ACTION#.SOURCE

Description

This keyword defines the input source for an action.

Value Name Description Signal Type
0 No source Default value of no specified source N?A
1 Mains ready This digital source goes high when the bus voltage is available to the drive. It does not take any ID or parameters. Digital
2 Digital Input This digital source corresponds to a DIN. It takes an ID. Digital
3 Digital DIO (Bidirectional) This digital source corresponds to DIO. It takes an ID. Digital
4 Velocity Feedback This analog source holds the value of AXIS#.VL.FB . It takes an axis ID. Analog
5 Axis Faulted This digital source goes high when a fault exists on an axis. It takes an axis ID. Digital
6 Home Complete This digital source is high when a Home operation is completed on an axis. It takes an axis ID. Digital
7 Motion Task in Position This digital source is high when on an axis specified by the axis ID, a MotionTask specified by Source Parameter, has reached its position. It takes both ID and parameter. Digital
8 Controlled Stop Active This digital source is high when a Controlled Stop is active on an axis. It takes an axis ID. Digital
9 Software Limit This digital source is high when a software limit on an axis is reached. It takes an axis ID. Digital
10 MT Not Running This digital source is high if, on the axis specified by the source ID, either the Motion Task specified by the source parameter has stopped running (i.e. AXIS#.MT.RUNNING for that task went from 1 to 0) or, if the source parameter is set to -1, all Motion Tasks have stopped running (i.e. AXIS#.MT.RUNNINGTASK went from any other value to -1). This source does not check whether the actual position has reached the Motion Task’s target position. Digital
11 Position Error, Absolute This analog source holds the value of AXIS#.PL.ERR . It takes an axis ID. Analog
12 Axis Enabled This digital source holds the value of AXIS#.ACTIVE . It takes an axis ID. Digital
13 Analog Input This analog source holds the value of AIN#.VALUE. It takes as Source ID, the ID of AIN. Analog
14 Current Command This analog source holds the value of AXIS#.IL.CMD . It takes an axis ID. Analog
15 Velocity Error This analog source holds the value of AXIS#.VL.ERR . It takes an axis ID. Analog
16 Velocity Command This analog source holds the value of AXIS#.VL.CMD. It takes an axis ID. Analog
17 Position Feedback This analog source holds the value AXIS#.PL.FB . It takes an axis ID. Analog
18 Axis Disable Immediately This digital source goes High if the axis disables when a fault is generated with a fault reaction of either “Disable power stage” or “Dynamic braking”. Refer to the Reaction column in Faults and Warning Messages for more information. Digital
19 Brake State This digital source holds the value of BRAKE#.STATE. It takes a Brake ID. Digital
20 Ready to Operate (RTO/BTB) This digital source goes High when the drive/axis is ready to operate, i.e., the power stage is ready and there are no axis faults. It can default to an ID of 0 for the entire drive or take an axis ID. Digital
21 Compare Digital Inputs This bit-mapped source shows the value of all the DINs and DIOs compared with a mask which is settable with UI. Digital
22 Feedback Fault This source holds the value of FB#.FAULTBITS. It takes a Feedback ID. Digital
23 User Variable This source holds the value of USER.INT#. It takes an ID. Analog
24 Action Row Running This digital source indicates if an Action Row is running, i.e. if the task is being executed (see ACTION.RUNNING). It takes an Action Row ID. Digital
25 Current Feedback This analog source holds the value of AXIS#.IL.FB . It takes an axis ID. Analog
26 Recordable Parameter This allows an action to be triggered by using any Recordable Parameter. When selected, the Source Text window now accepts an array parameter keyword and index. 26 – Recordable Parameter Analog
27 Drive Initialized This digital source goes high when the drive has finished initialization after booting. Digital
28 Move Complete This digital source is high if, on the axis specified by the source ID, either the motion task specified by the source parameter has stopped running (i.e. AXIS#.MT.RUNNING for that task went from 1 to 0) and the actual position is within AXIS#.SETTLE.P around the motion task’s target position or, if the source parameter is set to -1, all motion tasks have stopped running (i.e. AXIS#.MT.RUNNINGTASK went from any other value to -1) and the actual position is within AXIS#.SETTLE.P around the last motion task’s target position. It will only go low when the motion task is started again, not if the actual position is no longer within AXIS#.SETTLE.P around the target position. Digital
29 Ready To Enable This digital source goes High when the drive/axis is ready to enable and all disable sources are off (except software enable), i.e., the power stage is ready and there are no axis faults. It can default to an ID of 0 for the entire drive or take an axis ID. Digital
200 Safe Input This digital source holds the value of a SIN (Safety Digital Input). It takes the SIN ID. Digital
201 Safe Dual Input This digital source holds the value of a DUAL (Dual Safety Digital Input). It takes the SIN DUAL ID. Digital
202 Safe Output This digital source holds the value of a SOUT (Safety Digital Output). It takes the SOUT ID. Digital
203 Safe Dual Output This digital source holds the value of a SOUT DUAL (Dual Safety Digital Output). It takes the SOUT DUAL ID. Digital
204 STO Active This digital source holds the value of STO Active. It takes an Axis ID. Digital
205 SS1 Active This digital source holds the value of SS1 Active. It takes an Axis ID and an Instance ID. Digital
206 SS2 Active This digital source holds the value of SS2 Active. It takes an Axis ID and an Instance ID. Digital
207 SOS Active This digital source holds the value of SOS Active. It takes an Axis ID and an Instance ID. Digital
208 SBC Active This digital source holds the value of SBC Active. It takes an Axis ID. Digital
209 SLS Active This digital source holds the value of SLS Active. It takes an Axis ID and an Instance ID. Digital
210 SSM in Range This digital source holds the value of SSM in Range. It takes an Axis ID and an Instance ID. Digital
211 SSR Active This digital source holds the value of SSR Active. It takes an Axis ID and an Instance ID. Digital
212 SDIn in Motion This digital source holds the value of SDIn in Motion. It takes an Axis ID. Digital
213 SDIp in Motion This digital source holds the value of SDIp in Motion. It takes an Axis ID. Digital
214 SLA Active This digital source holds the value of SLA Active. It takes an Axis ID. Digital
215 SAR Active This digital source holds the value of SAR Active. It takes an Axis ID and an Instance ID. Digital
216 SLI Active This digital source holds the value of SLI Active. It takes an Axis ID and an Instance ID. Digital
217 SLP Active This digital source holds the value of SLP Active. It takes an Axis ID and an Instance ID. Digital
218 SCA in Range This digital source holds the value of SCA in Range. It takes an Axis ID and an Instance ID. Digital

