User guide

Chapter 5. Custom Profiling 189
Trigger Functions (TRGFN)
The Trigger Functions command (TRGFN) allows you to assign additional functions to trigger
inputs that have been defined as trigger interrupt inputs (INFNCi-H):
In the TRGFN command syntax, each field of 8 enable bits is for one axis. The “c” in the first
data field is for specifying the trigger input (TRG-A through TRG-D). There are two possible
functions, corresponding to the first 2 enable bits in the syntax—the other 6 enable bits per
axis are reserved (“1” enables the function, “0” disables the function, “x” leaves the function
bit unchanged):
TRGFNc bbbbbbbb bbbbbbbb bbbbbbbb . . .
Trigger Letter (“A” for TRG-A, “B” for TRG-B, etc.)
FMCNEW Function (see description below)
reserved
Axis 1
GOWHEN Function (see description below)
Axis 2 Axis 3
GOWHEN Function: (TRGFNc1xxxxxx) Suspends execution of the next move until the
specified trigger input (c) goes active. If you need execution to be
triggered by other factors (e.g., master position, encoder position, etc.)
use the GOWHEN command. Refer to page 186 or to the GOWHEN
command description for additional details. Axis status bit #26 (reported
with TASF, TAS, or AS) is set to one (1) when there is a pending
GOWHEN condition initiated by a TRGFNc1xxxxxx command; this bit
is cleared when the trigger is activated or when a stop or kill command is
issued.
FMCNEW Function: (TRGFNcx1xxxxx) Allows a new Following master cycle to begin
when the specified trigger input (c) goes active. For additional details on
master cycles, refer to page 208 or to the FMCNEW command description.
These trigger functions are cleared once the function is complete. To use the trigger to perform a
GOWHEN function again, the TRGFN command must be given again.
Sample
6000 Code
INFNC26-H ; Assign trigger B (TRG-B) on the AT6400 (input #26)
; to function as a trigger interrupt input.
TRGFNBx1xxxxxx 1 ; When trigger “B” (TRG-B) goes active, axis 1 will
; begin a new master cycle and axis 2 will execute the
; move commanded with the GO command.
GO01 ; The move on axis 2 is commanded, but will not
; execute until TRG-B becomes active.