MC-Basic:axis.FOLLOWINGMODE

This property queries whether the axis is in FOLLOWINGMODE, or to explictly put the axis in FOLLOWINGMODE. When an axis is in FOLLOWINGMODE, the position command (PCMD) is continually set equal to the position feedback. This occurs automatically when the axis is disabled. In situations where the drive takes control over the motion of the motor (such as in drive-controlled homing), the axis must be explicitly put into FOLLOWINGMODE. Otherwise, the MC reports a position following error.

Short form

<axis>.Fmode

Syntax

<axis>.FollowingMode = <value>

Availability

All versions

Type

Long

Range

0 –( Default ) When axis is enabled and the Position Error is monitored1 -When axis is disabled  or can be set by the user.  It freezes the PositionCommand.

And  PositionCommand will updates on the end (Fmode=0) by reading the IDN47.

2  - soft  following-mode, keeps PositionCommand equal to PositionFeedback and does not updated PositionCommand valueby the drives. Use only for development. Be careful from run away.

Default

0

Scope

Configuration, Task or Terminal

Limitations

To set the value within a task, the axis must be attached to that task (using the ATTACH command).

Examples

X_Axis.FollowingMode = ON

See Also

• ATTACH
• axis.POSITIONCOMMAND