SlaveMode Data
(Original Document)
About us
Description
Within a SlaveGroup, there are two main methods for following a master axis:
Once all the axes have been installed into a SlaveGroup, the axes of the group are configured for following by specifying which type of SlaveMode to use for each axis. The following table lists SlaveMode conditions. Bit 0 is the least significant bit (LSB).
SlaveMode Data
The following table lists the various data values:
Name
Bit
Description
FOLL_WHERE
0
Value = 0: Required
FOLL_TYPE
1
Determines the following type:
0 = Ratio
1 = Cam
FOLL_POSITION
2
Determines which position to follow:
0 = current value
1 = setpoint
FOLL_FOL_ON_HALT
3
Determines action to perform when following is turned on:
0 = do not halt any in-progress movement profile on the slave axis
1 = halt any in-progress movement profile on the slave axis
Reserved
4, 5
FOLL_HALT_MASTER
6
Determines whether the master should be halted if a slave faults while the following is on:
0 = keep master moving
1 = halt master
FOLL_BIAS_REMAINS
7
Determines the action to perform when following is turned off:
0 = halt any additional movement profile on the slave axis
1 = do not halt any additional movement profile on the slave axis
FOLL_START
8... 10
Determines the start condition:
0 = immediately
1 = start when master position crosses master trigger position in the positive direction
2 = start when master position crosses master trigger position in the negative direction
3 = start when master position is greater than or equal to the master trigger position
4 = start when master position is less than or equal to the master trigger position