Manual

Detailed Descriptions of ACL Commands 3-41
If the machine is in the Emergency Stopped state when an AA, AR, MA, MR or MT occurs,
the motion command is ignored; hence no MM- induced change occurs at the Digital
Outputs. If an Emergency Stop occurs during a move, the Digital Outputs all go
immediately to the False state.
The System precomputes the locations at which the Digital Outputs are to change before
starting each move. If the move is terminated by a Dynamic Deceleration (i.e. has come to a
complete stop) before a particular Outputs change has occurred then that change will not
occur during this move. See the MN command.
Miscellaneous Information And Examples
The effects of the MM command can be suspended for a single move or group of moves
through use of the VM command.
The current value being applied to the Digital Outputs can be determined via the OD
command.
Example: the command sequence MM; MM 1000,3; MR 4000,4000; produces the
following effect. The MR begins to execute. After 1000 diagonal steps (i.e. 707 steps each
in the X and Y axes), Digital Outputs 0 and 1 become True and all others become False,
regardless of their previous states. (Note that 3 is binary 00000011, which has bits 0 and 1
set.)
Example: the sequence MM; MM 500, 255, 255; MM -200, 0, 7; AR 1000, 0, 360;
results in the following actions. The AR begins to execute; after 500 total steps along the
arc, all 8 Digital Outputs become True; 200 steps before the end, outputs 0, 1, and 2 become
False; the outputs remain unchanged for the remaining 200 steps.
Example: the command sequence MM; MM 1000,3; MM 2000,2; MM 3000,1; MR
4000,4000; produces the following effect. The MR begins to execute. After 1000
diagonal steps (i.e. 707 steps each in the X and Y axes), Digital Outputs 0 and 1 become
True and all others become False, regardless of their previous states.
After an additional 1000 diagonal steps, Digital Output 0 becomes false and after another
additional 1000 steps Digital Output 0 becomes true again.
Example: the following two sequences both have the same effect upon vectors and arcs
whose length is less than 32768: MM; MM 0, 255, 255; MM 32767, 0, 255; and MM;
MM -32768, 255, 255; MM 32767, 0; . The effect is to set all 8 Digital Outputs True at
the beginning of each move, and False at the end. (Note that if no move's length exceeds
32767 then the changes are "constrained" so they occur at the beginning or end of each
vector.) If the length is greater than 32767 the two sequences begin to produce different
results.
For more information about the Digital Inputs please see Chapter 8 Using the Digital
Outputs and Inputs.