AXIS#.MOTIONCONTROL
Description
AXIS#.MOTIONCONTROL provides an alternative way to start and stop motion on an axis that is easier to use with HMIs. AXIS#.MOTIONCONTROL is useful for Modbus HMIs but not restricted to use with Modbus.
When using AXIS#.MOTIONCONTROL with Modbus, in most cases AXIS#.CMDSOURCE should be set to Service. The AXIS#.OPMODE will depend on which command is being used (e.g., AXIS#.HOME.MOVE requires Position Operation Mode. For Torque, Velocity, or Position setpoint control and homing, set AXIS#.CMDSOURCE to Service. Other sources are permissible (i.e. electronic gearing) if none of these motion commands are used. Note Fieldbus Command Source is not used with Modbus Mapping.
Each bit controls a different function. The following table provides the actions that are executed on the rising and falling edges of each bit.
Bit | Rising Edge: 0 → 1 | Falling Edge: 1 → 0 | Description |
---|---|---|---|
0 |
Enable/disable |
||
1 |
Start/stop service motion |
||
2 |
Start/abort homing |
||
3 |
Jog+ |
||
4 |
Jog- |
||
5 |
Start/stop gearing |
||
6 |
Interrupt a motion task |
||
7 |
Force brake released |
||
8 |
Force brake applied |
If multiple bits change in the same write then each action is put in a queue and is executed in order of bit 0 to bit 8.
-
- It is recommended not to change more than one bit in each write. For example, writing 3 will try and enable the axis and immediately start the service motion. The enable will succeed but the AXIS#.SM.MOVE will fail because the axis takes some time to enable after AXIS#.EN is completed. In this scenario you should wait for the AXIS#.ACTIVE to be 1 before trying to start the service motion.
Versions
Action | Version | Notes |
---|---|---|
Implemented | 02-05-00-000 |
General Information
Type |
Read Write Parameter |
Units |
None |
Range |
0 to 511 |
Default Value |
0 |
Data Type |
Integer |
See Also | AXIS#.MOTIONSTAT |
Stored in Non-Volatile Memory |
No |
Fieldbus Information
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
---|---|---|---|---|---|---|
5033 |
1 |
5033 (0x13a9) |
AXIS1.MOTIONCONTROL |
Unsigned16 |
Read/Write |
Yes |
70569 |
2 |
5033 (0x13a9) |
AXIS2.MOTIONCONTROL |
Unsigned16 |
Read/Write |
Yes |
Parameter |
PNU |
Data Type |
Access |
Units |
---|---|---|---|---|
AXIS#.MOTIONCONTROL |
5033 |
Unsigned16 |
Read/Write |
- |