User guide

Chapter 1. Programming Fundamentals 17
COMEXL (Save Command Buffer on Limit)
The COMEXL command enables saving the command buffer and maintaining program
execution when a hardware or software end-of-travel limit is encountered. For more
information on end-of-travel limits, refer to page 90.
COMEXP (Pause Command Execution Until In Position Signal)
This feature is applicable only to stepper products, excluding the OEM-AT6400, 6104 and
6201. The COMEXP command enables waiting for the in-position signal (DRIVE connector
pin 4). While enabled, the next command will not be processed until the in-position signal
becomes active. This only affects the command processing of motion commands.
COMEXR (Effect of Pause/Continue Input)
The COMEXR command affects whether a pause input (i.e., a general-purpose input configured
as a pause/continue input with the INFNCi-E command) will pause only program execution
or both program execution and motion.
COMEXRØ: Upon receiving a pause input, only program execution will be paused; any
motion in progress will continue to its predetermined destination. Releasing
the pause input or issuing a !C command will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be
paused; the motion stop function is used to halt motion. After motion has
come to a stop (not during deceleration), you can release the pause input or
issue a !C command to resume motion and program execution.
Other Ways to Pause
• Issue the PS command before entering a series of buffered commands (to cause motion,
activate outputs, etc.), then issue the !C command to execute the commands.
• While program execution is in progress, issuing the !PS command stops program
execution, but any move currently in progress will be completed. Resume program
execution with the !C command.
COMEXS (Save Command Buffer on Stop)
The COMEXS command affects saving the command buffer and maintaining program execution
upon receiving a stop input (a general-purpose input configured with the INFNCi-D
command) or a stop command (!S or !S111).
COMEXSØ: Upon receiving a stop input or stop command, motion will decelerate at the
preset AD/ADA value, program execution will be terminated, and every
command in the buffer will be discarded (exception: an axis-specific stop input
will not dump the command buffer).
COMEXS1: Upon receiving a stop input or stop command, motion will decelerate at the preset
AD/ADA value, program execution will pause, and all commands following the
command currently being executed will remain in the command buffer.
Resuming program execution (only after motion has come to a stop):
• Whether stopping as a result of a stop input or stop (!S or !S1111)
command, you can resume program execution by issuing an immediate
Continue (!C) command or by activating a pause/continue input (a
general-purpose input configured with the INFNCi-E command—see
COMEXR discussion above).
• If you are resuming after a stop input or a !S1111 command, the move
in progress will not be saved.
• If you are resuming after a !S command, you will resume the move in
progress at the point where the !S command was received by the processor.
COMEXS2: Upon receiving a stop input or stop command, motion will decelerate at the
preset AD value, every command in the command buffer will be discarded, and
program execution will be terminated, but the INSELP value is retained. This
allows external program selection, via inputs defined with the INFNCi-B or
INFNCi-iP commands, to continue.