Danaher Motion
06/2005
Groups
M-SS-005-03 Rev
E
127
6.9.5.
PROCEED
After a
STOP
, you must
PROCEED
to clear the motion buffer. You can use
PROCEEDTYPE
to specify which way the motion generator should continue:
PROCEEDTYPE = CONTINUE
The motion generator continues the stopped command until complete.
PROCEEDTYPE = NEXTMOTION
The motion generator aborts the current move and goes directly to the
stopped move in the motion buffer.
PROCEEDTYPE = CLEARMOTION
Clears the motion buffer. No motion executes. Default value.
STOPTYPE = ABORT
Current motion stops immediately but does not need a
PROCEED
to
start the next motion. Only the current motion is stopped, the following
commands are generated.
6.9.6.
MOVE
MOVE
for groups is almost identical to a
MOVE
for axes. There are two
differences. First,
POSITIONCOMMAND
,
POSITIONFEEDBACK
, and
PFINAL
are group size vectors. Second, the profile, including
ACCELERATION
and
DECELERATION
, applies to all axes in the group.
For example:
MyGroup.VCruise = 2000
Move MyGroup {100, 100}
moves to position (100, 100) with a cruise velocity of 2000.
You can override the following axis properties as part of a
MOVE
:
ABSOLUTE
STARTTYPE
ACCELERATION
ACCELERATIONRATE
DECELERATION
DECELERATIONRATE
SMOOTHFACTOR
VELOCITYCRUISE
VELOCITYRATE
JERK
JERKRATE
PFINAL
(end of a move), is always specified in
MOVE
. However, the
meaning of
PFINAL
depends on
<group>.ABSOLUTE
. This allows point-to-
point moves to be specified two ways:
ABSOLUTE =
TRUE
Final position is specified as actual group position at the end of the
move. The final position equals
PFINAL.INCREMENTAL
.
ABSOLUTE = FALSE
Final position is referenced to the start position. The final position is the
sum of
PFINAL
and
PCMD
at the start of the move. So:
xyTableGroup.Absolute = TRUE
Move xyTableGroup {100, 200}
moves xyTableGroup to position (100, 200).
