The Automatic mode is the active mode for interpolated axes. Interpolated movements can only be carried out with this mode.
Automatic mode is mainly used to send a movement command (code G) via an XMOVE function. This command is designed to perform an interpolated movement by momentarily creating a link between several axes.
Channel 3 in Automatic Mode
Channel 3 in automatic mode does not modify the current mode, nor 2 (or 3) module axis commands in progress. In this way movements (or debugging) which are carried out independently axis by axis in manual, loop disabled control and automatic modes, are always performed via the positioning function for each axis in the module.
The actual engagement of automatic mode is indicated by the IN_AUTO (%Ir.m.3.23) bit.
Commands in Automatic Mode
In automatic mode, the following commands are used to act on the XMOVE function:
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CMV: speed modulation coefficient. This coefficient affects the current tangent speed setpoint in a ratio of 1/1000 to 2000/1000 (%QWr.m.3.1)
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CMV = 0: Feed hold command which stops the moving part, while ensuring that upon the resume movement command (CMV #0), the programmed trajectory is followed. Feed hold status is indicated by the IM_PAUSE bit (%Ir.m.3.34).
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Pause : Pause command which is used to suspend XMOVE movement sequence. The pause is only active when the moving part is stationary. This is indicated by the ON_PAUSE bit (%Ir.m.3.33).
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MOD_STEP (%Qr.m.3.19) : is used to execute a movement sequence by stopping after each elementary instruction. Status is indicated by the ST_IN_STEP bit (%Ir.m.3.39).
NEXT_STEP bit (%Qr.m.3.22) is used to execute the next step.
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EXT_EVT (%Qr.m.3.10): is used to terminate a G05 or a G10.
The automatic mode can also access the following 2 commands which can be active during or outside of an XMOVE:
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STOP (%Qr.m.3.8): is a stopping order for the different axes which make up the interpolation (according to the role of the STOP command that has been defined in the configuration).
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ACK_FLT (%Qr.m.3.10): a rising edge causes fault acknowledgement.