21 - Compare Digital Outputs

Some actions need to be triggered based on the state of multiple digital inputs. For such cases, the Compare Digital Inputs action source provides a mechanism for specifying a combination of digital input values.

A 32-bit word containing the states of all DIN pins (DIN.STATES) and bidirectional digital IO pins (DIO.STATES) is updated prior to running the action table rows. DINs are assigned bits 0-19, and DIOs are assigned bits 20-31.

To set up an action to run based on a digital input combination, set ACTION#.SOURCE to 21 (Compare Digital Inputs). ACTION#.SOURCEID is unused, and ACTION#.SOURCEPARAM defines a mask corresponding to the pins you wish to check. For example, to check DIN2, DIN5, and DIO3, set ACTION#.SOURCEPARAM to 4194322 (0x00400012).

Set ACTION#.CONDITIONVALUE to the specific value of the digital input combination you want to match. Continuing the example, to match the combination DIN2 = 1, DIN5 = 0, and DIO3 = 1, set ACTION#.CONDITIONVALUE to 4194306 (0x00400002).

When ACTION#.CONDITION is 2 (Follows) the comparison is continuously true if the digital input match is successful. When ACTION#.CONDITION is 1 (Inverts) the comparison is true if one or more of the digital inputs does not match its specified value. When ACTION#.CONDITION is 5 (Rising Edge) the comparison triggers the action task on the first sample where the digital input matches. When ACTION#.CONDITION is 6 (Falling Edge) the comparison triggers the task on the first sample where one or more digital inputs fails to match.

26 – Recordable Parameter

This Action Table Source allows the trigger of an action by using any Recordable Parameter (i.e., recordable values in the scope).

Once the source is set to Recordable Parameter, enter the recordable value into ACTION#.SOURCETEXT. The drive returns an error if an invalid recordable parameter is entered.

After the Recordable Parameter is accepted by the drive, the ACTION#.CONDITIONVALUE updates with appropriate unit conversion as well as the correct Unit label.

How to Set Up the Recordable Value Source

  1. Set an action source to Recordable Parameter (ACTION#.SOURCE) = 26
  2. Enter a recordable parameter in corresponding ACTION#.SOURCETEXT.
  3. Configure the ACTION#.CONDITION and ACTION#.CONDITIONVALUE
  4. Activate the action.

