User Manual
Chapter 9
GFK-1742F
Jan 2020
Combined Follower and Commanded Motion
241
Figure 111: Combined Motion (Fo Jog)
With sustained commanded motion in the same direction, the Program Command Position
will roll over at +2,147,483,647 or
–
2,147,483,648 counts.
The Actual Position, however, will be confined by the configured High Position Limit and
Low Position Limit.
Table 51 below indicates which source commands affect these position registers and the
actual and commanded velocities. Program Command Position is updated only by internally
generated move commands (program commands, Jog Plus Minus, Find Home, and Move at
Velocity). The Commanded Velocity (returned in %AI data) also only indicates velocity
commanded by these internally generated move commands. Actual Position and Actual
Velocity %AI return data reflect the combination of the master input and the move
commands. In other words, counts coming from the master source affect only the Actual
Position and Actual Velocity. If there are no internally generated move commands, the
Commanded Velocity will be 0 and the Program Command Position will not change.
Table 51: Command Input Effect on Position Registers
COMMAND
Input
Follower
Enabled
Follower Registers Affected by input
Master Commands
(from selected
Master source)
No
None affected
Yes
Actual Position %AI status word is updated
Commanded Position %AI status word is updated
(Actual Po Position Error)
Program Command Position is Not affected
Actual Velocity %AI status word is updated
Commanded Velocity %AI status word is Not affected
Program
Commands
No
Actual Position %AI status word is updated
Commanded Position %AI status word is updated
Actual Po Position Error)
Program Command Position is updated
Actual Velocity %AI status word is updated
Commanded Velocity %AI status word is updated
(by Program commanded velocity only)
Yes
Actual Position %AI status word is updated
(by Program c Master command)
Commanded Position %AI status word is updated