53
Bits 14-15: StartCond, start condition. If this task is triggered by the Start PosTable signal, normally the
controller will execute it immediately, but if there’s a positioning task still running:
0 (ignore): ignore.
1 (wait): execute this command after current task is finished (without delay).
2 (interrupt): interrupt the current task, execute this command immediately.
For convenience, all CTL_Reg bits can be set in the following fields:
Figure 6-4: CTL Reg edit
Loops: Defines loop limit for the task which is running in loops;
0: no limit,
≥ 1: position flow stops when loop count = loops, or if the next index’s loop count = next index’s
loops.
Position control task information can be copied to another row. Right click a selected row and the following
selection window appears:
Figure 6-5: Position table copy
Click Copy Row and then click PasteRow in another selected row.
When the position table is completed, click the
button to write it to the controller.
Start the table via DIN with the Start PosTable function. The entry index task is triggered and position flow
is started (via StartCond rule).
The DIN AbortPosTable signal (rising edge) or deleting the Start PosTable function configuration in DIN
aborts a running position flow after the currently running task is finished.
Position flow is aborted immediately if an error occurs or if the Operation_Mode is changed.
Information
The table in the window is not written to the controller automatically. The
button has to be clicked. The table can be read out of the controller and into the window by
clicking the
button. A table can be imported from an existing .pft file to the
windowby clicking
, and it can be exported from the window to a .pft file by
clicking
.
