Actions View Reference Table

Element Description Parameter
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
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 edgeClosed A rising edge is the transition of a digital signal from low to high. It is also called positive 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
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
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

 

 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

A condition value is required when the condition performs a comparison. For example, if the action source is set to Analog Input, and the condition is set to "Falls Below Threshold", a condition value defines the threshold. If the condition value is set to 4.5, the action checks if the analog input transitions from a value greater than 4.5 volts to a value less than 4.5 volts.

Digital Source Analog Source Trigger Type
Follows Greater than Level
Inverts Lesser than Level
Rising EdgeClosed A rising edge is the transition of a digital signal from low to high. It is also called positive edge Rises Above Threshold Edge
Falling Edge Falls Below Threshold Edge
Rising Edge (Triggers on High at Start)    
Falling Edge (Triggers on Low at Start)    
ACTION#.CONDITION
Condition Value Defines the value used by the Condition to test against the Source. ACTION#.CONDITIONVALUE

See Also

Actions Table | Actions Table Example, Execution, & Errors