"MoveQueue" Function with ABS_MOVE_NO

Objective

This command is used to prepare the motion, which will be executed (without jolts or halts) on deactivation of the sequence for a member axis of a set of slave axes.

This command does not deactivate the sequence of the axis.

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 "MoveQueue" command (opcode 520).

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,

The fact that an additional motion is executed on the slave axis after deactivation of the sequence ("MoveQueue" pending) is sent to the axis by status bit RESUMING. This bit is set to 0 by the system after the motion is executed.

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	520	MoveQueue
%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 existing cases of "MoveQueue" 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 between transmission of the command and activation of Unlink are vital and must be respected for the command to be executed.

If one of these conditions is absent, the motion to sequence 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,
At the time of sequence deactivation, 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).