trapulsPac - User Guide
Chapter 3 – Reference
3.2.3.8.7 - Sequence Parameters
Sequence Parameters
Supported keyword and parameters for all sequences
Keyword Direct parameter entry Description
SeqNb 0x3610 Selects the sequence number (0..127)
SeqType 0x3611-1 This parameter defines the sequence type:
POS (1)
HOME (2)
SPEED (3)
TORQUE (4)
GEAR (5)
in brackets is the value for direct parameter in object 0x3611-1
NextSeq 0x3611-2 Defines the next sequence to be executed after this one if there is
no condition or counter
SeqCount 0x3611-3 Defines how many times the sequence must be executed.This
counter is decremented each time a sequence is over.
SeqLink 0x3611-4 Defines the number of the sequence to be executed when the
SeqCount is not 0
Trigger 0x3611-5 Defines the output triggering event
Output 0x3611-6
0x3611-7
0x3611-8
Defines the output bit which will be reset
Defines the output bit which will be set
Defines the output bit which will be toggled
StartCond 0x3611-9
0x3611-10
Defines the condition bit which starts the sequence when equal to
0
Defines the condition bit which starts the sequence when equal to
1
Tempo 0x3611-23 Defines the delay time in ms at the end of the positioning
EndCond 0x3611-11
0x3611-12
Defines the condition bit which stops the sequence when equal to 0
Defines the condition bit which stops the sequence when equal to 1
Sequence Inputs
Index 0x3601
Name Sequence Inputs
Object Code RECORD
Number of Elements 3
Value Description
Sub Index 1
Description Sequence Number Input
Data Type Integer16
Object Class sq
Access rw
PDO Mapping Yes
Default Value 0
This object defines the sequence that will be executed when START is rising up.
Sub Index 2
Description Executed Sequence Number
Data Type Integer16
Object Class sq
Access ro
PDO Mapping Yes
Default Value -
This object indicates the currently running sequence.
A value of -1 means that no sequence is running.
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