Emerson DSM314 - Chapter 5: DSM314 to Host Controller Interface

User Manual Chapter 4
GFK-1742F Jan 2020
Configuration 120
5.30 Follower Enable Trigger. Follower Enable Trigger Input. Selects the control bit,
CTL01-CTL32, to be used as the Follower Enable trigger input. The follower axis is
enabled when the selected trigger input transitions ON and the Enable Follower %Q
bit is also ON. After Follower is enabled, the PLC Enable Follower %Q bit and an
optional Follower Disable trigger bit controls the active state of the following
function. None means the follower axis is enabled only by the Enable Follower %Q
bit. Default: None.
5.31 Follower Disable Trigger. Follower Disable Trigger Input. Selects the control bit,
CTL01-CTL32, to be used as the Follower Disable trigger input. The trigger input is
tested only when the Enable Follower %Q bit is ON. When the Enable Follower %Q bit
is ON, an OFF to ON transition of the trigger bit will disable the follower. Turning OFF
the Enable Follower %Q bit immediately disables the follower, regardless of the
disable trigger configuration. Default: None.
5.32 Follower Disable Action. Stop means the follower will immediately decelerate to
zero velocity at the configured Follower Ramp Acceleration rate. Inc Position means
the follower will continue at its present velocity, then decelerate and stop after a
specified distance has elapsed. The incremental distance is specified in a parameter
register for each axis:
P227 = Axis 1 Incremental distance
P235 = Axis 2 Incremental distance
P242 = Axis 3 Incremental distance
P250 = Axis 4 Incremental distance
The incremental distance represents the total actual position change that will occur
from the point where the follower is disabled until it stops.
A configuration of Abs Position is not supported in the present DSM314 firmware.
Default: Stop
5.33 Ramp Makeup Acceleration. Follower Ramp Makeup Acceleration (uu/sec
2
).
Specifies the acceleration used to:
— Accelerate the follower axis to match master velocity after the follower is
enabled (sector AB in Figure 60),
— Make up the master command counts lost during follower acceleration (sector
BC and DE in Figure 60),
— Decelerate to a stop after the follower is disabled (sector FG in Figure 60).