Saia PCD2.H310, Руководство пользователя

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PCD2.H31x Summary of software elements
26/762 E2
(2H3-AA-E.DOC)
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SAIA-Burgess Electronics Ltd. Page A-7
StartMot
Instruction: Start Motion
[01]
Function description:
This instruction is used to start a motion with the defined velocity and ac-
celeration to the predefined destination position. It is also used to select
'position control mode'.
This instruction switches back 2 bits in the status byte:
bit 6 : Breakpoint reached
bit 5 : Excessive position error
The instruction 'ResStatRg' enables all or some of the status bits to be reset.
The status byte is represented in the first 8 bits of the signal register. These 8
bits are reset simultaneously with the status byte.
The 'StartMot' instruction also resets bits 10 to 15 of the signal register,
which can be read with the instruction 'RdStatRg'.
The flage 'fOnDest_x', 'fBrkPt_x' and 'fPosErr_x' are only refreshed after
a 'StartMot' instruction forllowed by a 'RdStatRg' instruction.
Par. Designation/function Type Format Value Comment
= 1 Module number K 1 - 16
= 2 Instruction: StartMot
= 3 Empty PCD register
or 'rNotUsed' R
Exec
Function Block
Index modified: no
Processing time: 2 ms
= 2 StartMot
= 1 Module number
= 3 not used