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
Name	ID	Hex	Data Type	Access	Units
ACTION1.TASK	40800	9F60	Unsigned8	Read/Write	-
ACTION2.TASK	40801	9F61	Unsigned8	Read/Write	-
ACTION3.TASK	40802	9F62	Unsigned8	Read/Write	-
ACTION4.TASK	40803	9F63	Unsigned8	Read/Write	-
ACTION5.TASK	40804	9F64	Unsigned8	Read/Write	-
ACTION6.TASK	40805	9F65	Unsigned8	Read/Write	-
ACTION7.TASK	40806	9F66	Unsigned8	Read/Write	-
ACTION8.TASK	40807	9F67	Unsigned8	Read/Write	-
ACTION9.TASK	40808	9F68	Unsigned8	Read/Write	-
ACTION10.TASK	40809	9F69	Unsigned8	Read/Write	-
ACTION11.TASK	40810	9F6A	Unsigned8	Read/Write	-
ACTION12.TASK	40811	9F6B	Unsigned8	Read/Write	-
ACTION13.TASK	40812	9F6C	Unsigned8	Read/Write	-
ACTION14.TASK	40813	9F6D	Unsigned8	Read/Write	-
ACTION15.TASK	40814	9F6E	Unsigned8	Read/Write	-
ACTION16.TASK	40815	9F6F	Unsigned8	Read/Write	-
ACTION17.TASK	40816	9F70	Unsigned8	Read/Write	-
ACTION18.TASK	40817	9F71	Unsigned8	Read/Write	-
ACTION19.TASK	40818	9F72	Unsigned8	Read/Write	-
ACTION20.TASK	40819	9F73	Unsigned8	Read/Write	-
ACTION21.TASK	40820	9F74	Unsigned8	Read/Write	-
ACTION22.TASK	40821	9F75	Unsigned8	Read/Write	-
ACTION23.TASK	40822	9F76	Unsigned8	Read/Write	-
ACTION24.TASK	40823	9F77	Unsigned8	Read/Write	-
ACTION25.TASK	40824	9F78	Unsigned8	Read/Write	-
ACTION26.TASK	40825	9F79	Unsigned8	Read/Write	-
ACTION27.TASK	40826	9F7A	Unsigned8	Read/Write	-
ACTION28.TASK	40827	9F7B	Unsigned8	Read/Write	-
ACTION29.TASK	40828	9F7C	Unsigned8	Read/Write	-
ACTION30.TASK	40829	9F7D	Unsigned8	Read/Write	-
ACTION31.TASK	40830	9F7E	Unsigned8	Read/Write	-
ACTION32.TASK	40831	9F7F	Unsigned8	Read/Write	-