Motion Instruction Compatibility
The following table correlates the motion instructions with the compatible control modes. The compatibility with integrated motion is based on the Axis Configuration and feedback type settings. The motion instructions tables are divided by type.
Use the following key to interpret the column entries:
Symbol | Meaning |
|---|---|
x | Control mode is compatible. |
# | MSO and MDS execution initiate mutually exclusive modes of operation and execution is conditional on mode. |
* | Axis may be used as a master axis reference only for this instruction. |
c | Axis may conditionally use Motion Planner instructions if enabled with an MSO instruction; otherwise, there is an error. |
S | Supported in Controller Loop Back Configuration of Axis Test Mode. Instruction provides an ideal response, executes successfully, and sequences as expected. Support includes some error conditions. Corner-case scenarios that might not be possible for axis with Axis Test Mode enabled setting must be modified to allow successful sequencing of the program. |
N | Not Supported in Controller Loop Back Configuration of Axis Test Mode. Instructions that have specific error codes or do not complete. Instructions that do not generate errors, complete, but do not perform the instruction function. Instruction logic in the user program for axis with Axis Test Mode enabled setting must be modified as Axis to allow sequencing of the program. |
Shaded areas denote that Multi-Axis Coordination Motion is designed and tested for position mode operation but not restricted to that axis configuration. |
Category | Motion Instruction Name | Abbr. | Feedback Only | Freq.Cntrl No Feedback | Pos. Loop | Vel. Loop Feedback | Vel. Loop No Feedback | Torque Loop | Axis Test Mode Support (Test Mode Configuration) |
|---|---|---|---|---|---|---|---|---|---|
State Control | Motion Direct Drive On | MDO | |||||||
Motion Direct Drive Off | MDF | ||||||||
Motion Servo On | MSO | #S | xS | #S | #S | #S | Controller Loop Back: V35 | ||
Motion Servo Off | MSF | xS | xS | xS | xS | xS | Controller Loop Back: V35 | ||
Motion Axis Fault Reset | MAFR | xS | xS | xS | xS | xS | xS | Controller Loop Back: V36 | |
Motion Axis Shutdown | MASD | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Axis Shutdown Reset | MASR | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Drive Start | MDS | # | # | # | # | ||||
Event Control | Motion Arm Watch Position | MAW | xN | xS | xN | xN | Controller Loop Back: V35 | ||
Motion Disarm Watch Position | MDW | xN | xS | xN | xN | Controller Loop Back: V35 | |||
Motion Arm Registration | MAR | xN | xN | xN | xN | N-Controller Loop Back: V35 (Instruction does not complete because Events are not supported.) | |||
Motion Disarm Registration | MDR | xN | xN | xN | xN | N-Controller Loop Back: V35 (Instruction does not complete because Events are not supported.) | |||
Motion Arm Output Cam | MAOC | xN | xS | xN | xN | Controller Loop Back: V35 | |||
Motion Disarm Output Cam | MDOC | xN | xS | xN | xN | Controller Loop Back: V35 | |||
Move Control | Motion Redefine Position | MRP | xS | cS | xS | cS | cS | cS | Controller Loop Back: V35 |
Motion Axis Home | MAH | xS | xS | cS | cS | Controller Loop Back: V35 (Instruction only supports Immediate homing.) | |||
Motion Axis Jog | MAJ | cN | xS | cN | cN | Controller Loop Back: V35 | |||
Motion Axis Move | MAM | cN | xS | cN | cN | Controller Loop Back: V35 | |||
Motion Change Dynamics | MCD | cN | xS | cN | cN | Controller Loop Back: V35 | |||
Motion Axis Stop | MAS | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Axis Gear | MAG | *N | cN | xS | cN | cN | *N | Controller Loop Back: V35 | |
Motion Master Driven Axis Control | MDAC | *N | cN | xS | cN | cN | *N | Controller Loop Back: V35 | |
Motion Axis Position Cam | MAPC | N | N | xS | cN | cN | *N | Controller Loop Back: V35 | |
Motion Axis Time Cam | MATC | cN | xS | cN | cN | Controller Loop Back: V35 | |||
Multi-Axis Coordinate | Motion Coordinated Linear Move | MCLM | cN | xS | cN | cN | Controller Loop Back: V35 | ||
Motion Coordinated Circular Move | MCCM | cN | S | cN | cN | Controller Loop Back: V35 | |||
Motion Coordinated Stop | MCS | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Coordinated Shutdown | MCSD | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Coordinated Shutdown Reset | MCSR | x | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Coordinated Change Dynamics | MCCD | xN | xS | xN | xN | Controller Loop Back: V35 | |||
Motion Coordinated Transform | MCT | xN | xS | xN | xN | Controller Loop Back: V35 | |||
Motion Calculate Target Position | MCTP | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Master Driven Coordinated Control | MDCC | *N | xN | xS | xN | *N | *N | Controller Loop Back: V35 | |
Motion Configuration | Motion Run Axis Tuning | MRAT | xN | xN | xN | Controller Loop Back: V35 (Instruction returns error as Loopback model doees not support Tuning.) | |||
Motion Apply Axis Tuning | MAAT | xN | Controller Loop Back: V35 (Instruction returns error as Loopback model doees not support Tuning.) | ||||||
Motion Run Hookup Diagnostic | MRHD | xN | xN | xN | xN | xN | xN | Controller Loop Back: V35 (Instruction returns error as Loop Back model does not support Diagnostic tests.) | |
Motion Apply Hookup Diagnostic | MAHD | xN | Controller Loop Back: V35 (Instruction returns error as Loop Back model does not support Diagnostic tests.) | ||||||
Group Control | Motion Group Strobe Position | MGSP | xN | xN | xS | xN | xN | xN | Controller Loop Back: V35 |
Motion Group Shutdown | MGSD | xS | xS | xS | xS | xS | xS | Controller Loop Back: V35 | |
Motion Group Shutdown Reset | MGSR | xS | xS | x | xS | xS | xS | Controller Loop Back: V35 | |
Motion Group Stop | MGS | xS | xS | x | xS | xS | xS | Controller Loop Back: V35 |
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