The motion control functions are used to carry out the following functions, for a given MotionSet (Real axis, Imaginary axis, Remote Axis, Group of slave axes, Network or Group of coordinated axes):
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Reset the fault statuses for a MotionSet (ClearFault),
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Enable or disable a MotionSet (EnableDrive and DisableDrive),
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Stop a MotionSet (FastStop and Halt), immediately or not.
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Hold or resume a MotionSet (Hold and resume),
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Reset a movement axis to Home (Home),
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Move the motion axis away from homing point (see Forcedhome). Unhome
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Release and acquire isolated axes which are part of a Slave axis group or a Coordinated axis group (Release and Acquire),
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Enable or disable a slave axis group (FollowOn and FollowOff),
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Acquire and enable or release and disable slave axes in a FollowOn group (Link and UnLink),
The functions that carry out these operations send a motion control then return to the application server, sometimes before the command has been completed.
The application server has to monitor the MotionGroup status to determine whether command execution is complete.
The application server monitors the status bit (%I) for the axis to check the motion status.
Many commands are also sent via motion control bits.
Some motion commands require an ALLOW bit in their configuration before they can be correctly executed.
The ALLOW bits are set to 1 by default on resetting the module, (with the exception of the ALLOW_ENABLE bit for the Network channel), so that all the corresponding motion commands can be authorized.
