Movement Slaved to an External Setpoint

At a Glance

This function is used to slave the position of an axis to a position written by an application program in the double word PARAM (%QDr.m.c.2).

It provides a means of slaving an axis to a pre-programmed trajectory.

It can also be used to control a module axis so that the refresh rate of the slave axis setpoint is equal to the period of the task in which the modules are managed.

Setting the EXT_CMD (%Qr.m.c.18) bit to 1 enables this function. The IN_EXT_CMD (%Ir.m.c.37) status bit indicates that the slave axis is effectively performing the tracking function.

Example

In this mode with TSX CAY •2 and TSX CAY 33 modules, you can control the discrete event output:

Execution Condition

This function is enabled if:

the axis is referenced,
no blocking fault is detected,
the PARAM position is within the soft stops.

NOTE: You must check that:

the axis is already in the PARAM position before switching this axis to tracking mode,
PARAM is moving in a continuous and coherent fashion (risk of tracking error fault on the axis).