Slave Group Parameter: FollowerConfig

Description

This function is used to set the FollowerMode and corresponding slave profile (FollowerRatio or CamProfile) for the specified axis.

NOTE: A Cam profile must be configured before it is referred to.

NOTE: It is possible to change this parameter when the following is on. However, when the following is activated in Cam mode, or is switching to Cam mode, the slave's speed may change rapidly if the new movement profile is significantly different from the old profile.

Associated Functions

The function associated with this parameter is:

SetFollowerConfig which sends a write request for the new following modes and movement profile,

This function uses the WRITE_CMD instruction.

Associated Language Objects

The table below presents the different language objects linked to the FollowerConfig parameter.

Object	Name	Function code	Instruction type	Description
%MWr.m.c.26	ACTION_CMD	420	WRITE_CMD	Write command
%MDr.m.c.27	PARAM_CMD_1	-	-	Value to write: Identifier (1) of the slave axis in the slave group.
%MDr.m.c.29	PARAM_CMD_2	-	-	Value to write: Follower mode. See SlaveMode Data
%MFr.m.c.31	PARAM_CMD_3	-	-	Value to write: Numerator for ratio mode, Movement profile for cam mode.
%MFr.m.c.33	PARAM_CMD_4	-	-	Value to write: Denominator for ratio

%MWr.m.c.19	ERROR_CMD	-	-	Error report. See (WRITE_CMD Command: Programming Errors)

Legend
(1)	This identifier is contained in the constant word %KWr.m.c.0