"MoveImmed" Function with ABS_MOVE_NO

Objective

This command is used for a sequence deactivation of a member axis of a set of slave axes, then execution (without jolts or halts) of a motion.

It allows an independent axis configured with modulo to reach an absolute position superior than the positive limit of the modulo.

Example: Case of an axis configured with modulos of 360 degrees

Target position: 1200 degrees

Result: The final position at the end of the movement will be:

(Target Position - Number of Modulos)

1200 - 3 x 360 = 120 degrees

Features

This command is based on the current "MoveImmed" command (opcode 513).

This command concerns real axes or imaginary axes that form part of a slave group configured in ratio, setpoint following and BIAS_REMAIN. The axes must be linked.

Initial condition:

the master is a real or imaginary axis,
the speed of the master is taken to be constant between deactivation of the sequence and the following 4 SERCOS cycles,

When a motion of this type is in progress, the status bit "RESUMING" is set to 1. The bit is set to 0 by the system after motion completion.

Object	Type	Symbol	Values	Comment
%MWr.m.c.19	Word	ERROR_CMD		Error Code*
%MDr.m.c.20	Double word	RETURN_CMD_1		not used
%MFr.m.c.22	Floating point	RETURN_CMD_2		not used
%MFr.m.c.24	Floating point	RETURN_CMD_3		not used
%MWr.m.c.26	Word	ACTION_CMD	513	MoveImmed
%MDr.m.c.27	Double word	PARAM_CMD_1	20	Type
%MDr.m.c.29	Double word	PARAM_CMD_2	Acceleration / deceleration coefficient	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.31	Floating point	PARAM_CMD_3	Target position
%MFr.m.c.33	Floating point	PARAM_CMD_4	Target speed

*Command rejection:

all cases of "MoveImmed" command rejection,
the axis must be linked (CMD_NOT_ALLOWED: command rejection = 50),
no motion sequencing function allowed when sequence deactivation already in progress (CMD_NOT_ALLOWED: command rejection = 50).

Case of command abort for bit7 MW_MERGE_UNLINK:

certain conditions are vital and must be respected for the command to be executed.

If one of these conditions is false, the command is abandoned:

slave set-up in ratio, setpoint following, BIAS_REMAIN mode,
the status of the axis must be: AXIS_READY = 1,
the group’s master axis must not be remote,
there must be no additional motion on the axis and no pause in progress (AXIS_HOLD = 0 and HOLDING = 0).

Notes

Case of a slave with active modulo and direction motion type imposed (20):

if the axis is stopped, the motion will be "at most" one rotation,
if the axis is previously in motion:
- distance to be traveled and deceleration incline permitting, the axis will be able to switch to the requested target speed before stopping,
- otherwise, the module will calculate the minimum number of revolutions to perform in order to stop at the absolute requested position (respecting the deceleration incline).