AXY:MC-Basic:axis.STARTTYPE

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This property determines the point in time at which the next motion command begins. It is relevant when a motion command is issued while a previous motion command is still being executed. The INPOSITION option is the most stringent condition for motion completion. This property can be used inside a motion command to override the permanent value.

1  (IMMEDIATE):  The motion command is executed immediately from the system's current position. It does not wait for the current motion command to complete. The current move is cancelled and any buffered move isdelayed 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

3  (GENERATORCOMPLETED):  The motion command is executed 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.

5  (SUPERIMMEDIATE): Similar to the IMMEDIATE STARTTYPE option, but the computation of the command is done in realtime rather than in the background.

	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.

Syntax

<axis>.StartType = <value>

? <axis>.StartType

Availability

All versions

Type

Long

Range

1 to 5

Default

3

Scope

Configuration, Task or Terminal

Limitations

This property cannot be used within a motion command. To set the value within a task, the axis must be attached to that task (using the ATTACH command).

Examples

Axis1.StartType = InPosition

Move Axis1 100 StartType = Immed

See Also

• axis.ISMOVING
• axis.ISSETTLED
• axis.POSITIONERRORSETTLE
• axis.TIMESETTLE
• axis.TIMESETTLEMAX
• SYNCSTART