ACTION#.TASK

Description

ACTION#.TASK defines the drive function to execute. Some tasks will execute a drive function when the input condition becomes true. Other tasks will execute every cycle and use the condition or source to set a drive value.

Value Description Signal Type
0 No task N/A
1 Digital Output from Source, Continuous Digital
2 Set Digital Output, Edge-triggered Digital
3 Clear Digital Output, Edge-triggered Digital
5 Motion Task, Edge-triggered Digital
6 Home Task, Edge-triggered. Homes based on the saved parameters on the drive Digital
7 Stop, Edge-triggered Digital
8 Start Jog, Edge-triggered Digital
9 Controlled Stop, then disable with re-enable. Drive disables but SW disable bit is not set. If an active Task is disabled (or deactivated) CS bit is cleared and the drive is enabled. Digital
10

Controlled Stop, then disable. Drive disables and SW disable bit is set. If an active Task is disabled (or deactivated) CS bit is cleared but the SW bit remains set and the drive remains disabled.

Digital
11 Controlled Stop, and stay enabled. While this action is active then bit 1 in AXIS#.MOTIONDISSOURCES will be set. Drive remains enabled while motion stops. CS bit is not set. Digital
12

Clear Faults, Edge-triggered

In addition to clearing the fault, this action sets the software enable to prevent the axis from immediately enabling.

See action task 28 to avoid the software enable set.

ACTION#.TASKID selects which axis the faults will be cleared on, zero will clear the faults on both axes.

Digital
13 Enable Axis, Edge-triggered Digital
15

Set Analog Output, Continuous

The value generated by the Action is offset by 5V.

Analog
16 Disable Axis, Edge-triggered Digital
18 Activate Gearing, Edge-triggered Digital
19 Add Gearing Position, Edge-triggered Digital
20 Set Motion Task Feedrate Digital
21 Digital DIO From Source, Continuous Digital
22 Set Digital DIO, Edge-triggered Digital
23 Clear Digital DIO, Edge-triggered Digital
24 Fault Axis. When triggered, the selected axis will fault with F3006 (Action table fault) Digital
25 Release brake on axis. While this action is active, the brake will be released on axis. Digital
26 Command Buffer. Executes up to eight user defined commands. See Command Buffer for more details. Digital
27 Set the Command Source and Op-Mode depending on value in the task parameter, Edge-triggered. Digital
28

Clear Faults Software Enable Unchanged, Edge-triggered

This action clears any faults on the axis and will not set the software enable. The axis immediately enables after the fault is cleared when using this action task. When using the AKD2G drive with wired digital inputs,it is convenient to clear faults and not have the drive set the software enable automatically.

See action task 12 for the software enable set when faults are cleared.

ACTION#.TASKID selects which axis the faults will be cleared on, zero clears the faults on both axes.

Digital
29

Motion Task Select Bit, Continuous
This task is used to select the motion task id for action task 30 (Motion Task Start Selected) to run. For example:

 

IF

ACTION1.TASK = 29 (Motion Task Select Bit), ACTION1.SOURCE = 2 (DIN), ACTION1.SOURCEID = 2, ACTION1.TASKID = 1 (Axis 1), and ACTION1.TASKPARAM = 2 (MT Select Bit)

 

AND

 

ACTION2.TASK = 29 (Motion Task Select Bit), ACTION2.SOURCE = 2 (DIN), ACTION2.SOURCEID = 3, ACTION2.TASKID = 1 (Axis 1), and ACTION2.TASKPARAM =3 (MT Select Bit)

 

THEN


 

AXIS#.MT.ACTIONSELECTED will be set to 12 when both DIN 2 and 3 are high.

Digital
30 Motion Task Start Selected, Edge-triggered
This task runs the motion task selected by task 29 (Motion Task Select Bit). AXIS#.MT.ACTIONSELECTED holds the current MT index that will run.
A rising edge starts the motion task. A falling edge has no effect.
Digital
31 Set User Variable Bits, Continuous
This task continuously sets or clears bits in a user variable (USER.INT#) based upon the selected condition. ACTION#.TASKID denotes the user int variable to set and ACTION#.TASKPARAM specifies the bitmask used to set or clear bits.
Digital

 


  • If a task is configured for Axis 2 and Axis 2 is in Gantry mode (CMDSOURCE = GANTRY), the task will be put into a state of conflict, and the action will not be able to activate. If the task was previously active, it will be de-activated.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 23

