Specifications
BASIC commands
PROGRAMMING MANUAL 86
Revision 5.0
3.2.121 FHOLD_IN
/i
3.2.122 FHSPEED
/i
Type Axis parameter
Syntax FHOLD_IN
FH_IN
Description The FHOLD_IN axis parameter contains the input number to be used as the
feedhold input. The valid input range is 0 to 31. Values 0 to 15 represent phys-
ically present inputs of TJ1-MC__ I/O connector and are common for all axes.
Values 16 to 31 are mapped directly to driver inputs that are present on the
CN1 connector. They are unique for each axis. It depends on the type of
Servo Driver which Servo Driver inputs are mapped into inputs 16 to 31. For
more information on Servo Driver I/O mapping into the Trajexia I/O space,
refer to section 5.1.4.
As default the parameter is set to -1, no input is used for feedhold.
Note: This input is active low.
If an input number is set and the feedhold input turns set, the speed of the
move on the axis is changed to the value set in the FHSPEED axis parameter.
The current move is not cancelled. Furthermore, bit 7 of the AXISSTATUS
parameter is set. When the input turns reset again, any move in progress
when the input was set will return to the programmed speed.
Note: This feature only works on speed controlled moves. Moves which are
not speed controlled (CAMBOX, CONNECT and MOVELINK) are not
affected.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, FHSPEED, UNITS.
Type Axis parameter
Syntax FHSPEED
Description The FHSPEED axis parameter contains the feedhold speed. This parameter
can be set to a value in user units/s and defines at which speed the axis will
move when the feedhold input turns on. The current move is not cancelled.
FHSPEED can have any positive value including 0. The default value is 0.
This default value is applicable to most applications as motion is usually
ramped down to zero speed when the freehold input is set. In some cases it
may be desirable for the axis to ramp to a known constant speed when the
freehold input is set.
Note: This feature only works on speed controlled moves. Moves which are
not speed controlled (CAMBOX, CONNECT and MOVELINK) are not
affected.
Arguments N/A
Example No example.
See also AXIS, AXISSTATUS, FHOLD_IN, UNITS.