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Supported Axes: |
Position Control Axes |
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Supported Control Modes: |
See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.
Command Parameters
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# |
Parameter Description |
Range |
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1 |
Stop Location
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a valid integer as described |
Description
This command stops a position sine move at a prescribed location. For stopping a pressure/force sine move, see the Sine Stop (Prs/Frc) (77) command.
The sine move will stop at the next occurrence of the specified Stop Location. The Stop Location can be any of the following:
Next Cycle
The sine move will stop at the end of the current cycle. The location of the end of each cycle is defined by the Sine Start (72) command. Stopping the sine move with the Next Cycle option will ensure that the sine move stops in the same location that it started. For example, if it started at the positive peak, this command will stop it at the next positive peak.
If the stop location is the middle, and the axis is currently on the quadrant after a peak and before the midpoint, then the axis will not stop on that first middle point because it could lead to extreme accelerations. Instead, the axis will continue another full cycle and then stop at the middle point.
If the stop location is the middle, the target generator will perform the stop by ramping the frequency down to zero over the last quarter-cycle. Due to this, any attempt to ramp the frequency with the Change Target Parameter (80) command during this portion of the move will be ignored.
Middle
The sine move will stop at the first middle point. However, if the axis is currently on the quadrant after a peak and before the midpoint, then the axis will not stop on that first middle point because it could lead to extreme accelerations. Instead, the axis will continue a half-cycle after the first middle point and stop at the next middle point.
When the Stop Location is set to Middle, the target generator performs the stop by ramping the frequency down to zero over the last quarter-cycle. Due to this, any attempt to ramp the frequency with the Change Target Parameter (80) command during this portion of the move will be ignored.
Pos Peak
The sine move will stop at the next positive peak.
Neg Peak
The sine move will stop at the next positive peak.
Next Peak
The sine move will stop at the next peak, whether it is negative or positive.
Status Bits
In Position Bit
After the target position stops, and the Actual Position is within the In Position Tolerance window, the In Position Status bit will be set. This bit indicates that the move is complete and the axis is at position.
Target Generator Bits
The Target Generator bits in the Status Bits register indicate which portion of the move the axis is currently in. These bits are useful when programming complex motion sequences.
Target Generator Done bit
This bit indicates the move is complete, which occurs when the target has stopped.
Target Generator State A and B bits
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B |
A |
Description |
|
0 |
0 |
Reserved |
|
0 |
1 |
Reserved |
|
1 |
0 |
Reserved |
|
1 |
1 |
Reserved |
See Also
Sine Start (72) | Sine Start (Prs/Frc) (72) | Sine Stop (Prs/Frc) (76)
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