Difference between revisions of "AXY:MC-Basic:group.STARTTYPE"
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| − | {{MC-Basic | + | <!-- {{MC-Basic |
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | ''< | + | ''<''group''>.''StartType = <''expression''><br> |
| − | ?''< | + | ?''<''group''>.''StartType |
|AVAILABILITY= | |AVAILABILITY= | ||
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This property is used inside a motion command to override the permanent value. | This property is used inside a motion command to override the permanent value. | ||
| − | 1 (IMMEDIATE): The motion command is executed immediately from the system current position does not wait for the current motion command to complete. The current move is cancelled and any buffered move is delayed until the IMMEDIATE command is executed. | + | * 1 ('''IMMEDIATE'''): The motion command is executed immediately from the system current position does not wait for the current motion command to complete. The current move is cancelled and any buffered move is delayed until the IMMEDIATE command is executed. |
| − | 2 (INPOSITION): The motion command is executed when the ISSETTLED flag is set. This means the system accomplished its previous motion and reached the required position. | + | * 2 ('''INPOSITION'''): The motion command is executed when the ISSETTLED flag is set. This means the system accomplished its previous motion and reached the required position. |
| − | 3 (GENERATORCOMPLETED): The motion command executes when the profiler has completed the generation of the last motion command reference. | + | * 3 ('''GENERATORCOMPLETED'''): The motion command executes when the profiler has completed the generation of the last motion command reference. |
| − | 4 (SYNC): The start of the motion is synchronized by the SYNCSTART command. | + | * 4 ('''SYNC'''): The start of the motion is synchronized by the SYNCSTART command. |
| − | 5 (SUPERIMMEDIATE): Similar to IMMEDIATE, but the computation of the command is done in realtime rather than in the background. | + | * 5 ('''SUPERIMMEDIATE'''): Similar to IMMEDIATE, but the computation of the command is done in realtime rather than in the background. |
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| + | {{Note/Danger| Use IMMEDIATE and SUPERIMMEDIATE on single axis motion, usage in groups/robots can lead to undesired (jumps) effects. }} | ||
The INPOSITION option is the most stringent condition for motion completion. This property is used inside a motion command to override the permanent value | The INPOSITION option is the most stringent condition for motion completion. This property is used inside a motion command to override the permanent value | ||
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|SEE ALSO= | |SEE ALSO= | ||
| − | * [[ | + | * [[MC-Basic:ATTACH|ATTACH]] |
| − | * [[ | + | * [[MC-Basic:SYNCSTART|SYNCSTART]] |
}} | }} | ||
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| + | [[Category:Synchronization]] | ||
| + | --> | ||