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Chapter 13 Control Sub Functions
13.8.2 Follow up function
(1) Follow up function
The follow up function monitors the number of motor rotations (actual present
value) with the servo OFF and reflects the value in the present feed value.
If the servomotor rotates during the servo OFF, the servomotor will not just rotate
for the amount of droop pulses at switching the servo ON next time, so that the
positioning can be performed from the stop position.
(2) Execution of follow up
Follow up function is executed continually during the servo OFF status.
A
ll axis servo ON [Y1]
Each axis servo OFF
command
Servo ON or OFF status
OFF
01
OFF
ON
ON
Servo error detected
Follow up function executed
Fig. 13.54 Operation timings of follow up function
POINT
The follow-up function performs the process if the "Simple Motion module and
the servo amplifier is turned ON" and "servo OFF" regardless of the presence of
the absolute position system.