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Identifier Function Description
Kill. Kills motion and halts all command processing (refer to K and KDRIVE command descriptions
C
for further details on the kill function). This is an edge detection function and is not intended to
inhibit motion. To inhibit motion, use the Pause/Resume function (LIMFNCi-E). When enabled with
the ERROR command, bit #6 of the TER and ER commands will report the kill status.
Stop. Stops motion. If COMEXS is set to zero (COMEXSØ), program execution will be terminated. If
D
COMEXS is set to 1 (COMEXS1), command processing will continue. With COMEXS set to 2
(COMEXS2), program execution is terminated, but the INSELP value is retained. Motion deceleration
during the stop is controlled by the AD & ADA commands. If error bit #8 is enabled (e.g., ERROR.8-
1), activating a Stop input will set the error bit and cause a branch to the ERRORP program.
Pause/Continue. If COMEXR is disabled (COMEXRØ), then only command execution pauses, not
E
motion. With COMEXR enabled (COMEXR1), both command and motion execution are paused. After
motion stops, you can release the input or issue a continue (!C) command to resume command
processing (and motion in COMEXR1 mode).
User Fault. Refer to the ERROR command. If error bit #7 is enabled (e.g., ERROR.7-1), activating a
F
User Fault input will set the error bit and cause a branch to the ERRORP program. CAUTION:
Activating the user fault input sends an !K command to the drive, "killing" motion (refer to the K
command description for ramifications).
Reserved
G,H
Alarm Event - Will cause the drive to set an Alarm Event in the Communications Server over the
I
Ethernet interface. You must first enable the Alarm checking bit for this input-driven alarm
(INTHW.23-1). For details on using alarms, refer to the Programmer's Guide.
JOG positive-direction - Will jog the axis in a positive-direction. The JOG command must be
J
enabled for this function to work.
JOG negative-direction. Will jog the axis in a negative-direction. The JOG command must be
K
enabled for this function to work.
JOG Speed Select. Selects the high or low velocity range while jogging. If the input is active, the
L
high jog velocity range will be selected.
Joystick Release. Signals the drive to end joystick operation and resume program execution with
M
the next statement in your program. When the input is open (high), the joystick mode is disabled
(joystick mode can be enabled only if the input is closed, and only with the JOY command). When
the input is closed (low), joystick mode can be enabled with the JOY command. The process of
using Joystick mode is:
1. Assign the "Joystick Release" input function to a programmable input.
2. At the appropriate place in the program, enable joystick control of motion (with the JOY
command). (Joystick mode cannot be enabled unless the "Joystick Release" input is closed.)
When the JOY command enables joystick mode, program execution stops (assuming the
Continuous Command Execution Mode is disabled with the COMEXCØ command).
3. Use the joystick to move the axis as required.
4. When you are finished using the joystick, open the "Joystick Release" input to disable the
joystick mode. This allows program execution to resume with the next statement after the initial
JOY command that started the joystick mode.
Reserved
N
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Command Descriptions
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