Danaher Motion 06/2005 Groups
M-SS-005-03 Rev E 127
6.9.5. PROCEED
After a STOP, you must PROCEED to clear the motion buffer. You can use
PROCEEDTYPE to specify which way the motion generator should continue:
PROCEEDTYPE = CONTINUE
The motion generator continues the stopped command until complete.
PROCEEDTYPE = NEXTMOTION
The motion generator aborts the current move and goes directly to the
stopped move in the motion buffer.
PROCEEDTYPE = CLEARMOTION
Clears the motion buffer. No motion executes. Default value.
STOPTYPE = ABORT
Current motion stops immediately but does not need a PROCEED to
start the next motion. Only the current motion is stopped, the following
commands are generated.
6.9.6. MOVE
MOVE for groups is almost identical to a MOVE for axes. There are two
differences. First, POSITIONCOMMAND, POSITIONFEEDBACK, and
PFINAL are group size vectors. Second, the profile, including
ACCELERATION and DECELERATION, applies to all axes in the group.
For example:
MyGroup.VCruise = 2000
Move MyGroup {100, 100}
moves to position (100, 100) with a cruise velocity of 2000.
You can override the following axis properties as part of a MOVE:
ABSOLUTE
STARTTYPE
ACCELERATION
ACCELERATIONRATE
DECELERATION
DECELERATIONRATE
SMOOTHFACTOR
VELOCITYCRUISE
VELOCITYRATE
JERK
JERKRATE
PFINAL (end of a move), is always specified in MOVE. However, the
meaning of PFINAL depends on <group>.ABSOLUTE. This allows point-to-
point moves to be specified two ways:
ABSOLUTE = TRUE
Final position is specified as actual group position at the end of the
move. The final position equals PFINAL.INCREMENTAL.
ABSOLUTE = FALSE
Final position is referenced to the start position. The final position is the
sum of PFINAL and PCMD at the start of the move. So:
xyTableGroup.Absolute = TRUE
Move xyTableGroup {100, 200}
moves xyTableGroup to position (100, 200).
