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End of Task condition can be a blended move. A Blended move concatenates two moves
together without having to go to zero speed to begin the second move. The actual index distance
will be the sum of the blended move distances. Distance move is based on actual motor position,
not commanded motor position.
Next Motion Task can set the motion task that will be blended to the present move (if blended
move is selected) or can be used to automatically start another move without the need for an
additional input signal; the 'next motion task' will be executed upon completion of the present
move. A 'Next Motion Task' of 'none' places a '0' in the table but does not mean to execute a
home (motion task 0); it is interpreted as 'do nothing'. An In-Position output will not come on until
all moves are complete.
A Dwell Time can be added which occurs at the end of the move. The dwell time's purpose is to
add a delay to moves linked with Next Motion Task (not blended moves). If there is no Next
Motion Task then the dwell timer performs no function.
The check box 'Executes after home' is simply a means of making an equivalent function of 'Next
Motion Task' after 'Homing' available. (There is no other way to do that since you can not directly
edit Motion Task 0).
Coldstart is a process whereby the firmware generates custom internal code (compiles) for
extremely fast execution. It is good practice to hit the Coldstart button after changing motion tasks
and I/O assignments. Without it you may get results that indicate that your changes did not take
affect.
Relative Move Without Memory: When indexing (relative moves) this input cause the index
distance in the associated motion task to be executed. There is no reference to earlier lost
motion.
Absolute Move: Moves to an absolute position relative to the home location.
Relative Registration Moves: Index length can be 'trimmed' by registration input signal.
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Move types include:
Relative move with Memory:
When indexing (relative moves)
an early termination of prior
moves is remembered.
Choosing this Move Type
calculates the next move
distance as the sum of the
entered move distance PLUS
the distance that did not get
made in earlier moves due to
early termination of the index.
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