchronism phase
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12
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Exceeding maximum speed in stopping phase
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13
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Exceeding maximum acceleration in stopping phase
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14
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Exceeding maximum speed in homing phase
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15
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Exceeding maximum acceleration in homing phase
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