Recordable Parameter Value Source Example

  1. Set ACTION#.SOURCE to 26 in the terminal, or the Source field to "26 - Recordable Parameter" within the Actions pane.

  2. Set MW.USERBUFFER to 15 in the terminal, or the Source Text field to MW.USERBUFFER as the parameter keyword along with 15 as the index within the Actions pane.

  3. Set ACTION#.CONDITION to 12 and ACTION#.CONDITIONVALUE to 6.50 in the terminal, or set the Condition field to "12 - Belcomes Equal To" and the Cond. Value field to 6.50 within the Actions pane (Also done with "MW.USERBUFFER 15 6.50" in terminal).

  4. Once activated, the action will be triggered when the value of MW.USERBUFFER 15 becomes equal to 6.50.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

0 to 28 and 200 to 218

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.SOURCE

3904h

01h

Unsigned8

-

-

Read/Write

No

ACTION2.SOURCE

3904h

02h

Unsigned8

-

-

Read/Write

No

ACTION3.SOURCE

3904h

03h

Unsigned8

-

-

Read/Write

No

ACTION4.SOURCE

3904h

04h

Unsigned8

-

-

Read/Write

No

ACTION5.SOURCE

3904h

05h

Unsigned8

-

-

Read/Write

No

ACTION6.SOURCE

3904h

06h

Unsigned8

-

-

Read/Write

No

ACTION7.SOURCE

3904h

07h

Unsigned8

-

-

Read/Write

No

ACTION8.SOURCE

3904h

08h

Unsigned8

-

-

Read/Write

No

ACTION9.SOURCE

3904h

09h

Unsigned8

-

-

Read/Write

No

ACTION10.SOURCE

3904h

0ah

Unsigned8

-

-

Read/Write

No

ACTION11.SOURCE

3904h

0bh

Unsigned8

-

-

Read/Write

No

ACTION12.SOURCE

3904h

0ch

Unsigned8

-

-

Read/Write

No

ACTION13.SOURCE

3904h

0dh

Unsigned8

-

-

Read/Write

No

ACTION14.SOURCE

3904h

0eh

Unsigned8

-

-

Read/Write

No

ACTION15.SOURCE

3904h

0fh

Unsigned8

-

-

Read/Write

No

ACTION16.SOURCE

3904h

10h

Unsigned8

-

-

Read/Write

No

ACTION17.SOURCE

3904h

11h

Unsigned8

-

-

Read/Write

No

ACTION18.SOURCE

3904h

12h

Unsigned8

-

-

Read/Write

No

ACTION19.SOURCE

3904h

13h

Unsigned8

-

-

Read/Write

No

ACTION20.SOURCE

3904h

14h

Unsigned8

-

-

Read/Write

No

ACTION21.SOURCE

3904h

15h

Unsigned8

-

-

Read/Write

No

ACTION22.SOURCE

3904h

16h

Unsigned8

-

-

Read/Write

No

ACTION23.SOURCE

3904h

17h

Unsigned8

-

-

Read/Write

No

ACTION24.SOURCE

3904h

18h

Unsigned8

-

-

Read/Write

No

ACTION25.SOURCE

3904h

19h

Unsigned8

-

-

Read/Write

No

ACTION26.SOURCE

3904h

1ah

Unsigned8

-

-

Read/Write

No

ACTION27.SOURCE

3904h

1bh

Unsigned8

-

-

Read/Write

No

ACTION28.SOURCE

3904h

1ch

Unsigned8

-

-

Read/Write

No

ACTION29.SOURCE

3904h

1dh

Unsigned8

-

-

Read/Write

No

ACTION30.SOURCE

3904h

1eh

Unsigned8

-

-

Read/Write

No

ACTION31.SOURCE

3904h

1fh

Unsigned8

-

-

Read/Write

No

ACTION32.SOURCE

3904h

20h

Unsigned8

-

-

Read/Write

No

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

ACTION1.SOURCE

40500

9E34

Unsigned8

Read/Write

-

ACTION2.SOURCE

40501

9E35

Unsigned8

Read/Write

-

ACTION3.SOURCE

40502

9E36

Unsigned8

Read/Write

-

ACTION4.SOURCE

40503

9E37

Unsigned8

Read/Write

-

ACTION5.SOURCE

40504

9E38

Unsigned8

Read/Write

-

ACTION6.SOURCE

