Command Mechanism
Original instructions
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Overview
There are two ways to send motion commands (other than Stop) from the user application:
PTO Elementary Functions
The PTO EF family contains 6 instructions:
Name
Input CH
Input 1
Input 2
Input 3
unsigned short FrequencyGenerator
ANY_IODDT %CH
DINT Target_Frequency
unsigned short MoveVelocity
ANY_IODDT %CH
DINT Target_Velocity
unsigned short MoveAbsolute
ANY_IODDT %CH
DINT Target_Position
DINT Target_Velocity
BYTE BufferMode
unsigned short MoveRelative
ANY_IODDT %CH
DINT Target_Distance
DINT Target_Velocity
BYTE BufferMode
unsigned short Homing
ANY_IODDT %CH
DINT Position
DINT Velocity
unsigned short SetPosition
ANY_IODDT %CH
DINT Position
Stop Command
There is a specific mechanism to send Stop commands, which uses implicit exchanges.
When the axis needs to be stopped, the specific implicit command object: "Stop Level" (%Qr.m.c.2) must be set to 1.
A Stop command takes precedence over any other motion commands: any command sent while the axis is stopping will be rejected.