Review The Program Mode Commands - Allen-Bradley Ultra1500 Quick Start Manual

Review the Program Mode Commands

There are two types of Simple Motion Control Program mode commands: Axis commands and Broadcast
commands. Axis commands are executed on a particular axis and each axis has its own control tags, status
tags, routine, and so forth. Broadcast commands are executed on all of the axes in the Simple Motion Control
CCBB and can be implemented by using the Machine Control routine.
Axis commands are executed in the Axis User Program routine and affect only that particular axis.
IMPORTANT
Broadcast commands are executed in the Machine Control routine and affect all of the axes in the Simple
Motion Control CCBB. This provides the flexibility to independently control an axis or to consolidate
machine control code when possible.
Program mode commands provide pre-defined, basic motion control functionality and can be executed as an
Axis command or a Broadcast command and the functionality remains the same. The only difference is
whether the function is executed on one axis (Axis command) or all axes (Broadcast command). Program
mode commands include the following:
• Disable
• Enable
• Fault Reset
• Stop
• Move
• Jog
• User Program Start
• Forward
• Reverse
• Trapezoidal
• S-curve Profile
• Redefine Relative Position
All of the Program mode commands are one-time instructions except for the Jog command that must be
maintained or latched to keep the axis jogging at a specific speed.
Publication CC-QS008B-EN-P - December 2009
Control Program Integration Chapter 3
39