Accessible Functions for a Group of Co-ordinated Axes

Movement Control Functions

The following table lists the movement control functions:

Function	Code	Feedback	Parameters
Home	6034	None	Parameter 3: Direction Parameter 4: Speed

Movement Functions

The following table lists the movement functions. In the MoveImmed and MoveQueue functions, use n registers (starting at Parameter 3, where n is the number of axes in the co-ordinated group) to specify the positions for all the axes in the co-ordinated group. Then use n additional registers (starting at Parameter n+3) to specify the speeds for all the axes.

Function	Code	Feedback	Parameters
MoveImmed	513	None	Parameter 1: Type Parameter (2 + n): Position Parameter (n + 3) -> (2n + 3): Speed
MoveQueue	520	None	Parameter 1: Type Parameter (2 + n): Position Parameter (n + 3) -> (2n + 3): Speed

Adjustment Functions

The following table lists the adjustment functions:

Function	Code	Feedback	Parameters
GetActualSpeed	5065	Feedback 1: Speed	None
GetDefaultSpeed	1065	Feedback 1: Speed	None
GetSpeedOverride	1513	Feedback 2: Percentage	None
SetDefaultSpeed	2065	None	Parameter 1: Speed
SetSpeedOverride	2513	None	Parameter 3: Percentage

Diagnostic Functions

The following table lists the diagnostic functions:

Function	Code	Feedback	Parameters
GetAxisId	523	Feedback 1: Axis identifier	None
GetCombinedControl	1534	Return 1: Movement control bits	None
GetControl	1525	Return 1: Movement control bits	None
GetMotionFault	5510	Feedback 1: List of faults	None
GetMotionWarning	5511	Return 1: List of warnings	None
GetMoveQueueLength	9510	Feedback 1: Length	None