Difference between revisions of "MC-Basic:axis.FOLLOWINGMODE"
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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. | 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. | ||
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|RANGE= | |RANGE= | ||
| − | 0 –( Default ) When axis is enabled and the Position Error is | + | 0 –( Default ) When axis is enabled and the Position Error is monitored |
| + | 1 -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. | And PositionCommand will updates on the end (Fmode=0) by reading the IDN47. | ||
| − | 2 - soft following-mode, keeps PositionCommand equal to PositionFeedback | + | 2 - soft following-mode, keeps PositionCommand equal to PositionFeedback . |
| + | {{ Note | Be careful when setting following mode to 2, as it closes a loop around the position variable of the drive it can lead to instability - run away!}} | ||
Revision as of 09:47, 1 May 2011
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 monitored
1 -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 .
 | NOTE |
| Be careful when setting following mode to 2, as it closes a loop around the position variable of the drive it can lead to instability - 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