Allen-Bradley 1756-HYD02 User Manual page 44

Chapter 2 Cartesian coordinate system
44
Step = 3.
When an instruction completes, it is removed from the queue and there is space
for another instruction to enter the queue. Both bits always have the same value
because you can queue only one pending instruction at a time. If the application
requires several instructions to be executed in sequence, the bits are set by using
these parameters.
When
One instruction is active and a second instruction is
pending in the queue
An active instruction completes and leaves the queue
The termination type operand for the MCLM or MCCM instruction specifies
how the currently executing move gets terminated. These illustrations show the
states of instruction bits and coordinate system bits that get affected at various
transition points (TP).
The termination types are:
•
0 - Actual tolerance
•
1 - No Settle
•
2 - Command Tolerance
•
3 - No Decel
•
4 - Follow Contour Velocity Constrained
•
5 - Follow Contour Velocity Unconstrained
•
6 - Command Tolerance Programmed
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
Then
• MovePendingStatus bit = 1
• MovePendingQueueFullStatus bit = 1
• You cannot queue another instruction
• MovePendingStatus bit = 0
• MovePendingQueueFullStatus bit = 0
• You can queue another instruction