User`s manual

7-4 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
7
A multi-axis program can contain
SYNC
commands to synchronize the axes at designated points.
When the first axis reaches a
SYNC
block (a block containing a
SYNC
command), it will not
execute the next block until the other axis has also reached the
SYNC
Block. Refer to Example
18, “Multi-axis Programming”, later in this chapter, for an example of this.
Prerequisites for Programmed Motion
The following conditions must be satisfied before a motion program can be initiated (for a multi-
axis program, the conditions must be met for both axes):
The
Enable Drive
%Q bit must be ON
The
Drive Enabled
%I bit must be ON
The
Position Valid
%I bit must be ON
The
Moving
%I bit must be OFF
The
Program Active
%I bit must be OFF
The
Abort All Moves
%Q bit must be OFF
The axis position must be within the configured end of travel limits (
High Software EOT
and
Low Software EOT
), unless the
Software End of Travel
mode is configured as Disabled
The Overtravel Limit Switch inputs must be ON (24V input is high) if enabled
A
Force Digital Servo Velocity
%AQ command must not be active
The program to be executed must be a valid program stored in the DSM314
Conditions That Stop a Motion Program
A motion program will immediately cease when one of the following conditions occurs:
The
Abort All Moves
%Q bit turns ON
The
Enable Drive
%Q bit turns OFF
An Overtravel Limit Switch turns OFF when
OT Limit Switch
is ENABLED via
configuration.
The next programmed move, either PMOVE or CMOVE, will pass a
Software EOT Limit
(unless the
Software End of Travel
mode is configured as Disabled)
A Stop Normal or Stop Fast Response Method Error occurs. See Appendix A, “Error
Reporting.”