| Status |
Indicates whether an action is active, or experiencing an error. |
ACTION#.ACTIVE
ACTION#.ERROR
|
| Run# |
The Run# column displays the run count for each action. |
ACTION#.RUNCOUNT
|
| Task |
An action task defines the drive function to execute when the source's condition is met. Some tasks execute a drive function when the condition becomes true. Other tasks 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 |
| 16 |
Disable Axis, Edge-triggered |
Digital |
| 18 |
Activate Gearing, Edge-triggered |
Digital |
| 19 |
Add Gearing Position, 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 servo 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 |
|
ACTION#.TASK
|
| Task ID |
Some tasks require the Task ID to specify what is acted upon such as setting a DOUT value. |
ACTION#.TASKID
|
| Task Param. |
Some tasks require task parameters to further specify what is acted on. For example, if the task is Motion Task, Edge-triggered the task parameter field appears. Setting this field to 5 specifies the action starts motion task 5 on the selected axis.
|
ACTION#.TASKPARAM
|
| Source |
The action source is the input to which the drive reacts.
| 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 |
| 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 |
| 12 |
Axis Enabled |
This digital source holds the value of AXIS#.ACTIVE . It takes an axis ID. |
Digital |
| 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 |
| 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 |
| 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 |
| 204 |
STO Active |
This digital source holds the value of STO Active. It takes an Axis ID. |
Digital |
|
ACTION#.SOURCE
|
| Source ID |
Some action sources require a specific Source ID number such as a DIN value. |
ACTION#.SOURCEID
|
| Source Param. |
Some sources require source parameters to further specify what is acted on. For example, if the source is Move Complete, the source parameter field becomes editable. Setting this field to 8 specifies the action considers Move Complete for motion task 8 on the selected axis.
|
ACTION#.SOURCEPARAM
|
| Source Text |
The Source Text field allows the user to enter an array parameter keyword and index.
|
ACTION#.SOURCETEXT
|
| Condition |
|
Digital Source
|
|
Trigger Type
|
|
Follows
|
Greater than
|
Level
|
|
Inverts
|
Lesser than
|
Level
|
|
|
Absolute greater than
|
Level
|
|
|
Absolute lesser than
|
Level
|
|
Rising Edge
|
Rises Above Threshold
|
Edge
|
|
Falling Edge
|
Falls Below Threshold
|
Edge
|
|
Rising Edge (Triggers on High at Start)
|
Absolute Rises Above Threshold
|
Edge
|
|
Falling Edge (Triggers on Low at Start)
|
Absolute Falls Below Threshold
|
Edge
|
|
ACTION#.CONDITION
|
| Condition Value |
Defines the value used by the Condition to test against the Source. |
ACTION#.CONDITIONVALUE
|
