Sequence stop (Unlink) of the slave group set off by a trigger

Objective

Sequence stop of an axis forming part of a slave group on position activation.

"SetTriggerUnlink" Function

This command concerns:

Real or imaginary axes configured with or without Modulo and linked.

This command is performed by the "SetTriggerUnlink" command based on the "Write_cmd":

Object	Type	Symbol	Explanation	Comment
%MWr.m.c.19	Word	ERROR_CMD		Error code*
%MDr.m.c.20	Double word	RETURN_CMD_1
%MFr.m.c.22	Floating point	RETURN_CMD_2
%MFr.m.c.24	Floating point	RETURN_CMD_3
%MWr.m.c.26	Word	ACTION_CMD	2180	SetTriggerUnlink
%MDr.m.c.27	Double word	PARAM_CMD_1	Slave number
%MDr.m.c.29	Double word	PARAM_CMD_2	Trigger type	Zero (0), ** > (1), < (2), ≥ (3), ≤ (4).
%MFr.m.c.31	Floating point	PARAM_CMD_3	Trigger position
%MFr.m.c.33	Floating point	PARAM_CMD_4	0

On reception of the command, the axis (part of a linked group) automatically makes the Unlink as soon as the trigger condition becomes true.

** Trigger type:

0 = immediate sequence deactivation,
1 = sequence deactivation when the master position exceeds the threshold in the positive direction,
2 = sequence deactivation when the master position exceeds the threshold in the negative direction,
3 = sequence deactivation when the master position is greater than or equal to the threshold,
4 = sequence deactivation when the master position is less than or equal to the threshold.

* Error code: the command is rejected if:

Reading the Last Position Trigger Assigned by the SetTriggerUnlink Command

The "GetTriggerUnlinkPosition" command is used to read the last position trigger assigned by a previous "SetTriggerUnlink":

Object	Type	Symbol	Explanation	Comment
%MWr.m.c.19	Word	ERROR_CMD		Error code*
%MDr.m.c.20	Double word	RETURN_CMD_1
%MFr.m.c.22	Floating point	RETURN_CMD_2	Trigger position
%MFr.m.c.24	Floating point	RETURN_CMD_3
%MWr.m.c.26	Word	ACTION_CMD	1180	GetTriggerUnlinkPosition
%MDr.m.c.27	Double word	PARAM_CMD_1	Slave number
%MDr.m.c.29	Double word	PARAM_CMD_2
%MFr.m.c.31	Floating point	PARAM_CMD_3
%MFr.m.c.33	Floating point	PARAM_CMD_4

* Error code: command rejected if the slave number is invalid.

Reading the Last Trigger Type Assigned by the SetTriggerUnlink Command

The "GetTriggerUnlinkType" command is used to read the last trigger type assigned by a previous "SetTriggerUnlink":

Object	Type	Symbol	Explanation	Comment
%MWr.m.c.19	Word	ERROR_CMD		Error code*
%MDr.m.c.20	Double word	RETURN_CMD_1	Trigger type	Zero (0), > (1), < (2), ≥ (3), ≤ (4).
%MFr.m.c.22	Floating point	RETURN_CMD_2
%MFr.m.c.24	Floating point	RETURN_CMD_3
%MWr.m.c.26	Word	ACTION_CMD	1181	GetTriggerUnlinkType
%MDr.m.c.27	Double word	PARAM_CMD_1	Slave number
%MDr.m.c.29	Double word	PARAM_CMD_2
%MFr.m.c.31	Floating point	PARAM_CMD_3
%MFr.m.c.33	Floating point	PARAM_CMD_4

* Error code: command rejected if the slave number is invalid.