MoveQueue Function

Description

This function causes the specified axis to move towards a given position at the specified speed.

This function is appended to any moves currently executing or waiting to execute. The MoveQueue is blended into the current trajectory without stopping at the end of the previously executed motion control. A maximum of 32 movements can be queued.

All entries in the queue are deleted when a MoveImmed, Halt or FastStop function is executed, or when an AXIS_SUMMARY_FAULT or DRIVE_FAULT occurs.

A MoveQueue function can be:

Incremental: The movement occurs relative to the last queued target position.
Absolute: the absolute movement causes the axis to move to an absolute position.
Continuous: the axis moves toward the maximum or minimum position. The minimum or maximum position is used as the target position of the movement function.

WARNING

UNEXPECTED APPLICATION BEHAVIOR - MOVEQUEUE FUNCTION BEHAVIOR

A MoveQueue issued after a continuous move will never be executed. The continuous movement will fault when a position limit is reached, and the queued moves will be erased.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Associated Language Objects

Exchange via WRITE_CMD:The table below presents the different language objects linked to this function.

Object	Name	Function code	Description
%MWr.m.c.26	ACTION_CMD	520	Command
%MDr.m.c.27	PARAM_CMD_1	-	Movement Type (1)
%MDr.m.c.29	PARAM_CMD_2	-	Coefficient applied to the acceleration and deceleration configured, shown for one thousand (1 ≤ x ≤10000). see opcode 2172, real axis or imaginary axis.
%MFr.m.c.A (3)	PARAM_CMD_ B (3)	-	Target position of axis N (2)
%MFr.m.c.C (4)	PARAM_CMD_D (4)	-	Approach speed to target of N’ axis (5)
%MWr.m.c.19	ERROR_CMD	-	Error report. See WRITE_CMD Command: Programming Errors.

Legend
(1): INCR_MOVE, ABS_MOVE, ABS_MOVE_POS, ABS_MOVE_NEG, ABS_MOVE_NO_ROLLOVER or CONT_MOVE
(2): N= 1 for an independent axis, N includes between 2 and 8 for a group of coordinated axes.
(3): A = [31+2(N-1)], B = [3+(N-1)]
(4): C = [31+2(N+N’-1)], D = [3+(N+N’-1)
(5): N’ = Position of the axis in the group

Example of Parameters for a Group of Coordinated Axes

For a movement with 2 member axes:

PARAM_CMD_1 (%MDr.m.c.27) = Movement type
PARAM_CMD_3 (%MFr.m.c.31) = Position of axis 1
PARAM_CMD_4 (%MFr.m.c.33) = Position of axis 2
PARAM_CMD_5 (%MFr.m.c.35) = Approach speed of axis 1
PARAM_CMD_6 (%MFr.m.c.37) = Approach speed of axis 2