40505

9E39

Unsigned8

Read/Write

-

ACTION7.SOURCE

40506

9E3A

Unsigned8

Read/Write

-

ACTION8.SOURCE

40507

9E3B

Unsigned8

Read/Write

-

ACTION9.SOURCE

40508

9E3C

Unsigned8

Read/Write

-

ACTION10.SOURCE

40509

9E3D

Unsigned8

Read/Write

-

ACTION11.SOURCE

40510

9E3E

Unsigned8

Read/Write

-

ACTION12.SOURCE

40511

9E3F

Unsigned8

Read/Write

-

ACTION13.SOURCE

40512

9E40

Unsigned8

Read/Write

-

ACTION14.SOURCE

40513

9E41

Unsigned8

Read/Write

-

ACTION15.SOURCE

40514

9E42

Unsigned8

Read/Write

-

ACTION16.SOURCE

40515

9E43

Unsigned8

Read/Write

-

ACTION17.SOURCE

40516

9E44

Unsigned8

Read/Write

-

ACTION18.SOURCE

40517

9E45

Unsigned8

Read/Write

-

ACTION19.SOURCE

40518

9E46

Unsigned8

Read/Write

-

ACTION20.SOURCE

40519

9E47

Unsigned8

Read/Write

-

ACTION21.SOURCE

40520

9E48

Unsigned8

Read/Write

-

ACTION22.SOURCE

40521

9E49

Unsigned8

Read/Write

-

ACTION23.SOURCE

40522

9E4A

Unsigned8

Read/Write

-

ACTION24.SOURCE

40523

9E4B

Unsigned8

Read/Write

-

ACTION25.SOURCE

40524

9E4C

Unsigned8

Read/Write

-

ACTION26.SOURCE

40525

9E4D

Unsigned8

Read/Write

-

ACTION27.SOURCE

40526

9E4E

Unsigned8

Read/Write

-

ACTION28.SOURCE

40527

9E4F

Unsigned8

Read/Write

-

ACTION29.SOURCE

40528

9E50

Unsigned8

Read/Write

-

ACTION30.SOURCE

40529

9E51

Unsigned8

Read/Write

-

ACTION31.SOURCE

40530

9E52

Unsigned8

Read/Write

-

ACTION32.SOURCE

40531

9E53

Unsigned8

Read/Write

-

PROFINET

Parameter

PNU

Data Type

Access

Units

ACTION1.SOURCE

40500

Unsigned8

Read/Write

-

ACTION2.SOURCE

40501

Unsigned8

Read/Write

-

ACTION3.SOURCE

40502

Unsigned8

Read/Write

-

ACTION4.SOURCE

40503

Unsigned8

Read/Write

-

ACTION5.SOURCE

40504

Unsigned8

Read/Write

-

ACTION6.SOURCE

40505

Unsigned8

Read/Write

-

ACTION7.SOURCE

40506

Unsigned8

Read/Write

-

ACTION8.SOURCE

40507

Unsigned8

Read/Write

-

ACTION9.SOURCE

40508

Unsigned8

Read/Write

-

ACTION10.SOURCE

40509

Unsigned8

Read/Write

-

ACTION11.SOURCE

40510

Unsigned8

Read/Write

-

ACTION12.SOURCE

40511

Unsigned8

Read/Write

-

ACTION13.SOURCE

40512

Unsigned8

Read/Write

-

ACTION14.SOURCE

40513

Unsigned8

Read/Write

-

ACTION15.SOURCE

40514

Unsigned8

Read/Write

-

ACTION16.SOURCE

40515

Unsigned8

Read/Write

-

ACTION17.SOURCE

40516

Unsigned8

Read/Write

-

ACTION18.SOURCE

40517

Unsigned8

Read/Write

-

ACTION19.SOURCE

40518

Unsigned8

Read/Write

-

ACTION20.SOURCE

40519

Unsigned8

Read/Write

-

ACTION21.SOURCE

40520

Unsigned8

Read/Write

-

ACTION22.SOURCE

40521

Unsigned8

Read/Write

-

ACTION23.SOURCE

40522

Unsigned8

Read/Write

-

ACTION24.SOURCE

40523

Unsigned8

Read/Write

-

ACTION25.SOURCE

40524

Unsigned8

Read/Write

-

ACTION26.SOURCE

40525

Unsigned8

Read/Write

-

ACTION27.SOURCE

40526

Unsigned8

Read/Write

-

ACTION28.SOURCE

40527

Unsigned8

Read/Write

-

ACTION29.SOURCE

40528

Unsigned8

Read/Write

-

ACTION30.SOURCE

40529

Unsigned8

Read/Write

-

ACTION31.SOURCE

40530

Unsigned8

Read/Write

-

ACTION32.SOURCE

40531

Unsigned8

Read/Write

-