Groups 06/2005
Danaher
Motion
126 Rev
E
M-SS-005-03l
6.9.3. Motion
Flags
The last step in preparing a system for motion is to turn the motion flags ON.
There are two motion flags: the system motion flag and the motion flags of
each axis within the group. For example:
System.Motion = ON
A1.Motion = ON
A2.Motion = ON
A3.Motion = ON
There is a motion flag for the group that can be used to enable motion for all
axes in the group. In many applications, a hardware switch should be tied to
the motion flag. The MC does not have a hardware motion input, but you can
use events to create this function. The following example demonstrates a
task that uses external input SYSTEM.DIN.1 to control the system motion
flag:
Program MotionSwitch
OnEvent MOTION_ON System.DIN.1 = ON
System.Motion = ON
End OnEvent
OnEvent MOTION_OFF System.DIN.1 = OFF
System.Motion = OFF
End OnEvent
End Program
6.9.4.
STOP
STOP
stops group motion in the motion buffer. In the command, you must
specify the group:
Stop GroupA
Normally,
STOP
is set to stop motion immediately at the rate of
DECELERATIONMAX
. However, you can modify the effects of
STOP
with
STOPTYPE
.
<group>.STOPTYPE
can take four values:
STOPTYPE = IMMED
Stop group immediately at
DECELERATIONMAX
on each axis. The
current path of the n\movement is not preserved.
STOPTYPE = ENDMOTION
Stop group at the end of the current motion.
STOPTYPE = ONPATH
Stop group immediately. Keep the stopping trajectory on the current
motion path.
STOPTYPE = ABORT
Stop the current motion immediately without the ability to restore the
stopped movements.
STOPTYPE
defaults to IMMED. If STOPTYPE = ENDMOTION, the current
move is completed before
STOP
is executed. If STOPTYPE = ONPATH,
STOP
is executed so the group stays on the path. Stopping is according to
the current movement’s deceleration and not at maximum deceleration to
remain on the path.