Default Value

0 (no source)

Data Type

Integer

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

ACTION1.TASK

3907h

01h

Unsigned8

-

-

Read/Write

No

ACTION2.TASK

3907h

02h

Unsigned8

-

-

Read/Write

No

ACTION3.TASK

3907h

03h

Unsigned8

-

-

Read/Write

No

ACTION4.TASK

3907h

04h

Unsigned8

-

-

Read/Write

No

ACTION5.TASK

3907h

05h

Unsigned8

-

-

Read/Write

No

ACTION6.TASK

3907h

06h

Unsigned8

-

-

Read/Write

No

ACTION7.TASK

3907h

07h

Unsigned8

-

-

Read/Write

No

ACTION8.TASK

3907h

08h

Unsigned8

-

-

Read/Write

No

ACTION9.TASK

3907h

09h

Unsigned8

-

-

Read/Write

No

ACTION10.TASK

3907h

0ah

Unsigned8

-

-

Read/Write

No

ACTION11.TASK

3907h

0bh

Unsigned8

-

-

Read/Write

No

ACTION12.TASK

3907h

0ch

Unsigned8

-

-

Read/Write

No

ACTION13.TASK

3907h

0dh

Unsigned8

-

-

Read/Write

No

ACTION14.TASK

3907h

0eh

Unsigned8

-

-

Read/Write

No

ACTION15.TASK

3907h

0fh

Unsigned8

-

-

Read/Write

No

ACTION16.TASK

3907h

10h

Unsigned8

-

-

Read/Write

No

ACTION17.TASK

3907h

11h

Unsigned8

-

-

Read/Write

No

ACTION18.TASK

3907h

12h

Unsigned8

-

-

Read/Write

No

ACTION19.TASK

3907h

13h

Unsigned8

-

-

Read/Write

No

ACTION20.TASK

3907h

14h

Unsigned8

-

-

Read/Write

No

ACTION21.TASK

3907h

15h

Unsigned8

-

-

Read/Write

No

ACTION22.TASK

3907h

16h

Unsigned8

-

-

Read/Write

No

ACTION23.TASK

3907h

17h

Unsigned8

-

-

Read/Write

No

ACTION24.TASK

3907h

18h

Unsigned8

-

-

Read/Write

No

ACTION25.TASK

3907h

19h

Unsigned8

-

-

Read/Write

No

ACTION26.TASK

3907h

1ah

Unsigned8

-

-

Read/Write

No

ACTION27.TASK

3907h

1bh

Unsigned8

-

-

Read/Write

No

ACTION28.TASK

3907h

1ch

Unsigned8

-

-

Read/Write

No

ACTION29.TASK

3907h

1dh

Unsigned8

-

-

Read/Write

No

ACTION30.TASK

3907h

1eh

Unsigned8

-

-

Read/Write

No

ACTION31.TASK

3907h

1fh

Unsigned8

-

-

Read/Write

No

ACTION32.TASK

3907h

20h

Unsigned8

-

-

Read/Write

No

EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

40800

1

40800 (0x9f60)

ACTION1.TASK

Unsigned8

Read/Write

Yes

40801

1

40801 (0x9f61)

ACTION2.TASK

Unsigned8

Read/Write

Yes

40802

1

40802 (0x9f62)

ACTION3.TASK

Unsigned8

Read/Write

Yes

40803

1

40803 (0x9f63)

ACTION4.TASK

Unsigned8

Read/Write

Yes

40804

1

40804 (0x9f64)

ACTION5.TASK

Unsigned8

Read/Write

Yes

40805

1

40805 (0x9f65)

ACTION6.TASK

Unsigned8

Read/Write

Yes

40806

1

40806 (0x9f66)

ACTION7.TASK

Unsigned8

Read/Write

Yes

40807

1

40807 (0x9f67)

ACTION8.TASK

Unsigned8

Read/Write

Yes

40808

1

40808 (0x9f68)

ACTION9.TASK

Unsigned8

Read/Write

Yes

40809

1

40809 (0x9f69)

ACTION10.TASK

Unsigned8

Read/Write

Yes

40810

1

40810 (0x9f6a)

ACTION11.TASK

Unsigned8

Read/Write

Yes

40811

1

40811 (0x9f6b)

ACTION12.TASK

Unsigned8

Read/Write

Yes

40812

1

40812 (0x9f6c)

ACTION13.TASK

Unsigned8

Read/Write

Yes

40813

1

40813 (0x9f6d)

