ORDER

Description

The ORDER command can be used to define any RAM/ROM motion task (= order). The ORDER command can be used in one of three forms:

ORDER the contents of the direct motion task (nr = 0) are shown ORDER nr the contents of motion task number “nr” are shown ORDER nr o_p o_v o_c o_acc1 o_dec1 o_acc2 o_dec2 o_fn o_ft = definition of motion task “nr”

• The “nr” parameter specifies the number of the motion task that is to be defined. The motion task number can have the following values:
• 0 - direct/local motion task
• 1 ... 180 motion tasks from the ROM. The ROM motion tasks are stored in a segment of the internal Flash EEPROM. They remain in the amplifier memory even after the 24V supply has been switched off. Write access to these motion tasks is only permitted if the output stage has been disabled.
• 192 ... 255 motion tasks from the RAM. The RAM motion tasks can also be written while the output stage is enabled. But the contents of these motion tasks will be lost if the 24V supply is switched off. When the controller is switched on, the RAM motion tasks will be initialized with the contents of ROM motion tasks 1 ... 64.

The individual elements o_p ... o_ft have the same interpretation as the corresponding ASCII commands.

• O_P target position/path for the motion task
• O_V target speed/velocity
• O_C type of motion task (control word)
• O_ACC1 acceleration ramp /starting acceleration
• O_DEC1 braking ramp / deceleration
• O_ACC2 build-up time for the starting acceleration (>0 for sine² / S-curve)
• O_DEC2 build-up time for the deceleration (>0 for sine² / S-curve)
• O_FN number of following motion tasks
• O_FT delay before starting next motion task