MovementControl Bits Modifiable on Edge
(Original Document)
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ALLOW Bits
The table below lists the ALLOW bits:
Language object
Name
Description
%Qr.m.c.18
ALLOW_ACQUIRE
Falling edge: frees the controlled axes. The AXIS_IN_COMMAND MovementStatus bit is set to 0 when the axes are freed.
Inhibit action (status 0): prevents acquisition of controlled axes by this MovementGroup.
Associated CONTROL bit: CONTROL_ACQUIRE
%Qr.m.c.26
ALLOW_ENABLE
Falling edge: deactivates the controlled axes. The DRIVE_DISABLED (MovementStatus) bit is set to 1 when the axes are deactivated.
Inhibit action (status 0): prevents activation of the MovementGroup.
Associated CONTROL bit: CONTROL_ENABLE
%Qr.m.c.27
ALLOW_FOLLOW
Falling edge: inhibits following for a SlaveGroup or a member of such a group. The AXIS_IS_LINKED (MovementStatus) bit is set to 0 when following is inactive.
Inhibit action (status 0): inhibits following activation.
Associated CONTROL bit: CONTROL_FOLLOW
%Qr.m.c.28
ALLOW_RESUME
Falling edge: sends a hold command to the controlled axes. The AXIS_HOLD MovementStatus bit is set to 1 when the movement profile is paused at zero speed.
Inhibit action (status 0): disallows resuming. Hold state remains whenever axes are activated.
Associated CONTROL bit: CONTROL_RESUME
%Qr.m.c.29
ALLOW_MOVE
Falling edge: issues a halt command. The AXIS_HALT MovementStatus bit is set when the halt process starts.
Inhibit action (0): inhibits movement commands. Halt state remains whenever axes are activated.
%Qr.m.c.30
ALLOW_NOT_ FASTSTOP
Falling edge: sends a FastStop command to the controlled axes. The AXIS_FASTSTOP MovementStatus bit is set to 1.
Inhibit action (status 0): Inhibits movements and remains in FastStop state when the axes are activated.
Rising edge: cancels FastStop if the axes are supplied. The AXIS_FASTSTOP MovementStatus bit is set to 0.
%Qr.m.c.31
ALLOW_NOT_FLT
Falling edge: triggers a user error. The AXIS_SUMMARY_FLT MovementStatus bit is set to 1.
Inhibit action (status 0): imposes user error.