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

AXIS#.EN

AXIS#.DIS

Enable/disable

1

AXIS#.SM.MOVE

AXIS#.STOP

Start/stop service motion

2

AXIS#.HOME.MOVE

AXIS#.STOP

Start/abort homing

3

AXIS#.JOG.MOVEP

AXIS#.STOP

Jog+

4

AXIS#.JOG.MOVEN

AXIS#.STOP

Jog-

5

AXIS#.GEAR.MOVE

AXIS#.STOP

Start/stop gearing

6

AXIS#.STOP

AXIS#.MT.CONTINUE

Interrupt a motion task

7

AXIS#.MOTOR​.BRAKECONTROL = 1

AXIS#.MOTOR​.BRAKECONTROL = 0

Force brake released

8

AXIS#.MOTOR​.BRAKECONTROL = 2

AXIS#.MOTOR​.BRAKECONTROL = 0

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

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.MOTIONCONTROL

5033

13A9

Unsigned16

Read/Write

-

AXIS2.MOTIONCONTROL

70569

113A

Unsigned16

Read/Write

-
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.MOTIONCONTROL

5033

Unsigned16

Read/Write

-