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User Manual Chapter 9

GFK-1742F Jan 2020

Combined Follower and Commanded Motion 244

9.3 Example 2: Follower Motion Combined with

Motion Program

Applications that require modifying parts on the fly (such as notching, marking, riveting,

spot welding, spot gluing, and so forth) would make use of the point-to-point moves

superimposed on follower motion and enable follower at input features. A typical

configuration and control sequence required for these applications is shown below.

Figure 112

Control Sequence

With Enable Follower %Q bit OFF, the host controller commands Follower axis to

home position where Actual Position & Program Command Position are

synchronized and set to Home Position value. Position Valid %I bit indicates when

this step is complete.

The host controller sets the Enable Follower %Q bit command.

Note: The CTL01- CTL24 bit to which the part edge sensor is connected would already have been

configured in the Follower Enable Trigger configuration parameter.

When the Part edge sensor trips, the DSM314 enables the Follower axis to start

following the master (Aux Axis 3) encoder inputs. The Follower Enabled %I bit

indicates when the axis is following the master command. Note that the Accel Ramp

and Make-Up Time feature could be used to allow the follower axis to catch up to

the master axis if required.

Once the follower is enabled, the host controller sends the Execute Motion Program

n %Q bit to start execution of the selected program for the follower axis. At the time

the program is selected, Program Command Position will be set to program

reference position (0) because the follower is enabled. Program execution is then

relative to the moving part edge as the follower axis tracks the part. Program

Command Position now contains the position of the follower axis relative to the part

edge and Actual Position indicates the total distance the follower axis has moved

from the Home point (master +/– program commands).

At the end of program, the host controller turns Enable Follower %Q bit OFF and

loops back to step 1 to repeat for next part.

Emerson DSM314 User Manual

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