BASIC commands
PROGRAMMING MANUAL
94
R
e
vi
si
o
n
1
.0
3.2.114 ENDMOVE
/i
3.2.115 ENDMOVE_BUFFER
/i
3.2.116 ENDMOVE_SPEED
/i
3.2.117 ERROR_AXIS
/i
Type
Axis parameter
Syntax
ENDMOVE
Description
The
ENDMOVE
axis parameter holds the position of the end of the current
move in user units. If the
SERVO
axis parameter is ON, the
ENDMOVE
parameter can be written to produce a step change in the demand position
(
DPOS
).
Note: As the measured position is not changed initially, the Following Error
limit (
FE_LIMIT
) should be considered when writing to
ENDMOVE
to produce
a step change. If the change of demanded position is too big, the limit will be
exceeded.
Arguments
N/A
Example
No example.
See also
AXIS
,
DPOS
,
FE_LIMIT
,
UNITS
.
Type
Axis parameter (read only)
Syntax
ENDMOVE_BUFFER
Description
This holds the absolute position at the end of the buffered sequence. It is
adjusted by
OFFPOS
/
DEFPOS
. The individual moves in the buffer are incre-
mental and do not need to be adjusted by
OFFPOS
.
Arguments
N/A
Example
No example.
See also
MOVES_BUFFERED
,
VECTOR_BUFFERED
Type
Axis parameter
Syntax
ENDMOVE_SPEED = value
Description
The
ENDMOVE_SPEED
parameter is used to directly control the the ramp to
exit speed when forced speed moves (
MOVESP
,
MOVEABSSP
,
MOVECIRCSP
,
MHELICALSP
) are loaded. The
ENDMOVE_SPEED
param-
eter should be set to the required value at the time of loading the move into
the buffer.
If two forced speed move types are merged, the speed at the merge point is
controlled by the
ENDMOVE_SPEED
of the outgoing move. If a forced speed
move follows one or more non-forced speed moves the deceleration will
occur to the
FORCE_SPEED
of the incoming move.
Arguments
N/A
Example
ENDMOVE_SPEED=2000
See also
MOVESP
,
FORCE_SPEED
Type
System parameter (read-only)
Syntax
ERROR_AXIS
Description
The
ERROR_AXIS
axis parameter contains the number of the axis which has
caused the motion error.
A motion error occurs when the
AXISSTATUS
state for one of the axes
matches the
ERRORMASK
setting. In this case the enable switch (
WDOG
)
will be turned off, the
MOTION_ERROR
parameter will have value different
than 0 and the
ERROR_AXIS
parameter will contain the number of the first
axis to have the error.
Arguments
N/A
Example
No example.
See also
AXISSTATUS
,
ERRORMASK
,
MOTION_ERROR
,
WDOG
.