Rexroth Indramat CLM1.4, Manual

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CLM01.4-LAP-01VRS Writing the User Program
5-29
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
FOL – Slave Axis
or
Slave Factor
Input of 0.000000 to 99.999999
Direction, with reference to master axis
+ or ` ´= in the same direction
-
= in the opposite direction
Status of the slave axis - in preparation !
0 = Slave Axis OFF
1 = Slave Axis ON
Axis = 1 to 4
This command assigns the parameter for the axis to be used as a slave
axis.
The 'FOL' command can be used to enable or disable the slave axis
function. The behavior of the slave axis can also be changed by using a
multiplication factor.
The positioning travel of the slave axis in IU is calculated as follows:
Factor tion Multiplica IU in Master of Travel g Positionin
×
L: IU = input units
Fig. 5-14: Calculation of Positioning Travel of Slave Axis
In calculating the positioning travel in IU for the slave and master axes,
the IU shall be considered in terms of the feed constant for the relevant
axis (slave or master). Any differences in the values calculated for the
input units shall also be taken into account.
Other programmed positioning motions of the slave axis (e.g., using POI
or PSI) are additive in terms of velocity!
When the operating mode is changed from Manual to Automatic, or vice
versa, the status (enabled or disabled) and the current value of the
multiplication factor are retained.
Each time the operating mode is changed from Parameter Mode to
Manual or Automatic Mode, the slave axis defaults to a multiplication
factor of 1.000000.
Note: Currently, deactivating operation of the slave axis in Slave or
Synchronous Mode is possible only by setting the
multiplication factor to zero!
See also Section 'Slave Axis.'
The program proceeds to the next instruction following the time period of
one cycle.
FOL V600 V600 – V601
FOL 1 1 –01.123456