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SMD23E2 and SMD24E2 User’s Manual
M
OTION
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ONTROL
39
Indexed Moves
All of the moves that have been explained in the chapter up to this point can be started by a transition on one
of the inputs instead of a command from the network. If the
Indexed Move
bit is set when the command is
issued, the SMD23E2 or SMD24E2 will not run the move until the configured input makes an inactive-to-
active transition. This allows you to run time critical moves that cannot be reliably started from the network
because of messaging time delays.
The input must be configured as a
Start Indexed Move Input.
The move begins with an inactive-to-active transition on the input. Note that an active-to-inactive tran-
sition on the input will not stop the move.
The move command must stay in the Network Output Data while performing an Indexed Move. The
move will not occur if you reset the command word before the input triggers the move.
The move can be run multiple times as long as the move command data remains unchanged in the Net-
work Output Data. The move will run on every inactive-to-active transition on the physical input if a
move is not currently in progress. Once a move is triggered, the Start Indexed Move Input is ignored by
the SMD23E2 or SMD24E2 until the triggered move is finished.
As stated above, a move can be run multiple times as long at the move command data remains
unchanged. If you wish to program a second move and run it as an Indexed Move type, then you must
have a 0
1 transition on the move command bit before the new parameters are accepted. The easiest
way to accomplish this is by writing a value of 16#0000 to the command word between issuing move
commands.
A Jog Move that is started as an Indexed Move will come to a controlled stop when the command bit in
the Network Output Data is reset to zero.
It is possible to perform an indexed Registration Move by configuring two inputs for their respective
functions. The first input, configured as a
Start Indexed Move Input
, starts the move and the second,
configured as a
Stop Jog or Registration Move Input
causes the registration function to occur.
You cannot issue a Hold Command with the Indexed Bit set and have the Hold Command trigger on the
inactive-to-active transition of a physical input. Hold Commands are always acted upon as soon as they
are accepted from the Network Output Data.
You cannot issue an Immediate Stop Command with the Indexed Bit set and have the Immediate Stop
Command trigger on the inactive-to-active transition of a physical input. Immediate Stop Commands
are always acted upon as soon as they are accepted from the Network Output Data. If you need this
functionality, consider programming the physical input as an E-Stop Input.
You cannot issue a Clear Error Command with the Indexed Bit set and have the Clear Error Command
trigger on the inactive-to-active transition of a physical input. Clear Error Commands are always acted
upon as soon as they are accepted from the Network Output Data.
