User Manual
Chapter 8
GFK-1742F
Jan 2020
Follower Motion
231
Case 4: At the time when the follower velocity matches the master command velocity and
the makeup move is to occur and conditions are the same as in Case 1 or Case 2 and the
makeup move has initiated, the master source increases to >80% of the Velocity Limit. The
amount of accumulated counts and the active makeup time value will determine if the
makeup move will complete in the specified makeup time. A status only error (F2h) will
occur if the combined master command velocity and the makeup move velocity reach 100%
of the velocity limit. The master command velocity will not exceed 100% of the Velocity
Limit value. Accumulated counts may be lost and the makeup move will not complete.
The Follower Ramp Active %I bit indication is turned on while the ramp control is in effect for
both the ramp up/make-up and ramp down.
The Follower Enabled and Follower Ramp Active %I bits can be monitored by the host
controller to determine which part of the follower ramp up/ramp down cycle is active. The
following figure shows the state of Follower Enabled and Follower Ramp Active during a
follower cycle.
Figure 101: Follower Ramp Up/Ramp Down Cycle (Case 2)
The programmed make-up time can be too short for the required distance correction. In
this case a warning error is reported (in the point B of the trajectory), but system continues
acceleration up to the speed, insuring the minimum possible distance correction time. The
velocity profile for such case is shown on the figure 106.