User Manual Chapter 9
GFK-1742F Jan 2020
Combined Follower and Commanded Motion 239
Chapter 9: Combined Follower and
Commanded Motion
Combined motion consists of Follower motion commanded from a master axis combined
with one of these internally commanded motions:
•
Jog Plus/Minus %Q Command
•
Move at Velocity %AQ Command
•
Move %AQ Command
•
Stored Motion Program
Combined motions are additive. The slave axis motion is equal to the sum of the motion
commanded by the master axis and the internally commanded motion.
9.1 Example 1: Follower Motion Combined with Jog
In this example, the Enable Follower %Q bit is set, causing the slave axis to follow the master
input. While the slave axis is following, the Jog Plus %Q bit is set. The following axis
accelerates from its master’s velocity to its master’s velocity added to the current Jog
Velocity. This acceleration will be just as if the axis was not following a master source at the
time. When the Jog Plus %Q bit is cleared, the following axis decelerates to its master’s
velocity. In the velocity profiles below, the dotted lines indicate when the Jog Plus %Q bit is
turned ON and then OFF.
Figure 110: Combined Motion (Follower + Jog)
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