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
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
|
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 |
|
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 |
|
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
