BASIC commands
PROGRAMMING MANUAL 94
Revision 1.0
3.2.114 ENDMOVE
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3.2.115 ENDMOVE_BUFFER
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3.2.116 ENDMOVE_SPEED
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3.2.117 ERROR_AXIS
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Type Axis parameter
Syntax ENDMOVE
Description The ENDMOVE axis parameter holds the position of the end of the current
move in user units. If the SERVO axis parameter is ON, the ENDMOVE
parameter can be written to produce a step change in the demand position
(DPOS).
Note: As the measured position is not changed initially, the Following Error
limit (FE_LIMIT) should be considered when writing to ENDMOVE to produce
a step change. If the change of demanded position is too big, the limit will be
exceeded.
Arguments N/A
Example No example.
See also AXIS, DPOS, FE_LIMIT, UNITS.
Type Axis parameter (read only)
Syntax ENDMOVE_BUFFER
Description This holds the absolute position at the end of the buffered sequence. It is
adjusted by OFFPOS/DEFPOS. The individual moves in the buffer are incre-
mental and do not need to be adjusted by OFFPOS.
Arguments N/A
Example No example.
See also MOVES_BUFFERED, VECTOR_BUFFERED
Type Axis parameter
Syntax ENDMOVE_SPEED = value
Description The ENDMOVE_SPEED parameter is used to directly control the the ramp to
exit speed when forced speed moves (MOVESP, MOVEABSSP,
MOVECIRCSP, MHELICALSP) are loaded. The ENDMOVE_SPEED param-
eter should be set to the required value at the time of loading the move into
the buffer.
If two forced speed move types are merged, the speed at the merge point is
controlled by the ENDMOVE_SPEED of the outgoing move. If a forced speed
move follows one or more non-forced speed moves the deceleration will
occur to the FORCE_SPEED of the incoming move.
Arguments N/A
Example ENDMOVE_SPEED=2000
See also MOVESP, FORCE_SPEED
Type System parameter (read-only)
Syntax ERROR_AXIS
Description The ERROR_AXIS axis parameter contains the number of the axis which has
caused the motion error.
A motion error occurs when the AXISSTATUS state for one of the axes
matches the ERRORMASK setting. In this case the enable switch (WDOG)
will be turned off, the MOTION_ERROR parameter will have value different
than 0 and the ERROR_AXIS parameter will contain the number of the first
axis to have the error.
Arguments N/A
Example No example.
See also AXISSTATUS, ERRORMASK, MOTION_ERROR, WDOG.
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