FollowOn 415 Function Description
(Original Document)
About us
Introduction
The FollowOn 415 function specifies to which FollowerSet an axis (that is already a member of several FollowerSet) will be linked.
By adding the identifier of an axis as a parameter of the FollowOn 415 function, each axis member of the FollowerSet can be individually linked to its master axis.
Operating Mode
When an axis belongs to several FollowerSet, the FollowOn 415 function allows to choose the FollowerSet on which its monitoring will be activated. The motions are linked to the master axis of the FollowerSet on which its monitoring has been activated.
Description
The FollowOn 415 function activates the monitoring of:
The function is only available for one FollowerSet.
NOTE:
The operation is not allowed for axes:
  • That do not belong to the FollowerSet.
  • Where the monitoring is already activated.
Command
Syntax of the instruction:
ACTION_CMD (%MWxy.i.26) = 415
Command Parameters
The table below lists the command parameters available for the FollowOn 415 function:
Standard Symbol
Value
Address
PARAM_CMD_1
Address of the slave axis member of the group to be linked.
%MDxy.i.27
PARAM_CMD_2
0
%MDxy.i.29
PARAM_CMD_3
0.0
%MDxy.i.31
PARAM_CMD_4
0.0
%MDxy.i.33
Return Command Values
The table below lists the command return values for the FollowOn 415 function:
Standard Symbol
Value
Address
RETURN_CMD_1
0
%MDxy.i.20
RETURN_CMD_2
0.0
%MDxy.i.22
RETURN_CMD_3
0.0
%MDxy.i.24
Error Codes
The table below lists the errors codes sent by the FollowOn 415 function:
Error Code
Standard Symbol
Meaning
Address
38
NO_SUCH_AXIS
The axe does not belong to the FollowerSet.
-
42
AXIS_NOT_ALLOWED
The axe is not validated.
-
50
CMD_NOT_ALLOWED
Monitoring not allowed on the axe.
-
69
AXIS_LINKED
This axis is already linked.
-
7002
BAD_ID
FollowerSet not configured.
-
7003
WARN_BAD_DATA
Slave axis not configured.
-
-
ERROR_CMD
Possible error while explicitly writing a WRITE_CMD command.
%MWxy.i.19
NOTE: Before linking an axis to a master axis that belongs to another FollowerSet, it is necessary to stop the axis monitoring with the output:
%Qxy.i.27 : ALLOW_FOLLOW = 0
Example
In the example below, axes 1 and 2 (Gear 1/1) are common to Follower Groups 21 and 22. Axes 1 and 2 can be switched between Follower Group 21 or 22 at any time, using the FollowOn 415 function, even if groups 21 and 22 are both active.