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9.5 M
T
OTION
9.5.1 Command functions
Motion Task data can be considered a set of arrays: One array for each Motion Task. Modbus
interface to the Motion Tasks is set up this way.
Name
MT.Number
MT.Error
MT.Set
MT.Clear
MT.Clear.All
MT.Target.Hi
MT.Target.Lo
MT.Velocity
MT.Acc
MT.Dec
MT.Control
MT.Tab.Number
MT.Next.Task
MT.Delay
The user can choose to enter each datum and execute MT.Set or recall all the present data with
MT.Number, modify the desired data, and the re-write the data with MT.Set. See Modbus
Register Table for additional information.
59
C
ASK
ONTROL
Description
Writing a number to this register populates
MTTargetPositionHi to MTDelay (PDID
1215 to 1224) to the values of this Motion
Task. If a ModBus error response is sent,
check MotionTaskError for the error code.
Error code, if Motion Task operation failed
Writing a value of 1 stores the values of
MTTargetPositionHi to MTDelay to
MotionTaskNumber
Clears MotionTaskNumber
Clears all Motion Tasks
Reserved
Lo-Word (32bit) of TargetPosition
Motion Task Velocity in SI units (O_V)
Acceleration (O_ACC)
Deceleration (O_DEC)
Control Word (O_C)
Reserved, Not Supported
Next Motion Task to execute (O_FN)
Delay between Motion Tasks (O_FT)
PDID
Register
1210
2420
1211
2422
1212
2424
1213
2426
1214
2428
1215
2430
1216
2432
1217
2432
1218
2436
1219
2438
1220
2440
1221
2442
1222
2444
1223
24446
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