Sequence of commands
Original instructions
Motion State Diagram
Any sequence of commands must respect the following state diagram:
Allowed Sequence of Commands
The PTO channel can accept the following sequence of command:
Current Command
No Command
Frequency Generator
Move Velocity
Move Absolute
Move Relative
Homing
Set Position
Next Command
No Command
Reject
Reject
Reject
Reject
Reject
Reject
Reject
Frequency Generator
Accept
Accept
Accept
Accept
Accept
Reject
Reject
MoveVelocity
Accept
Accept
Accept
Accept
Accept
Reject
Reject
MoveAbsolute (Abort)
Accept
Accept
Accept
Accept
Accept
Reject
Reject
MoveAbsolute (Buffered/Blending)
Accept
Reject
Reject
Accept
Accept
Reject
Reject
MoveRelative (Abort)
Accept
Accept
Accept
Accept
Accept
Reject
Reject
MoveRelative (Buffered/Blending)
Accept
Reject
Reject
Accept
Accept
Reject
Reject
Homing
Accept
Reject
Reject
Reject
Reject
Reject
Reject
SetPosition
Accept
Reject
Reject
Reject
Reject
Reject
Reject
Reject:
Accept:
The BufferMode command parameter is used to determine how a sequence of commands will be executed:
For each buffer mode, the behavior is detailed in MoveRelative description.