ACTION14.TASK

Unsigned8

Read/Write

Yes

40814

1

40814 (0x9f6e)

ACTION15.TASK

Unsigned8

Read/Write

Yes

40815

1

40815 (0x9f6f)

ACTION16.TASK

Unsigned8

Read/Write

Yes

40816

1

40816 (0x9f70)

ACTION17.TASK

Unsigned8

Read/Write

Yes

40817

1

40817 (0x9f71)

ACTION18.TASK

Unsigned8

Read/Write

Yes

40818

1

40818 (0x9f72)

ACTION19.TASK

Unsigned8

Read/Write

Yes

40819

1

40819 (0x9f73)

ACTION20.TASK

Unsigned8

Read/Write

Yes

40820

1

40820 (0x9f74)

ACTION21.TASK

Unsigned8

Read/Write

Yes

40821

1

40821 (0x9f75)

ACTION22.TASK

Unsigned8

Read/Write

Yes

40822

1

40822 (0x9f76)

ACTION23.TASK

Unsigned8

Read/Write

Yes

40823

1

40823 (0x9f77)

ACTION24.TASK

Unsigned8

Read/Write

Yes

40824

1

40824 (0x9f78)

ACTION25.TASK

Unsigned8

Read/Write

Yes

40825

1

40825 (0x9f79)

ACTION26.TASK

Unsigned8

Read/Write

Yes

40826

1

40826 (0x9f7a)

ACTION27.TASK

Unsigned8

Read/Write

Yes

40827

1

40827 (0x9f7b)

ACTION28.TASK

Unsigned8

Read/Write

Yes

40828

1

40828 (0x9f7c)

ACTION29.TASK

Unsigned8

Read/Write

Yes

40829

1

40829 (0x9f7d)

ACTION30.TASK

Unsigned8

Read/Write

Yes

40830

1

40830 (0x9f7e)

ACTION31.TASK

Unsigned8

Read/Write

Yes

40831

1

40831 (0x9f7f)

ACTION32.TASK

Unsigned8

Read/Write

Yes

PROFINET

Parameter

PNU

Data Type

Access

Units

ACTION1.TASK

40800

Unsigned8

Read/Write

-

ACTION2.TASK

40801

Unsigned8

Read/Write

-

ACTION3.TASK

40802

Unsigned8

Read/Write

-

ACTION4.TASK

40803

Unsigned8

Read/Write

-

ACTION5.TASK

40804

Unsigned8

Read/Write

-

ACTION6.TASK

40805

Unsigned8

Read/Write

-

ACTION7.TASK

40806

Unsigned8

Read/Write

-

ACTION8.TASK

40807

Unsigned8

Read/Write

-

ACTION9.TASK

40808

Unsigned8

Read/Write

-

ACTION10.TASK

40809

Unsigned8

Read/Write

-

ACTION11.TASK

40810

Unsigned8

Read/Write

-

ACTION12.TASK

40811

Unsigned8

Read/Write

-

ACTION13.TASK

40812

Unsigned8

Read/Write

-

ACTION14.TASK

40813

Unsigned8

Read/Write

-

ACTION15.TASK

40814

Unsigned8

Read/Write

-

ACTION16.TASK

40815

Unsigned8

Read/Write

-

ACTION17.TASK

40816

Unsigned8

Read/Write

-

ACTION18.TASK

40817

Unsigned8

Read/Write

-

ACTION19.TASK

40818

Unsigned8

Read/Write

-

ACTION20.TASK

40819

Unsigned8

Read/Write

-

ACTION21.TASK

40820

Unsigned8

Read/Write

-

ACTION22.TASK

40821

Unsigned8

Read/Write

-

ACTION23.TASK

40822

Unsigned8

Read/Write

-

ACTION24.TASK

40823

Unsigned8

Read/Write

-

ACTION25.TASK

40824

Unsigned8

Read/Write

-

ACTION26.TASK

40825

Unsigned8

Read/Write

-

ACTION27.TASK

40826

Unsigned8

Read/Write

-

ACTION28.TASK

40827

Unsigned8

Read/Write

-

ACTION29.TASK

40828

Unsigned8

Read/Write

-

ACTION30.TASK

40829

Unsigned8

Read/Write

-

ACTION31.TASK

40830

Unsigned8

Read/Write

-

ACTION32.TASK

40831

Unsigned8

Read/Write

-

See Also

Actions View Reference Table, Command Buffer