CTL Reg: Contains following bits:
Bits 0-4: Next index, defines the index of the next position control task
Bits 5-7: reserved
Bit 8: Next / stop,
1: Next; go to next task if condition (see bit9-11) = 1 and loops checking is OK (see Loops) after current
positioning task is finished.
0: Stop; stop after current positioning task is finished
Bit9: Cond0 ON,
1: Cond0 ON; condition0 means Logic status of DIN function PosTable Cond0.
0: Cond0 OFF
Bit 10: Cond1 ON,
1: Cond1 ON; condition1 = Rising edge of DIN function PosTable Cond1.
0: Cond1 OFF
Bit 11: and / or; only on case of both Cond0 and Cond1 is ON,
1: AND; Condition = (Condition0&&Condition1).
0: OR; Condition = (Condition0||Condition1).
Bits 12-13: MODE, mode of the position command,
0 (A): Posinc is the absolute position.
1 (RN): Posinc is the position relative to current target position.
2 (RA): Posinc is the position relative to the actual position.
Bits 14-15: StartCond, start condition. If this task is triggered by the Start PosTable signal, normally the
controller will execute it immediately, but if there’s a positioning task still running:
0 (ignore): ignore.
1 (wait): execute this command after current task is finished (without delay).
2 (interrupt): interrupt the current task, execute this command immediately.
Attention
Condition = 1 if neither Cond0 nor Cond1 is ON
Condition = Condition0 if only Cond0 is ON
Condition = Condition1 if only Cond1 is ON
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