Sequence of commands

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:

The sequence of commands described in the cell is not supported. The new command will be rejected.
All commands in progress will be aborted, the axis will be stopped and an error notification will be reported in the CMD_SEQ_INV status object (%MWr.m.c.3.3).

Accept:

The sequence of commands described in the cell is supported.
The new command is accepted. Its execution starts either immediately, or after the completion of current command, depending upon the set buffer mode.

The BufferMode command parameter is used to determine how a sequence of commands will be executed:

Abort: the new command aborts the current command.
Buffered: the new command is executed after the current command is completed.
BlendingPrevious: the two commands are merged at the target velocity of the first command.

For each buffer mode, the behavior is detailed in MoveRelative description.